TW202220892A - Control device for human-powered vehicle capable of appropriately controlling a component for a human-powered vehicle in response to operation of a brake control device - Google Patents

Control device for human-powered vehicle capable of appropriately controlling a component for a human-powered vehicle in response to operation of a brake control device Download PDF

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Publication number
TW202220892A
TW202220892A TW110136427A TW110136427A TW202220892A TW 202220892 A TW202220892 A TW 202220892A TW 110136427 A TW110136427 A TW 110136427A TW 110136427 A TW110136427 A TW 110136427A TW 202220892 A TW202220892 A TW 202220892A
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Taiwan
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human
control device
powered vehicle
information
control unit
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TW110136427A
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Chinese (zh)
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髙橋利彦
土澤康弘
西野高史
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日商島野股份有限公司
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Publication of TW202220892A publication Critical patent/TW202220892A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3225—Systems specially adapted for single-track vehicles, e.g. motorcycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/261—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels specially adapted for use in motorcycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
    • B62J1/08—Frames for saddles; Connections between saddle frames and seat pillars; Seat pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K25/06—Axle suspensions for mounting axles resiliently on cycle frame or fork with telescopic fork, e.g. including auxiliary rocking arms
    • B62K25/08—Axle suspensions for mounting axles resiliently on cycle frame or fork with telescopic fork, e.g. including auxiliary rocking arms for front wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K25/28—Axle suspensions for mounting axles resiliently on cycle frame or fork with pivoted chain-stay
    • B62K25/286—Axle suspensions for mounting axles resiliently on cycle frame or fork with pivoted chain-stay the shock absorber being connected to the chain-stay via a linkage mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K25/28—Axle suspensions for mounting axles resiliently on cycle frame or fork with pivoted chain-stay
    • B62K25/30—Axle suspensions for mounting axles resiliently on cycle frame or fork with pivoted chain-stay pivoted on pedal crank shelf
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements thereof
    • B62L3/02—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever
    • B62L3/023—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever acting on fluid pressure systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
    • B62J1/08—Frames for saddles; Connections between saddle frames and seat pillars; Seat pillars
    • B62J2001/085—Seat pillars having mechanisms to vary seat height, independently of the cycle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K2025/044—Suspensions with automatic adjustment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K2025/045—Suspensions with ride-height adjustment

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Axle Suspensions And Sidecars For Cycles (AREA)

Abstract

The object of the present invention is to provide a control device for a human-powered vehicle, which can appropriately control a component for a human-powered vehicle in response to operation of a brake control device. The human-powered vehicle includes a brake device, a posture changing device that changes a riding posture of a rider of the human-powered vehicle, and a brake control device capable of controlling the braking force of the brake device. The control device for the human-powered vehicle includes a control unit that controls the posture changing device based on operation information of the brake control device.

Description

人力驅動車用控制裝置Control device for human-driven vehicle

本發明是關於人力驅動車用控制裝置。The present invention relates to a control device for a human-powered vehicle.

例如在專利文獻1揭示有人力驅動車用煞車控制裝置。專利文獻1的人力驅動車用煞車控制裝置，可控制人力驅動車用煞車裝置的煞車力。 [先前技術文獻] [專利文獻] For example, Patent Document 1 discloses a brake control device for a human-powered vehicle. The brake control device for a human-driven vehicle of Patent Document 1 can control the braking force of the brake device for a human-driven vehicle. [Prior Art Literature] [Patent Literature]

[專利文獻1]國際公開第2019/155371號[Patent Document 1] International Publication No. 2019/155371

[發明欲解決的課題][The problem to be solved by the invention]

本發明的一個目的是要提供一種人力驅動車用控制裝置，能因應煞車控制裝置的動作適當地控制人力驅動車用組件。 [用以解決課題的手段] An object of the present invention is to provide a control device for a human-driven vehicle, which can appropriately control the components for a human-driven vehicle in response to the action of the brake control device. [means to solve the problem]

本發明的第1型態的控制裝置，是人力驅動車用控制裝置，上述人力驅動車包含：煞車裝置、使上述人力驅動車的搭乘者的搭乘姿勢改變的姿勢變更裝置、及可控制上述煞車裝置的煞車力的煞車控制裝置；上述人力驅動車用控制裝置，具備有：根據與上述煞車控制裝置的動作相關的動作資訊來控制上述姿勢變更裝置的控制部。 藉由上述第1型態的控制裝置，由於因應煞車控制裝置的動作來控制姿勢變更裝置，所以可因應煞車控制裝置的動作得到適合搭乘者(駕駛者)的乘車姿勢。 A control device according to a first aspect of the present invention is a control device for a human-powered vehicle including a braking device, a posture changing device for changing the riding posture of a rider of the human-powered vehicle, and a control device capable of controlling the braking A brake control device for braking force of a device; the control device for a human-powered vehicle includes a control unit that controls the posture changing device based on operation information related to the operation of the brake control device. According to the control device of the first aspect, the posture changing device is controlled according to the operation of the brake control device, so that the riding posture suitable for the passenger (driver) can be obtained according to the operation of the brake control device.

依據上述第1型態的第2型態的控制裝置，上述動作資訊，包含：顯示符合使上述煞車控制裝置進行動作的動作條件的第1資訊、及顯示上述煞車控制裝置的動作的第2資訊的至少一種；上述控制部，根據上述第1資訊及上述第2資訊的至少一種來控制上述姿勢變更裝置。 藉由上述第2型態的控制裝置，根據第1資訊及第2資訊的至少一種可得到適合搭乘者的乘車姿勢。 According to the control device of the second aspect of the first aspect, the operation information includes first information indicating an operation condition for operating the brake control device, and second information indicating an operation of the brake control device. at least one of the above; the control unit controls the posture changing device based on at least one of the first information and the second information. According to the control device of the second aspect, a riding posture suitable for the passenger can be obtained based on at least one of the first information and the second information.

依據上述第1或2型態的第3型態的控制裝置，上述控制部，根據上述動作資訊控制上述姿勢變更裝置讓上述搭乘者的姿勢改變。 藉由上述第2型態的控制裝置，根據動作資訊可得到適合搭乘者的乘車姿勢。 According to the control device of the third aspect of the first or second aspect, the control unit controls the posture changing device to change the posture of the passenger based on the motion information. According to the control device of the second aspect, a riding posture suitable for the passenger can be obtained based on the motion information.

依據上述第3型態的第4型態的控制裝置，上述姿勢變更裝置，包含：用來變更上述人力驅動車的鞍座的高度的可調整式座墊支柱裝置。 藉由上述第4型態的控制裝置，由於因應煞車控制裝置的動作來控制可調整式座墊支柱裝置，所以可因應煞車控制裝置的動作得到適合搭乘者的乘車姿勢。 According to the control device of the fourth aspect of the third aspect, the posture changing device includes an adjustable seat cushion support device for changing the height of the saddle of the human-powered vehicle. According to the control device of the fourth aspect, since the adjustable seat cushion device is controlled according to the operation of the brake control device, a riding posture suitable for the passenger can be obtained according to the operation of the brake control device.

依據上述第4型態的第5型態的控制裝置，上述控制部，根據上述動作資訊控制上述可調整式座墊支柱裝置讓上述鞍座的高度變低。 藉由上述第5型態的控制裝置，在煞車控制裝置動作的情況，能讓人力驅動車的後方有適當的荷重。 According to the control device of the fifth aspect of the fourth aspect, the control unit controls the adjustable seat cushion support device to lower the height of the saddle based on the motion information. According to the control device of the fifth aspect, when the brake control device is actuated, an appropriate load can be applied to the rear of the human-powered vehicle.

依據上述第2型態的第6型態的控制裝置，上述姿勢變更裝置包含懸吊裝置，上述懸吊裝置具有：第1構件、及設置成可相對於上述第1構件相對移動的第2構件；上述懸吊裝置設定為：第1狀態、及相較於上述第1狀態更加限制上述第2構件相對於上述第1構件的相對移動的第2狀態，的其中一種狀態；上述控制部，根據上述第1資訊及第2資訊的至少一種來控制上述懸吊裝置，將其從上述第1狀態及上述第2狀態的其中一方變更為另一方。 藉由上述第6型態的控制裝置，由於因應煞車控制裝置的動作來控制懸吊裝置，所以可因應煞車控制裝置的動作得到適合搭乘者的乘車姿勢。 According to the control device of the sixth aspect of the second aspect, the posture changing device includes a suspension device including a first member and a second member provided to be movable relative to the first member The suspension device is set to one of a first state and a second state in which the relative movement of the second member relative to the first member is more restricted than the first state; the control unit is based on At least one of the first information and the second information controls the suspension device and changes it from one of the first state and the second state to the other. According to the control device of the sixth aspect, since the suspension device is controlled in accordance with the operation of the brake control device, a riding posture suitable for the passenger can be obtained in accordance with the operation of the brake control device.

依據上述第6型態的第7型態的控制裝置，上述懸吊裝置包含前懸吊裝置，上述控制部，根據上述第1資訊及上述第2資訊的至少一種來控制上述前懸吊裝置，將其從上述第1狀態變更成上述第2狀態。 藉由上述第7型態的控制裝置，在煞車控制裝置動作的情況，能適當地抑制搭乘者的前傾姿勢。 According to the control device of the seventh aspect of the sixth aspect, the suspension device includes a front suspension device, and the control unit controls the front suspension device based on at least one of the first information and the second information, It is changed from the said 1st state to the said 2nd state. According to the control device of the seventh aspect, when the brake control device operates, the forward leaning posture of the rider can be appropriately suppressed.

依據上述第6或7型態的第8型態的控制裝置，上述懸吊裝置包含後懸吊裝置，上述控制部，根據上述第1資訊及上述第2資訊的至少一種來控制上述後懸吊裝置，將其從上述第2狀態變更成上述第1狀態。 藉由上述第8型態的控制裝置，在煞車控制裝置動作的情況，能讓人力驅動車的後方有適當的荷重。 According to the control device of the eighth aspect of the sixth or seventh aspect, the suspension device includes a rear suspension device, and the control unit controls the rear suspension based on at least one of the first information and the second information. device to change it from the second state to the first state. According to the control device of the above-mentioned eighth aspect, when the brake control device is actuated, an appropriate load can be applied to the rear of the human-powered vehicle.

依據上述第2型態的第9型態的控制裝置，上述控制部，根據上述第1資訊及上述第2資訊的至少一種控制上述姿勢變更裝置不使上述姿勢變更裝置進行動作。 藉由上述第9型態的控制裝置，由於根據第1資訊及第2資訊的至少一種控制姿勢變更裝置不使姿勢變更裝置進行動作，所以搭乘者可維持任意姿勢。 According to the ninth aspect of the control device of the second aspect, the control unit controls the posture changing device so as not to operate the posture changing device based on at least one of the first information and the second information. According to the control device of the ninth aspect, since the posture changing device is controlled based on at least one of the first information and the second information so as not to operate the posture changing device, the occupant can maintain an arbitrary posture.

依據上述第9型態的第10型態的控制裝置，上述控制部，因應上述第1資訊及上述第2資訊的至少一種的持續時間來控制上述姿勢變更裝置不使上述姿勢變更裝置進行動作。 藉由上述第10型態的控制裝置，由於因應第1資訊及第2資訊的至少一種的持續時間來控制姿勢變更裝置不使姿勢變更裝置進行動作，所以可適當地控制姿勢變更裝置。 According to the control device of the tenth aspect of the ninth aspect, the control unit controls the posture changing device not to operate the posture changing device according to the duration of at least one of the first information and the second information. According to the control device of the tenth aspect, the posture changing device is controlled so as not to operate the posture changing device according to the duration of at least one of the first information and the second information, so that the posture changing device can be appropriately controlled.

依據上述第9或10型態的第11型態的控制裝置，上述姿勢變更裝置，包含：用來變更上述人力驅動車的鞍座的高度的可調整式座墊支柱裝置、及懸吊裝置的至少一種。 藉由上述第11型態的控制裝置，在煞車控制裝置動作的情況，使可調整式座墊支柱裝置及懸吊裝置的至少一種不進行動作，所以搭乘者可維持任意姿勢。 According to the control device of the eleventh aspect of the ninth or tenth aspect, the posture changing device includes an adjustable seat cushion support device for changing the height of the saddle of the human-powered vehicle, and a suspension device. at least one. According to the control device of the eleventh aspect, when the brake control device is activated, at least one of the adjustable seat cushion device and the suspension device is not activated, so that the rider can maintain any posture.

依據上述第1至11型態中任一型態的第12型態的控制裝置，上述控制部可切換為：因應上述動作資訊來控制上述姿勢變更裝置的第1控制狀態、與不因應上述動作資訊來控制上述姿勢變更裝置的第2控制狀態。 藉由上述第12型態的控制裝置，可因應使用者的需求等，來切換第1控制狀態與第2控制狀態。 According to the control device of the twelfth aspect of any one of the first to eleventh aspects, the control unit can be switched to control the first control state of the posture changing device in response to the operation information, or not to respond to the operation. information to control the second control state of the posture changing device. With the control device of the twelfth aspect, the first control state and the second control state can be switched according to the user's needs and the like.

依據上述第1至12型態的任一型態的第13型態的控制裝置，上述煞車裝置，藉由流體壓力來產生上述煞車力，上述煞車控制裝置，包含用來變更上述流體壓力的電動致動器，上述控制部用來控制上述電動致動器。 藉由上述第13型態的控制裝置，藉由以電動致動器變更流體壓力，則能適當地變更煞車力。 [發明效果] According to the control device of the thirteenth aspect of any one of the first to twelfth aspects, the brake device generates the braking force by fluid pressure, and the brake control device includes an electric motor for changing the fluid pressure. An actuator, and the control unit controls the electric actuator. According to the control device of the thirteenth aspect, the braking force can be appropriately changed by changing the fluid pressure by the electric actuator. [Inventive effect]

本發明的人力驅動車用控制裝置，能因應煞車控制裝置的動作適當地控制人力驅動車用組件。The control device for a human-driven vehicle of the present invention can appropriately control the components for a human-driven vehicle in response to the operation of the brake control device.

＜第1實施方式＞<First Embodiment>

參考第1圖至第6圖針對第1實施方式的人力驅動車用控制裝置70加以說明。在本實施方式，控制裝置70設置在煞車控制裝置50的主體50A(參考第2圖及第3圖)。人力驅動車10具有至少一個車輪20，是至少能藉由人力驅動力驅動的車輛。人力驅動車10例如包含：登山車、公路車、城市型自行車、載貨型自行車、手搖式自行車、及躺式自行車等各種種類的自行車。人力驅動車10所具有的車輪20的數量並未限定。人力驅動車10，例如也包括單輪車及具備3輪以上的車輪20的車輛。人力驅動車10，並不限定僅藉由人力驅動力驅動的車輛。人力驅動車10，包含：不僅利用人力驅動力也利用電動馬達的驅動力來推進的電動自行車(E-bike)。電動自行車，包括藉由電動馬達輔助推進的電動輔助自行車。以下在實施方式是將人力驅動車10說明為自行車。The control device 70 for a human-powered vehicle according to the first embodiment will be described with reference to FIGS. 1 to 6 . In this embodiment, the control apparatus 70 is provided in the main body 50A of the brake control apparatus 50 (refer FIG. 2 and FIG. 3). The human-powered vehicle 10 has at least one wheel 20, and is a vehicle that can be driven at least by human-powered driving force. The human-powered vehicle 10 includes, for example, various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, hand-operated bikes, and recumbent bikes. The number of wheels 20 included in the human-powered vehicle 10 is not limited. The human-powered vehicle 10 includes, for example, a unicycle and a vehicle having three or more wheels 20 . The human-powered vehicle 10 is not limited to a vehicle driven only by human-driven power. The human-powered vehicle 10 includes an electric bicycle (E-bike) that is propelled by not only the human-powered driving force but also the driving force of the electric motor. Electric bicycles, including electric-assisted bicycles that are propelled by electric motors. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as a bicycle.

人力驅動車10具有：桿部12、與桿部12連結的車把桿14、與桿部12連結的前叉16、及與前叉16連結的框架18。前叉16，可旋轉地安裝於框架18的頭管。車輪20包含：前輪20A、後輪20B。在本實施方式，人力驅動車10具有車輪20(前輪20A)，車輪20(前輪20A)安裝於前叉16。The human-powered vehicle 10 includes a rod portion 12 , a handlebar rod 14 coupled to the rod portion 12 , a front fork 16 coupled to the rod portion 12 , and a frame 18 coupled to the front fork 16 . The front fork 16 is rotatably mounted to the head tube of the frame 18 . The wheel 20 includes a front wheel 20A and a rear wheel 20B. In this embodiment, the human-powered vehicle 10 has the wheel 20 (the front wheel 20A), and the wheel 20 (the front wheel 20A) is attached to the front fork 16 .

在本說明書，顯示以下方向的用語「前」、「後」、「前方」、「後方」、「左」、「右」、「橫」、「上方」及「下方」及任意其他類似方向的用語，是代表在人力驅動車10的基準方向(例如鞍座或座墊上)以朝向車把桿14的搭乘者為基準所決定的方向。在本說明書，搭乘者包含：人力驅動車的駕駛者、及與人力驅動車的駕駛無關的共乘者。在人力驅動車為自行車的情況，搭乘者為騎士。在人力驅動車為單人騎乘的自行車的情況，搭乘者為駕駛者且是騎士。以下在實施方式是將搭乘者以騎士來說明。In this manual, the terms "front", "rear", "front", "rear", "left", "right", "horizontal", "above" and "below" and any other similar directions are shown in the following directions The term refers to a direction determined on the basis of a rider facing the handlebar 14 in a reference direction of the human-powered vehicle 10 (for example, on a saddle or a seat cushion). In this specification, a passenger includes a driver of a human-powered vehicle and a passenger who is not involved in driving the human-powered vehicle. When the human-powered vehicle is a bicycle, the rider is a rider. In the case where the human-powered vehicle is a single-person bicycle, the rider is a driver and a rider. Hereinafter, in the embodiment, the rider will be described as a knight.

人力驅動車10包含：煞車裝置40、使上述人力驅動車10的騎士的乘車姿勢改變的姿勢變更裝置24、及可控制煞車裝置40的煞車力的煞車控制裝置50。The human-powered vehicle 10 includes a braking device 40 , a posture changing device 24 that changes the riding posture of a rider of the human-powered vehicle 10 , and a braking control device 50 that can control the braking force of the braking device 40 .

姿勢變更裝置24具備有致動器24A。致動器24A是電動致動器。姿勢變更裝置24藉由致動器24A的驅動來改變人力驅動車10的騎士的乘車姿勢。The posture changing device 24 includes an actuator 24A. The actuator 24A is an electric actuator. The posture changing device 24 changes the riding posture of the rider of the human-powered vehicle 10 by driving the actuator 24A.

例如姿勢變更裝置24包含：用來變更人力驅動車10的鞍座22的高度的可調整式座墊支柱裝置26。可調整式座墊支柱裝置26具備有致動器26A。致動器26A是電動致動器。藉由致動器26A的驅動來變更鞍座22的高度。藉由鞍座22的高度變更來促使騎士的姿勢改變。例如藉由讓鞍座22變低，而容易讓騎士的荷重偏向後輪20B側。For example, the posture changing device 24 includes an adjustable seat pillar device 26 for changing the height of the saddle 22 of the human-powered vehicle 10 . The adjustable seat cushion device 26 includes an actuator 26A. The actuator 26A is an electric actuator. The height of the saddle 22 is changed by driving the actuator 26A. The rider's posture is changed by changing the height of the saddle 22 . For example, by lowering the saddle 22, the rider's load can be easily biased toward the rear wheel 20B.

例如姿勢變更裝置24包含懸吊裝置28。懸吊裝置28具有：第1構件28A、及設置成可相對於第1構件28A相對移動的第2構件28B。懸吊裝置28設定為：第1狀態、及相較第1狀態更加限制第2構件28B相對於第1構件28A的相對移動的第2狀態，的其中一種狀態。第2狀態例如是鎖定狀態。第2狀態也可不是鎖定狀態。For example, the posture changing device 24 includes a suspension device 28 . The suspension device 28 includes a first member 28A and a second member 28B that is provided so as to be movable relative to the first member 28A. The suspension device 28 is set to one of a first state and a second state in which the relative movement of the second member 28B with respect to the first member 28A is restricted more than the first state. The second state is, for example, a locked state. The second state may not be the locked state.

懸吊裝置28也可包含前懸吊裝置30。前懸吊裝置30具備有致動器30A。致動器30A是電動致動器。藉由致動器30A的驅動，將前懸吊裝置30從第1狀態及第2狀態的其中一方變更為另一方。例如藉由將前懸吊裝置30從第1狀態變更為第2狀態，則可防止成為朝前輪20A側的前傾姿勢(俯衝姿勢)。The suspension 28 may also include a front suspension 30 . The front suspension device 30 includes an actuator 30A. The actuator 30A is an electric actuator. By driving the actuator 30A, the front suspension device 30 is changed from one of the first state and the second state to the other. For example, by changing the front suspension device 30 from the first state to the second state, it is possible to prevent the forward leaning posture (dive posture) toward the front wheel 20A.

懸吊裝置28也可包含後懸吊裝置32。後懸吊裝置32具備有致動器32A。致動器32A是電動致動器。藉由致動器32A的驅動，將後懸吊裝置32從第1狀態及第2狀態的其中一方變更為另一方。例如藉由將後懸吊裝置32從第2狀態變更為第1狀態，則騎士容易讓荷重偏向後輪20B側。The suspension 28 may also include a rear suspension 32 . The rear suspension device 32 includes an actuator 32A. The actuator 32A is an electric actuator. By driving the actuator 32A, the rear suspension device 32 is changed from one of the first state and the second state to the other. For example, by changing the rear suspension device 32 from the second state to the first state, the rider can easily deviate the load toward the rear wheel 20B.

煞車裝置40包含：煞車操作裝置42、煞車動作裝置44、及連接構件46。煞車裝置40用來對車輪20施加制動力。煞車操作裝置42連接於煞車動作裝置44用來操作煞車動作裝置44。煞車動作裝置44用來對前輪20A施加制動力。煞車動作裝置44也可用來對後輪20B施加制動力。連接構件46，將煞車控制裝置50的主體50A(後述)與人力驅動車10的煞車操作裝置42及人力驅動車10的煞車動作裝置44連接。The braking device 40 includes a braking operation device 42 , a braking action device 44 , and a connecting member 46 . The braking device 40 is used to apply a braking force to the wheels 20 . The brake operating device 42 is connected to the brake operating device 44 for operating the brake operating device 44 . The brake actuating device 44 is used to apply a braking force to the front wheel 20A. Brake action device 44 may also be used to apply braking force to rear wheel 20B. The connecting member 46 connects the main body 50A (described later) of the brake control device 50 to the brake operating device 42 of the manually-driven vehicle 10 and the brake actuating device 44 of the manually-driven vehicle 10 .

如第2圖所示，煞車操作裝置42，例如設置於車把桿14。煞車動作裝置44也可是碟式煞車系統，也可是輪緣煞車系統，也可是滾子煞車系統。在本實施方式，煞車裝置40是碟式煞車系統，煞車動作裝置44是碟式煞車卡鉗。煞車動作裝置44用來將設置在車輪20(這裡是前輪20A)的碟煞碟盤予以制動。煞車裝置40藉由流體壓力產生煞車力較佳。流體例如為作動油。在連接構件46的內部充填有流體。連接構件46為煞車軟管。As shown in FIG. 2 , the brake operating device 42 is provided, for example, on the handlebar lever 14 . The braking action device 44 may also be a disc brake system, a rim brake system, or a roller brake system. In the present embodiment, the brake device 40 is a disc brake system, and the brake actuating device 44 is a disc brake caliper. The brake actuating device 44 is used to brake the disc brake disc provided on the wheel 20 (here, the front wheel 20A). Preferably, the braking device 40 generates braking force by fluid pressure. The fluid is, for example, actuating oil. The inside of the connection member 46 is filled with fluid. The connecting member 46 is a brake hose.

煞車裝置40，藉由對煞車操作裝置42的操作所伴隨的流體移動來使煞車動作裝置44進行動作。煞車動作裝置44因應煞車操作裝置42的操作量而動作。煞車操作裝置42的操作量越大則煞車動作裝置44的煞車力越大。The brake device 40 operates the brake actuating device 44 by the movement of the fluid accompanying the operation of the brake operating device 42 . The brake actuating device 44 operates according to the operation amount of the brake operating device 42 . The larger the operation amount of the brake operation device 42 is, the larger the braking force of the brake operation device 44 is.

如第3圖及第4圖所示，人力驅動車10包含煞車控制裝置50，煞車控制裝置42可控制煞車裝置40的煞車力。煞車控制裝置50可變更煞車操作裝置42的操作量與煞車力的關係。煞車控制裝置50具備有主體50A。主體50A例如設置於框架18。在本實施方式，主體50A設置於框架18的內部。主體50A也可安裝於框架18的外面部。主體50A也可設置於：桿部12、車把桿14、或前叉16。As shown in FIGS. 3 and 4 , the human-powered vehicle 10 includes a brake control device 50 , and the brake control device 42 can control the braking force of the brake device 40 . The brake control device 50 can change the relationship between the operation amount of the brake operation device 42 and the braking force. The brake control device 50 includes a main body 50A. The main body 50A is provided in the frame 18, for example. In this embodiment, the main body 50A is provided inside the frame 18 . The main body 50A may also be attached to the outer surface of the frame 18 . The main body 50A may also be provided on the stem portion 12 , the handlebar stem 14 , or the front fork 16 .

如第3圖所示，主體50A包含：壓力控制部56、及用來驅動壓力控制部56的驅動部58。壓力控制部56用來控制煞車操作裝置42與煞車動作裝置44之間的流體的壓力。壓力控制部56包含：設置於主體50A的流體室的閥部56A較佳。驅動部58包含電動致動器52。也就是說煞車控制裝置50包含電動致動器52。電動致動器52用來驅動閥部56A。電動致動器52例如是電動馬達。電動致動器52也可以是電磁線圈。電動致動器52用來變更流體壓力。驅動部58包含：將電動致動器52的旋轉體的旋轉運動轉換成直線運動而傳遞到壓力控制部56的轉換機構、及將電動致動器52的旋轉體的旋轉運動變速而傳遞到轉換機構的傳遞機構(變速機構)。As shown in FIG. 3 , the main body 50A includes a pressure control unit 56 and a drive unit 58 for driving the pressure control unit 56 . The pressure control unit 56 controls the pressure of the fluid between the brake operating device 42 and the brake actuating device 44 . The pressure control part 56 preferably includes a valve part 56A provided in the fluid chamber of the main body 50A. The drive unit 58 includes the electric actuator 52 . That is, the brake control device 50 includes the electric actuator 52 . The electric actuator 52 is used to drive the valve portion 56A. The electric actuator 52 is, for example, an electric motor. The electric actuator 52 may also be a solenoid. The electric actuator 52 is used to vary the fluid pressure. The drive unit 58 includes a conversion mechanism that converts the rotational motion of the rotary body of the electric actuator 52 into linear motion and transmits it to the pressure control unit 56 , and a conversion mechanism that shifts the rotational motion of the rotary body of the electric actuator 52 and transmits it to the converter The transmission mechanism (speed change mechanism) of the mechanism.

連接構件46，包含有第1連接構件46A及第2連接構件46B。主體50A具有：經由第1連接構件46A而連接於煞車操作裝置42的第1通口60、與經由第2連接構件46B而連接於煞車動作裝置44的第2通口62。閥部56A作成：讓用來變更第1通口60與第2通口62之間的流體的流通狀態的驅動部58的電動致動器52將閥部56A驅動。驅動部58，與用來將電力供給到電動致動器52的電源電連接。電源是與用來輔助人力驅動車10的推進的輔助馬達電連接的電池(二次電池)64(參考第1圖)較佳。除了電池64之外，也可準備煞車控制裝置50專用的電源。輔助馬達也可設置於曲柄軸，也可是設置在車輪20的輪轂馬達。The connecting member 46 includes a first connecting member 46A and a second connecting member 46B. The main body 50A has a first port 60 connected to the brake operating device 42 via the first connection member 46A, and a second port 62 connected to the brake actuator 44 via the second connection member 46B. The valve portion 56A is formed so that the valve portion 56A is driven by the electric actuator 52 of the drive portion 58 for changing the flow state of the fluid between the first port 60 and the second port 62 . The drive unit 58 is electrically connected to a power source for supplying electric power to the electric actuator 52 . The power source is preferably a battery (secondary battery) 64 (refer to FIG. 1 ) electrically connected to an auxiliary motor for assisting the propulsion of the human-powered vehicle 10 . In addition to the battery 64, a power supply dedicated to the brake control device 50 may also be prepared. The auxiliary motor may be provided in the crankshaft, or may be provided in the hub motor of the wheel 20 .

如第4圖所示，控制裝置70包含控制部72。控制部72，包含用來執行預定的控制程式的運算處理裝置。運算處理裝置，包含例如CPU(Central Processing Unit)(中央處理單元)或MPU(Micro Processing Unit)(微處理單元)。運算處理裝置也可設置在相互分離的複數的部位。控制部72也可包含1個或複數的微電腦。控制部72，也可將全體設置在煞車控制裝置50的主體50A，也可將至少局部設置在煞車控制裝置50的主體50A，也可將全體設置在煞車控制裝置50的外部。控制裝置70，也可將全體設置在煞車控制裝置50的主體50A，也可將至少局部設置在煞車控制裝置50的主體50A，也可將全體設置在煞車控制裝置50的外部。As shown in FIG. 4 , the control device 70 includes a control unit 72 . The control unit 72 includes an arithmetic processing device for executing a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) (central processing unit) or an MPU (Micro Processing Unit) (micro processing unit). The arithmetic processing means may be provided in plural places separated from each other. The control unit 72 may include one or a plurality of microcomputers. The control unit 72 may be installed entirely in the main body 50A of the brake control device 50 , may be installed at least partially in the main body 50A of the brake control device 50 , or may be installed entirely outside the brake control device 50 . The control device 70 may be installed entirely in the main body 50A of the brake control device 50 , may be installed at least partially in the main body 50A of the brake control device 50 , or may be installed entirely outside the brake control device 50 .

控制裝置70包含記憶部74較佳。在記憶部74儲存有：各種控制程式、及使用於各種控制處理的資訊。記憶部74例如包含非揮發性記憶體及揮發性記憶體。非揮發性記憶體例如包含：ROM(唯讀記憶體)(Read-Only Memory)、EPROM(抹除式可複寫唯讀記憶體)(Erasable Programmable Read Only Memory)、EEPROM(電子抹除式可複寫唯讀記憶體)(Electrically Erasable Programmable Read-Only Memory)、及快閃記憶體的至少一種。揮發性記憶體例如包含RAM(隨機存取記憶體)(Random access memory)。Preferably, the control device 70 includes a memory unit 74 . Various control programs and information used for various control processes are stored in the memory unit 74 . The memory unit 74 includes, for example, a nonvolatile memory and a volatile memory. Examples of non-volatile memories include: ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Erasable Programmable Read Only Memory) Read-only memory (Electrically Erasable Programmable Read-Only Memory), and at least one of flash memory. The volatile memory includes, for example, RAM (Random Access Memory).

控制部72用來控制電動致動器52。控制部72，因應於人力驅動車10的車輪20的狀態及操作煞車裝置40的煞車操作裝置42的操作狀態的至少一種，來控制煞車控制裝置50較佳。人力驅動車10的車輪20的狀態，例如包含：前輪20A的轉速與後輪20B的轉速的差值、及車體速度與藉由車輪20的轉速所算出的車速的差值的至少一種。煞車操作裝置42的操作狀態，例如包含：煞車操作裝置42的操作量及操作速度的至少一種。在預測人力驅動車10的車輪20的狀態及煞車操作裝置42的操作狀態的至少一種為車輪20(這裡是前輪20A)打滑或鎖死的狀態的情況，控制部72驅動電動致動器52較佳。煞車控制裝置50具有ABS(防鎖死煞車系統)(Anti-lock Braking System)的功能。The control unit 72 is used to control the electric actuator 52 . The control unit 72 preferably controls the brake control device 50 according to at least one of the state of the wheels 20 of the human-driven vehicle 10 and the operation state of the brake operating device 42 that operates the brake device 40 . The state of the wheels 20 of the human-powered vehicle 10 includes, for example, at least one of the difference between the rotational speed of the front wheels 20A and the rotational speed of the rear wheels 20B, and the difference between the vehicle body speed and the vehicle speed calculated from the rotational speed of the wheels 20 . The operation state of the brake operation device 42 includes, for example, at least one of an operation amount and an operation speed of the brake operation device 42 . When at least one of the state of the wheel 20 of the human-powered vehicle 10 and the operation state of the brake operating device 42 is predicted to be a state in which the wheel 20 (here, the front wheel 20A) is slipping or locked, the control unit 72 drives the electric actuator 52 to compare good. The brake control device 50 has the function of ABS (Anti-lock Braking System).

控制部72控制煞車控制裝置50以減少煞車裝置40的煞車力較佳。在ABS(防鎖死煞車系統)動作的情況，電動致動器52使閥部56A移動。伴隨著將第1通口60與第2通口62之間的流路阻斷，並且在壓力控制部56相較於閥部56A更增加第2通口62側的流路的容量。結果，讓煞車動作裝置44的流體壓力降低，抑制車輪20(這裡是前輪20A)打滑或鎖死。作為這樣的減壓機構(ABS(防鎖死煞車系統)機構)，可以考慮各種結構。在煞車控制裝置50可採用任意的減壓機構。控制部72控制煞車控制裝置50以反覆讓煞車裝置40的煞車力減少及恢復較佳。Preferably, the control unit 72 controls the brake control device 50 to reduce the braking force of the brake device 40 . When ABS (Anti-lock Brake System) is activated, the electric actuator 52 moves the valve portion 56A. As the flow path between the first port 60 and the second port 62 is blocked, the capacity of the flow path on the second port 62 side is increased in the pressure control portion 56 compared to the valve portion 56A. As a result, the fluid pressure of the brake actuating device 44 is reduced, and the wheel 20 (here, the front wheel 20A) is prevented from slipping or locking. As such a decompression mechanism (ABS (Anti-lock Brake System) mechanism), various structures are conceivable. An arbitrary decompression mechanism can be used for the brake control device 50 . The control unit 72 controls the brake control device 50 so as to repeatedly reduce and restore the braking force of the brake device 40 .

例如在符合動作條件的情況，控制部72將電動致動器52驅動。例如在前輪20A的轉速與後輪20B的轉速的差值為預定轉速以上的情況、車體速度與藉由車輪20的轉速所算出的車速的差值為預定速度以上的情況、及煞車操作裝置42的每預定時間的操作量為預定操作量以上的情況中至少一種情況，則符合動作條件。For example, when the operating conditions are met, the control unit 72 drives the electric actuator 52 . For example, when the difference between the rotational speed of the front wheels 20A and the rotational speed of the rear wheels 20B is a predetermined rotational speed or more, when the difference between the vehicle body speed and the vehicle speed calculated from the rotational speed of the wheels 20 is a predetermined speed or more, and the brake operating device If the operation amount per predetermined time of 42 is at least one of the cases where the operation amount is greater than or equal to the predetermined operation amount, the operation condition is satisfied.

人力驅動車10具備有車輪狀態檢測部66較佳。在動作條件為前輪20A的轉速與後輪20B的轉速的差值為預定轉速以上的情況，車輪狀態檢測部66包含：用來檢測前輪20A的轉速的第1車速感應器66A、及用來檢測後輪20B的轉速的第2車速感應器66B。在動作條件為車體速度與藉由車輪20的轉速所算出的車速的差值為預定速度以上的情況，車輪狀態檢測部66包含：第1車速感應器66A及第2車速感應器66B的其中之一、與用來檢測人力驅動車10的車體速度的車體速度感應器66C。車體速度感應器66C可採用任何構造。車體速度感應器66C，例如也可使用GPS(全球定位系統)(Global Positioning System)來取得車體速度、也可藉由將加速度進行積分計算來運算出車體速度。在動作條件為煞車操作裝置42的每預定時間的操作量為預定操作量以上的情況，車輪狀態檢測部66包含：用來檢測煞車操作裝置42的操作狀態的操作狀態感應器66D。The human-powered vehicle 10 preferably includes a wheel state detection unit 66 . When the operating condition is that the difference between the rotational speed of the front wheels 20A and the rotational speed of the rear wheels 20B is equal to or greater than a predetermined rotational speed, the wheel state detection unit 66 includes a first vehicle speed sensor 66A for detecting the rotational speed of the front wheels 20A, and a first vehicle speed sensor 66A for detecting the rotational speed of the front wheels 20A. The second vehicle speed sensor 66B for the rotational speed of the rear wheel 20B. When the operating condition is that the difference between the vehicle body speed and the vehicle speed calculated from the rotational speed of the wheels 20 is equal to or greater than a predetermined speed, the wheel state detection unit 66 includes a first vehicle speed sensor 66A and a second vehicle speed sensor 66B among them. One is the vehicle body speed sensor 66C for detecting the vehicle body speed of the human-driven vehicle 10 . The vehicle body speed sensor 66C may take any configuration. The vehicle body speed sensor 66C may acquire the vehicle body speed using, for example, a GPS (Global Positioning System), or may calculate the vehicle body speed by integrating the acceleration. The wheel state detection unit 66 includes an operation state sensor 66D for detecting the operation state of the brake operation device 42 when the operation condition is that the operation amount of the brake operation device 42 per predetermined time is greater than or equal to the predetermined operation amount.

控制部72根據煞車控制裝置50的動作資訊來控制姿勢變更裝置24。控制部72根據動作資訊控制姿勢變更裝置24讓騎士的姿勢改變較佳。動作資訊包含：顯示符合使煞車控制裝置50進行動作的動作條件的第1資訊、及顯示煞車控制裝置50的動作的第2資訊的至少一種較佳。控制部72根據第1資訊及第2資訊的至少一種來控制姿勢變更裝置24。控制部72因應於第1資訊及第2資訊的至少一種的持續時間來控制姿勢變更裝置24。The control unit 72 controls the posture changing device 24 based on the operation information of the brake control device 50 . The control unit 72 controls the posture changing device 24 according to the motion information to change the posture of the knight. Preferably, the operation information includes at least one of first information showing the operation condition for operating the brake control device 50 , and second information showing the operation of the brake control device 50 . The control unit 72 controls the posture changing device 24 based on at least one of the first information and the second information. The control unit 72 controls the posture changing device 24 according to the duration of at least one of the first information and the second information.

在姿勢變更裝置24包含可調整式座墊支柱裝置26的情況，例如控制部72根據動作資訊控制可調整式座墊支柱裝置26讓鞍座22的高度變低。When the posture changing device 24 includes the adjustable seat cushion support device 26 , for example, the control unit 72 controls the adjustable seat cushion support device 26 to lower the height of the saddle 22 according to the motion information.

在姿勢變更裝置24包含懸吊裝置28的情況，例如控制部72根據第1資訊及第2資訊的至少一種控制懸吊裝置28將其從第1狀態及第2狀態的其中一方變更為另一方。When the posture changing device 24 includes the suspension device 28 , for example, the control unit 72 controls the suspension device 28 to change from one of the first state and the second state to the other based on at least one of the first information and the second information. .

在懸吊裝置28包含前懸吊裝置30的情況，控制部72，根據第1資訊及第2資訊的至少一種來控制前懸吊裝置30，而從第1狀態變更成第2狀態。When the suspension device 28 includes the front suspension device 30, the control unit 72 controls the front suspension device 30 based on at least one of the first information and the second information to change from the first state to the second state.

在控制部72符合動作條件或讓煞車控制裝置50進行動作的情況，將前懸吊裝置30從第1狀態變更為第2狀態較佳。在控制部72符合動作條件或讓煞車控制裝置50進行動作的情況，且前懸吊裝置30為第2狀態的情況，則維持第2狀態。It is preferable to change the front suspension device 30 from the first state to the second state when the control unit 72 meets the operating conditions or when the brake control device 50 is operated. When the control unit 72 meets the operating conditions or the brake control device 50 is operated, and when the front suspension device 30 is in the second state, the second state is maintained.

在懸吊裝置28包含後懸吊裝置32的情況，控制部72，根據第1資訊及第2資訊的至少一種來控制後懸吊裝置32，而從第2狀態變更成第1狀態。When the suspension device 28 includes the rear suspension device 32, the control unit 72 controls the rear suspension device 32 based on at least one of the first information and the second information to change from the second state to the first state.

在控制部72符合動作條件或讓煞車控制裝置50進行動作的情況，將後懸吊裝置32從第2狀態變更為第1狀態較佳。在控制部72符合動作條件或讓煞車控制裝置50進行動作的情況，且後懸吊裝置32為第1狀態的情況，則維持第1狀態。It is preferable to change the rear suspension device 32 from the second state to the first state when the control unit 72 meets the operating conditions or when the brake control device 50 is operated. The first state is maintained when the control unit 72 meets the operating conditions or when the brake control device 50 is operated, and when the rear suspension device 32 is in the first state.

控制部72可切換成：因應動作資訊控制姿勢變更裝置24的第1控制狀態、與不因應動作資訊控制姿勢變更裝置24的第2控制狀態較佳。控制部72例如可因應操作部68的操作而切換成第1控制狀態與第2控制狀態。操作部68例如設置於車把桿14。操作部68也可設置於外部裝置。外部裝置例如包含：自行車碼表、智慧型手機、及個人電腦的至少一種。Preferably, the control unit 72 can switch between a first control state in which the posture changing device 24 is controlled according to the motion information, and a second control state in which the posture changing device 24 is not controlled according to the motion information. For example, the control unit 72 can be switched between the first control state and the second control state in response to the operation of the operation unit 68 . The operation part 68 is provided in the handlebar lever 14, for example. The operation part 68 may be provided in an external device. The external device includes, for example, at least one of a bicycle computer, a smart phone, and a personal computer.

參考第5圖，針對控制部72的姿勢變更裝置24的控制狀態的切換處理來說明。控制部72，當電力供給到控制部72時，開始處理而轉往第5圖所示的流程的步驟S11。控制部72，當第5圖的流程結束時，在電源供給停止之前，在預定周期之後反覆進行從步驟S11起算的處理。Referring to FIG. 5 , the process of switching the control state of the posture changing device 24 of the control unit 72 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S11 of the flow shown in FIG. 5 . When the flow of FIG. 5 ends, the control unit 72 repeats the processing from step S11 after a predetermined period until the power supply is stopped.

控制部72，在步驟S11，判斷有/無對操作部68進行操作。控制部72在沒有對操作部68進行操作的情況則結束處理。控制部72在有對操作部68進行操作的情況，則轉往步驟S12。The control unit 72 determines whether or not the operation unit 68 is operated in step S11. The control unit 72 ends the process when the operation unit 68 is not operated. When the control part 72 operates the operation part 68, it transfers to step S12.

控制部72，在步驟S12，判斷是否為第1控制狀態。在控制部72為第1控制狀態的情況，則轉往步驟S13。控制部72，在步驟S13，將第1控制狀態切換成第2控制狀態，結束處理。The control part 72 determines whether it is the 1st control state in step S12. When the control unit 72 is in the first control state, the process proceeds to step S13. The control unit 72 switches the first control state to the second control state in step S13, and ends the process.

控制部72，在步驟S12，在不是第1控制狀態的情況(這裡是第2控制狀態的情況)，則轉往步驟S14。控制部72，在步驟S14，從第2控制狀態切換成第1控制狀態，結束處理。When the control unit 72 is not in the first control state in step S12 (here, in the case of the second control state), the process proceeds to step S14. The control unit 72 switches from the second control state to the first control state in step S14, and ends the process.

參考第6圖，針對控制部72的姿勢變更裝置24的控制處理來說明。控制部72，當電力供給到控制部72時，開始處理而轉往第6圖所示的流程的步驟S21。控制部72，當第6圖的流程結束時，在電源供給停止之前，在預定周期之後反覆進行從步驟S21起算的處理。Referring to FIG. 6 , the control process of the posture changing device 24 of the control unit 72 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S21 of the flow shown in FIG. 6 . When the flow of FIG. 6 ends, the control unit 72 repeats the processing from step S21 after a predetermined period until the power supply is stopped.

控制部72，在步驟S21，判斷是否符合動作條件、或煞車控制裝置50是否進行動作。控制部72在未符合動作條件的情況且煞車控制裝置50未進行動作的情況，則結束處理。控制部72在符合動作條件的情況或煞車控制裝置50進行動作的情況，則轉往步驟S22。In step S21, the control unit 72 determines whether or not the operation conditions are satisfied, or whether the brake control device 50 is operating. The control unit 72 ends the process when the operating conditions are not met and the brake control device 50 is not operating. When the control unit 72 meets the operating conditions or when the brake control device 50 is operating, the process proceeds to step S22.

控制部72，在步驟S22，判斷是否為第1控制狀態。在控制部72不是第1控制狀態的情況則結束處理。在控制部72為第1控制狀態的情況，則轉往步驟S23。The control part 72 determines whether it is the 1st control state in step S22. When the control unit 72 is not in the first control state, the process ends. When the control unit 72 is in the first control state, the process proceeds to step S23.

控制部72，在步驟S23，控制可調整式座墊支柱裝置26讓鞍座22的高度變低，然後轉往步驟S24。控制部72，在步驟S24，控制懸吊裝置28將其從第1狀態及第2狀態的其中一方變更成另一方，然後轉往步驟S25。例如控制部72，在步驟S24，將前懸吊裝置30從第1狀態變更成第2狀態。例如控制部72，在步驟S24，將後懸吊裝置32從第2狀態變更成第1狀態。The control unit 72 controls the adjustable seat cushion support device 26 to lower the height of the saddle 22 in step S23, and then proceeds to step S24. The control unit 72 controls the suspension device 28 to change from one of the first state and the second state to the other in step S24, and then proceeds to step S25. For example, the control unit 72 changes the front suspension device 30 from the first state to the second state in step S24. For example, the control unit 72 changes the rear suspension device 32 from the second state to the first state in step S24.

控制部72，在步驟S25，判斷是否符合煞車控制裝置50的動作結束條件、或煞車控制裝置50的動作是否已結束。例如，當不再符合煞車控制裝置50的動作條件時，則符合動作結束條件。例如，在煞車控制裝置50的動作開始起算經過預定期間的情況，則符合動作結束條件。控制部72，在未符合煞車控制裝置50的動作結束條件，且煞車控制裝置50的動作未結束的情況，則轉往步驟S23。控制部72，在符合了煞車控制裝置50的動作結束條件的情況，且煞車控制裝置50的動作結束的情況，則結束處理。In step S25, the control unit 72 determines whether or not the operation end condition of the brake control device 50 is satisfied, or whether the operation of the brake control device 50 has been completed. For example, when the operation condition of the brake control device 50 is no longer satisfied, the operation end condition is satisfied. For example, when a predetermined period elapses from the start of the operation of the brake control device 50, the operation end condition is satisfied. The control unit 72 proceeds to step S23 when the operation end condition of the brake control device 50 is not satisfied and the operation of the brake control device 50 is not completed. The control unit 72 ends the processing when the conditions for ending the operation of the brake control device 50 are satisfied and the operation of the brake control device 50 ends.

從步驟S21中判斷肯定起至步驟S25中判斷肯定為止的期間，對應於第1資訊及第2資訊的至少一種的持續時間。The period from the affirmative determination in step S21 to the affirmative determination in step S25 corresponds to the duration of at least one of the first information and the second information.

＜第2實施方式＞ 參考第7圖來說明第2實施方式的控制裝置70。第2實施方式的控制裝置70，除了是執行第7圖的流程圖的處理來取代第5圖及第6圖的流程圖的處理之外，其他與第1實施方式的控制裝置70相同。在第2實施方式的控制裝置70之中，針對與第1實施方式共通的構造加上與第1實施方式相同的符號，省略重複的說明。 <Second Embodiment> The control device 70 according to the second embodiment will be described with reference to FIG. 7 . The control device 70 of the second embodiment is the same as the control device 70 of the first embodiment except that the process of the flowchart of FIG. 7 is executed instead of the process of the flowcharts of FIGS. 5 and 6 . In the control device 70 of the second embodiment, the same reference numerals as those of the first embodiment are assigned to the same structures as those of the first embodiment, and overlapping descriptions are omitted.

姿勢變更裝置24，包含：用來變更人力驅動車10的鞍座22的高度的可調整式座墊支柱裝置26、及懸吊裝置28的至少一種。The posture changing device 24 includes at least one of an adjustable seat pillar device 26 and a suspension device 28 for changing the height of the saddle 22 of the human-powered vehicle 10 .

動作資訊包含：顯示符合使煞車控制裝置50進行動作的動作條件的第1資訊、及顯示煞車控制裝置50的動作的第2資訊。控制部72根據第1資訊及第2資訊的至少一種來控制姿勢變更裝置24不使姿勢變更裝置24進行動作。The operation information includes first information indicating the operation condition for operating the brake control device 50 and second information indicating the operation of the brake control device 50 . The control unit 72 controls the posture changing device 24 not to operate the posture changing device 24 based on at least one of the first information and the second information.

控制部72因應於第1資訊及第2資訊的至少一種的持續時間來控制姿勢變更裝置24不使姿勢變更裝置24進行動作較佳。Preferably, the control unit 72 controls the posture changing device 24 not to operate the posture changing device 24 according to the duration of at least one of the first information and the second information.

參考第7圖，針對控制部72的姿勢變更裝置24的控制處理來說明。控制部72，當電力供給到控制部72時，開始處理而轉往第7圖所示的流程的步驟S31。控制部72，當第7圖的流程結束時，在電源供給停止之前，在預定周期之後反覆進行從步驟S31起算的處理。Referring to FIG. 7 , the control process of the posture changing device 24 of the control unit 72 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S31 of the flow shown in FIG. 7 . When the flow of FIG. 7 ends, the control unit 72 repeats the processing from step S31 after a predetermined period until the power supply is stopped.

控制部72，在步驟S31，判斷是否符合動作條件、或煞車控制裝置50是否進行動作。控制部72在未符合動作條件的情況且煞車控制裝置50未進行動作的情況，則結束處理。控制部72在符合動作條件的情況或煞車控制裝置50進行動作的情況，則轉往步驟S32。In step S31, the control unit 72 determines whether or not the operation conditions are satisfied, or whether the brake control device 50 is operating. The control unit 72 ends the process when the operating conditions are not met and the brake control device 50 is not operating. When the control unit 72 meets the operating conditions or when the brake control device 50 is operating, the process proceeds to step S32.

控制部72，在步驟S32，控制姿勢變更裝置24不使姿勢變更裝置24進行動作，然後轉往步驟S33。控制部72，在步驟S33，判斷是否符合煞車控制裝置50的動作結束條件、或煞車控制裝置50的動作是否已結束。例如，當不再符合煞車控制裝置50的動作條件時，則符合動作結束條件。例如，在煞車控制裝置50的動作開始起算經過預定期間的情況，則符合動作結束條件。控制部72，在未符合煞車控制裝置50的動作結束條件，且煞車控制裝置50的動作未結束的情況，則轉往步驟S32。控制部72，在符合了煞車控制裝置50的動作結束條件的情況，且煞車控制裝置50的動作結束的情況，則結束處理。The control unit 72 controls the posture changing device 24 not to operate the posture changing device 24 in step S32, and then proceeds to step S33. In step S33, the control unit 72 determines whether or not the operation end condition of the brake control device 50 is satisfied, or whether the operation of the brake control device 50 has been completed. For example, when the operation condition of the brake control device 50 is no longer satisfied, the operation end condition is satisfied. For example, when a predetermined period elapses from the start of the operation of the brake control device 50, the operation end condition is satisfied. The control unit 72 proceeds to step S32 when the operation end condition of the brake control device 50 is not satisfied and the operation of the brake control device 50 is not completed. The control unit 72 ends the processing when the conditions for ending the operation of the brake control device 50 are satisfied and the operation of the brake control device 50 ends.

控制部72，從執行步驟S32的處理起至在步驟S33判斷肯定為止，禁止姿勢變更裝置24的動作。例如從執行步驟S32的處理起至在步驟S33判斷肯定為止的期間，即使進行用來操作姿勢變更裝置24的操作動作的情況，也不會使姿勢變更裝置24進行動作。從執行步驟S32的處理起至在步驟S33判斷肯定為止的期間，對應於第1資訊及第2資訊的至少一種的與煞車控制裝置50的動作相關的持續時間。The control unit 72 prohibits the operation of the posture changing device 24 from the time when the process of step S32 is executed until an affirmative determination is made in step S33. For example, the posture changing device 24 is not actuated even when an operation operation for operating the posture changing device 24 is performed during the period from the execution of the processing of step S32 until the affirmative determination in step S33. Duration time associated with the operation of the brake control device 50 corresponding to at least one of the first information and the second information during the period from the execution of the process of step S32 to the determination of affirmative in step S33.

＜變形例＞ 關於實施方式的說明，是本發明的人力驅動車用控制裝置採取的型態的例子，並非意圖限制其形態。本發明的人力驅動車用控制裝置，可採取例如以下所示的實施方式的變形例及未相互矛盾的至少兩個變形例組合的型態。在以下的變形例，針對與實施方式共通的部分，加上與實施方式相同的符號，省略其說明。 <Variation> The description of the embodiment is an example of the form of the control device for a human-powered vehicle of the present invention, and is not intended to limit the form. The control device for a human-powered vehicle of the present invention can take, for example, a combination of a modification of the embodiment shown below and a combination of at least two modifications that do not contradict each other. In the following modifications, the same reference numerals as those in the embodiment are attached to the parts common to the embodiment, and the description thereof will be omitted.

在第1實施方式，控制部72，在第6圖的步驟S23，也可控制可調整式座墊支柱裝置26而讓可調整式座墊支柱裝置26不進行動作。In the first embodiment, the control unit 72 may control the adjustable seat cushion support device 26 so that the adjustable seat cushion support device 26 does not operate in step S23 in FIG. 6 .

在第1實施方式，控制部72，在第6圖的步驟S24，也可控制懸吊裝置28而讓懸吊裝置28不進行動作。In the first embodiment, the control unit 72 may control the suspension device 28 so that the suspension device 28 does not operate in step S24 in FIG. 6 .

煞車控制裝置50，可具備泵浦來取代電動致動器52或者另外具備有泵浦。The brake control device 50 may be provided with a pump instead of the electric actuator 52 or in addition to the pump.

本說明書所使用的「至少一個」的表現方式，代表所需要的選項的「一個以上」。作為一個例子，在本說明書所使用的「至少一個」的表現方式，如果選項的數量為兩個的話，則代表「只有一個選項」或「兩個選項雙方」。作為其他例子，在本說明書所使用的「至少一個」的表現方式，如果選項的數量為三個以上的話，則代表「只有一個選項」或「兩個以上的任意選項的組合」。The expression "at least one" used in this specification means "one or more" of the required options. As an example, the expression "at least one" used in this specification, if the number of options is two, means "only one option" or "both two options". As another example, the expression "at least one" used in this specification means "only one option" or "a combination of two or more arbitrary options" if the number of options is three or more.

10:人力驅動車 22:鞍座 24:姿勢變更裝置 26:可調整式座墊支柱裝置 28:懸吊裝置 28A:第1構件 28B:第2構件 30:前懸吊裝置 32:後懸吊裝置 40:煞車裝置 50:煞車控制裝置 52:電動致動器 70:控制裝置 72:控制部 10: Human powered vehicle 22: Saddle 24: Posture changing device 26: Adjustable seat cushion support device 28: Suspension device 28A: Member 1 28B: Member 2 30: Front suspension 32: Rear suspension 40: Brakes 50: Brake Control 52: Electric Actuator 70: Controls 72: Control Department

[第1圖]是包含第1實施方式的人力驅動車用控制裝置的人力驅動車的側視圖。 [第2圖]是顯示實施方式的煞車裝置的構造的示意圖。 [第3圖]是顯示第2圖的人力驅動車用煞車控制裝置的構造的示意圖。 [第4圖]是顯示第1實施方式的人力驅動車用控制裝置的電路構造的方塊圖。 [第5圖]是藉由第4圖的控制部所執行，用來切換控制狀態的處理的流程圖。 [第6圖]是顯示藉由第4圖的控制部所執行，用來控制姿勢變更裝置的處理的流程圖。 [第7圖]是藉由第2實施方式的控制部所執行，用來控制姿勢變更裝置的處理的流程圖。 [ Fig. 1 ] is a side view of a human-powered vehicle including the control device for a human-powered vehicle according to the first embodiment. [FIG. 2] It is a schematic diagram which shows the structure of the brake apparatus of embodiment. [FIG. 3] It is a schematic diagram which shows the structure of the brake control apparatus for a human-powered vehicle of FIG. 2. FIG. [ Fig. 4 ] is a block diagram showing a circuit configuration of the control device for a human-powered vehicle according to the first embodiment. [FIG. 5] is a flowchart of the process for switching the control state, which is executed by the control unit in FIG. 4. [FIG. [ Fig. 6 ] is a flowchart showing the processing executed by the control unit of Fig. 4 for controlling the posture changing device. [ Fig. 7 ] is a flowchart of processing executed by the control unit of the second embodiment for controlling the posture changing device.

24:姿勢變更裝置 24: Posture changing device

24A:致動器 24A: Actuator

26:可調整式座墊支柱裝置 26: Adjustable seat cushion support device

26A:致動器 26A: Actuator

28:懸吊裝置 28: Suspension device

30:前懸吊裝置 30: Front suspension

30A:致動器 30A: Actuator

32:後懸吊裝置 32: Rear suspension

32A:致動器 32A: Actuator

52:電動致動器 52: Electric Actuator

58:驅動部 58: Drive Department

64:電池 64: battery

66:車輪狀態檢測部 66: Wheel state detection section

66A:第1車速感應器 66A: 1st vehicle speed sensor

66B:第2車速感應器 66B: 2nd vehicle speed sensor

66C:車體速度感應器 66C: Body speed sensor

66D:操作狀態感應器 66D: Operation status sensor

68:操作部 68: Operation Department

70:控制裝置 70: Controls

72:控制部 72: Control Department

74:記憶部 74: Memory Department

Claims (13)

一種人力驅動車用控制裝置， 上述人力驅動車包含：煞車裝置、使上述人力驅動車的搭乘者的搭乘姿勢改變的姿勢變更裝置、及可控制上述煞車裝置的煞車力的煞車控制裝置； 上述人力驅動車用控制裝置具備有控制部， 上述控制部，根據與上述煞車控制裝置的動作相關的動作資訊來控制上述姿勢變更裝置。 A control device for a human-driven vehicle, The human-powered vehicle includes a braking device, a posture changing device for changing the riding posture of a rider of the human-powered vehicle, and a braking control device capable of controlling the braking force of the braking device; The above-mentioned control device for a human-powered vehicle includes a control unit, The control unit controls the posture changing device based on operation information related to the operation of the brake control device. 如請求項1的人力驅動車用控制裝置，其中，上述動作資訊，包含：顯示符合使上述煞車控制裝置進行動作的動作條件的第1資訊、及顯示上述煞車控制裝置的動作的第2資訊的至少一種； 上述控制部，根據上述第1資訊及上述第2資訊的至少一種來控制上述姿勢變更裝置。 The control device for a human-powered vehicle according to claim 1, wherein the operation information includes first information indicating an operation condition for operating the brake control device, and second information indicating an operation of the brake control device. at least one; The control unit controls the posture changing device based on at least one of the first information and the second information. 如請求項1或2的人力驅動車用控制裝置，其中，上述控制部，根據上述動作資訊來控制上述姿勢變更裝置讓上述搭乘者的姿勢改變。The control device for a human-powered vehicle according to claim 1 or 2, wherein the control unit controls the posture changing device to change the posture of the passenger based on the motion information. 如請求項3的人力驅動車用控制裝置，其中，上述姿勢變更裝置，包含：用來變更上述人力驅動車的鞍座的高度的可調整式座墊支柱裝置。The control device for a human-powered vehicle according to claim 3, wherein the posture changing device includes an adjustable seat cushion device for changing the height of the saddle of the human-powered vehicle. 如請求項4的人力驅動車用控制裝置，其中，上述控制部，根據上述動作資訊來控制上述可調整式座墊支柱裝置讓上述鞍座的高度變低。The control device for a human-powered vehicle according to claim 4, wherein the control unit controls the adjustable seat cushion device to lower the height of the saddle based on the motion information. 如請求項2的人力驅動車用控制裝置，其中，上述姿勢變更裝置包含懸吊裝置， 上述懸吊裝置具有：第1構件、及設置成可相對於上述第1構件相對移動的第2構件； 上述懸吊裝置設定為：第1狀態、及相較於上述第1狀態更加限制上述第2構件相對於上述第1構件的相對移動的第2狀態，的其中一種狀態； 上述控制部，根據上述第1資訊及上述第2資訊的至少一種，來控制上述懸吊裝置將其從上述第1狀態及上述第2狀態的其中一方變更為另一方。 The control device for a human-powered vehicle according to claim 2, wherein the posture changing device includes a suspension device, The above-mentioned suspension device includes: a first member, and a second member provided so as to be movable relative to the first member; The suspension device is set to one of a first state and a second state in which the relative movement of the second member relative to the first member is more restricted than the first state; The control unit controls the suspension device to change from one of the first state and the second state to the other based on at least one of the first information and the second information. 如請求項6的人力驅動車用控制裝置，其中，上述懸吊裝置包含前懸吊裝置， 上述控制部，根據上述第1資訊及上述第2資訊的至少一種，來控制上述前懸吊裝置將其從上述第1狀態變更成上述第2狀態。 The control device for a human-powered vehicle according to claim 6, wherein the suspension device includes a front suspension device, The control unit controls the front suspension device to change from the first state to the second state based on at least one of the first information and the second information. 如請求項6或7的人力驅動車用控制裝置，其中，上述懸吊裝置包含後懸吊裝置， 上述控制部，根據上述第1資訊及上述第2資訊的至少一種，來控制上述後懸吊裝置將其從上述第2狀態變更成上述第1狀態。 The control device for a human-powered vehicle according to claim 6 or 7, wherein the suspension device includes a rear suspension device, The control unit controls the rear suspension device to change from the second state to the first state based on at least one of the first information and the second information. 如請求項2的人力驅動車用控制裝置，其中，上述控制部，根據上述第1資訊及上述第2資訊的至少一種，控制上述姿勢變更裝置不使上述姿勢變更裝置進行動作。The control device for a human-powered vehicle according to claim 2, wherein the control unit controls the posture changing device not to operate the posture changing device based on at least one of the first information and the second information. 如請求項9的人力驅動車用控制裝置，其中，上述控制部，因應上述第1資訊及上述第2資訊的至少一種的持續時間，來控制上述姿勢變更裝置不使上述姿勢變更裝置進行動作。The control device for a human-powered vehicle according to claim 9, wherein the control unit controls the posture changing device not to operate the posture changing device according to the duration of at least one of the first information and the second information. 如請求項9或10的人力驅動車用控制裝置，其中，上述姿勢變更裝置，包含：用來變更上述人力驅動車的鞍座的高度的可調整式座墊支柱裝置、及懸吊裝置的至少一種。The control device for a human-powered vehicle according to claim 9 or 10, wherein the posture changing device includes at least an adjustable seat pillar device for changing the height of the saddle of the human-powered vehicle, and a suspension device. A sort of. 如請求項1或2的人力驅動車用控制裝置，其中，上述控制部可切換為：因應上述動作資訊來控制上述姿勢變更裝置的第1控制狀態、與不因應上述動作資訊來控制上述姿勢變更裝置的第2控制狀態。The control device for a human-powered vehicle according to claim 1 or 2, wherein the control unit is switchable between: controlling the first control state of the posture changing device in response to the motion information, and controlling the posture change not in response to the motion information The second control state of the device. 如請求項1或2的人力驅動車用控制裝置，其中，上述煞車裝置，藉由流體壓力來產生上述煞車力， 上述煞車控制裝置，包含用來變更上述流體壓力的電動致動器， 上述控制部用來控制上述電動致動器。 The control device for a human-powered vehicle according to claim 1 or 2, wherein the braking device generates the braking force by fluid pressure, The above-mentioned brake control device includes an electric actuator for changing the pressure of the above-mentioned fluid, The control unit controls the electric actuator.
TW110136427A 2020-11-24 2021-09-30 Control device for human-powered vehicle capable of appropriately controlling a component for a human-powered vehicle in response to operation of a brake control device TW202220892A (en)

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