Trailer and method for controlling the distance between a trailer and a connecting rod

Abstract

The trailer is provided with at least one driven wheel. Comprising an energy source configured to supply energy to a wheel drive, a brake means for decelerating the at least one wheel, a connecting rod configured to be connected to a traction means and movably supported on a trailer, a displacement sensor configured to measure a position of the connecting rod relative to the trailer, a speed measuring device configured to determine a travel speed on the basis of a measurement of a speed of the trailer and / or the connecting rod, and an electronic regulator, the regulator being configured to move a position of a neutral point relative to the trailer starting from a zero point depending on the determined travel speed, an adjustment deviation is calculated using the distance between the position of the neutral point and the measured position of the connecting rod, and a wheel drive and / or a brake device is actuated using the adjustment deviation.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202480043124.X (22) Application Date 2024.06.25 (30) Priority Data 102023116707.3 2023.06.26 DE (85) PCT International Application Entering National Phase Date 2025.12.26 (86) PCT International Application Application Data PCT / EP2024 / 067866 2024.06.25 (87) PCT International Application Publication Data WO2025 / 003170 DE 2025.01.02 (71) Applicant Nivel GmbH Address Germany (72) Inventor F.A. Khen F. Hakenbart (74) Patent Agency China Council for the Promotion of International Trade Patent & Trademark Office Co., Ltd. 11038 Patent Attorney Lü Chenfang (51) Int.Cl. B62J 45 / 40 (2006.01) B62K 27 / 12 (2006.01) B62K 27 / 00 (2006.01) (54) Title of Invention Trailer and Method for Adjusting the Spacing Between Trailer and Connecting Rod (57) Abstract A trailer having at least one driven wheel, comprising an energy source configured to supply energy to a wheel drive, a braking device for decelerating the at least one wheel, a connecting rod configured to be connected to a traction device and movably supported on the trailer, a displacement sensor configured to measure the position of the connecting rod relative to the trailer, and a method configured to adjust the distance between the trailer and / or the connecting rod. Alternatively, a speed measuring device for determining the travel speed by measuring the speed of the connecting rod, and an electronic regulator, wherein the regulator is configured to move the position of a neutral point relative to the trailer from zero point according to the determined travel speed, calculate the adjustment deviation using the distance between the position of the neutral point and the measured position of the connecting rod, and use the adjustment deviation to control the wheel drive and / or braking devices.Claims 2 pages, Description 10 pages, Drawings 5 ​​pages, CN 121399019 A 2026.01.23 CN 1 21 39 90 19 A 1. A trailer (1) having at least one driven wheel, comprising: - an energy source (5) configured to supply energy to a wheel drive; - a braking device for decelerating the at least one wheel; - a connecting rod (9) configured to be connected to a traction device and movably supported on the trailer; - a displacement sensor configured to measure the position of the connecting rod (9) relative to the trailer (1); - a speed measuring device configured to determine a travel speed based on a measurement of the speed of the trailer and / or the connecting rod; and - an electronic regulator (6), characterized in that: - the regulator (6) is configured to - move the position of the neutral point relative to the trailer (1) from a zero point according to the determined travel speed. --The adjustment deviation is calculated using the distance between the position of the neutral point and the measured position of the connecting rod (9), and --the adjustment deviation is used to control the wheel drive and / or braking device. 2. The trailer (1) according to the preceding claim, characterized in that the displacement sensor is configured as an inductive displacement sensor, a capacitive displacement sensor or a resistance-changing displacement sensor. 3. The trailer (1) according to any one of the preceding claims, characterized in that the connecting rod (9) is movably supported on the trailer (1) along the longitudinal axis of the connecting rod in a direction toward the trailer and a direction away from the trailer. 4. The trailer (1) according to the preceding claim, characterized in that the adjuster (6) is configured to move the neutral point from a zero point located on the longitudinal axis along the longitudinal axis in a direction away from the trailer to correct the distance, the corrected distance being proportional to the determined travel speed minus the zero speed. 5. The trailer (1) according to the preceding claim, characterized in that the adjuster (6) is configured to calculate a correction gap that is negatively proportional to the determined travel speed minus the zero speed when the determined speed is less than the starting speed which is less than the zero speed. 6. The trailer (1) according to any of the preceding claims, characterized in that the adjuster (6) is configured to operate the wheel drive and / or the braking device only when the value of the adjustment deviation is greater than the tolerance deviation. 7. The trailer (1) according to the preceding claim, characterized in that the adjuster (6) is configured to calculate a tolerance deviation that is positively proportional to the determined travel speed.8. The trailer (1) according to any one of the preceding claims, characterized in that it has a mechanical braking device configured to mechanically operate when the distance between the trailer (1) and the connecting rod (9) is below a limit distance. 9. The trailer (1) according to the preceding claim, characterized in that the mechanical braking device includes a lever (16) configured to be flipped by the connecting rod (9) once the distance is below the limit distance, and includes a rope drive (18) connected to the braking device and the lever (16) and configured to be tensioned by the flipping of the lever (16). 10. A method for adjusting the spacing between a trailer (1) having at least one wheel, a wheel drive, and a braking device, and a connecting rod (9), the connecting rod being configured to be connected to a traction device and movably supported and fastened to the trailer (1), the method comprising the steps of: - measuring the position of the connecting rod (9) relative to the trailer (1); - measuring the speed of the trailer (1) and / or the speed of the connecting rod (9); - determining a travel speed by means of the speed of the trailer (1) and / or the speed of the connecting rod (9); - adjusting the control of the wheel drive and / or the braking device using an adjustment deviation; - characterized in that: - with the travel speed, the position of a neutral point relative to the trailer (1) is moved from a zero point; - the adjustment deviation is calculated using the spacing between the position of the neutral point and the position of the connecting rod. 11. The method according to claim 10, characterized in that: - the connecting rod (9) is moved along the longitudinal axis of the connecting rod in a direction toward or away from the trailer; - the neutral point is moved from the zero point located on the longitudinal axis in a direction away from the trailer along the longitudinal axis to correct the distance, the correction distance being proportional to the travel speed minus the zero speed. 12. The method according to claim 11, characterized in that when the determined travel speed is less than the starting speed of the zero speed, a correction distance negatively proportional to the travel speed is calculated. 13. The method according to any one of claims 10 to 12, characterized in that the wheel drive and / or the braking device is operated only when the value of the adjustment deviation is greater than the tolerance deviation. 14. The method according to the preceding claim, characterized in that a tolerance deviation proportional to the travel speed is calculated. 15. The method according to any one of claims 10 to 14, characterized in that the braking device is mechanically operated when the distance between the trailer and the connecting rod is below the limit distance.Claims 2 / 2 Page 3 CN 121399019 A Trailer and Method for Adjusting the Spacing Between Trailer and Connecting Rod Technical Field

[0001] The present invention relates to a trailer with a wheel drive and a method for operating such a trailer. Background Art

[0002] According to the prior art, driven trailers use force measurement sensors, especially strain gauges, to operate the trailer drive, which measure the forces occurring between the trailer and the tractor. These force measurement sensors are known to be susceptible to external influences, especially environmental influences such as temperature and humidity fluctuations. Furthermore, according to the prior art, the connection between the trailer and the tractor is always rigid and therefore susceptible to axial and lateral forces between the trailer and the tractor. Especially in trailer-tractor systems, strong vibrations, even resonant oscillations, can occur. This results in the force measurement sensors generating multiple measurement data, which in turn leads to high evaluation costs for the control unit. Moreover, it is difficult to distinguish the measurement data important for trailer control from ground noise generated by vibration and other disturbance parameters. This particularly affects driving comfort and increases energy consumption.

[0003] A motor-driven trailer for a bicycle is known from US 2012 / 0037435 A1. The trailer described therein is connected to the bicycle via a lever, wherein the lever has a dynamometer and the trailer has a motor. Depending on the speed difference between the bicycle and the trailer, the dynamometer measures compressive force when the trailer is faster than the bicycle, or traction force when the trailer is behind the bicycle. The motor accelerates the trailer based on the force measured by the force measuring sensor.

[0004] US 8,365,849 B2 describes a system for towing a trailer. The trailer includes an electric motor, a brake, a lever, and a force measuring sensor arranged on the lever. Based on the mechanical force measured on the dynamometer, the trailer accelerates via the motor or brakes via the brake.

[0005] DE 102010 051 838 A1 describes a trailer for a bicycle, wherein the trailer includes a motor that functions not only as a brake but also as a motor to prevent the trailer from causing significant reaction force on the bicycle when pushing and braking it. To achieve this, various sensors are described. Thus, a pedal pressure sensor, a braking force sensor disposed in the brake lever, and a force measurement sensor disposed in the connection between the bicycle and the trailer are proposed. Signals from these sensors are transmitted to electronic logic circuitry, which in turn controls the motor and / or the brake. The force measurement sensor determines whether the bicycle is applying traction or pressure to the trailer, wherein the motor or brake is controlled based on the measured signal to make the trailer track the bicycle.As an alternative to force measurement, a preload measurement system is proposed, wherein either a pressure sensor senses pressure changes in the cylinder or a position sensor measures the position of a disc supported by a spring. While this preload measurement system provides a less rigid coupling between the trailer and the bicycle, it also retains disruptive, particularly pulsating, feedback effects.

[0006] DE 10 2006 009 862 A1 describes a bicycle gliding trailer for driving and braking a bicycle, wherein a battery, as an inertial mass, is supported in the trailer frame, causing the battery to vibrate forward during braking and backward during acceleration. The battery is connected to a position real value sensor and a Bowden cable via a control lever. During braking, the electric motor is regeneratively operated via the position real value sensor, while simultaneously activating the mechanical brake via the Bowden cable.

[0007] US 2013 / 0311058 A1 discloses a method for manipulating a trailer driven by an electric motor.

[0008] EP 3 416 860 A1 relates to a method for controlling a driven trailer and a motor-driven trailer. The method particularly includes the step of defining a neutral position as the distance between the trailer and the tractor. The deviation between the distance between the trailer and the tractor and the neutral position is measured and output as a distance value. When the distance between the trailer and the tractor decreases by at least a first distance value relative to the neutral position, the trailer is electrically braked. When the distance between the trailer and the tractor decreases by at least a second distance value relative to the neutral position, wherein the second distance value is greater than the first distance value, the trailer is mechanically braked independently of the electrically operated brake. When the distance between the trailer and the tractor increases by a third distance value relative to the neutral position, the trailer is accelerated by an electric motor. Summary of the Invention

[0009] From this, the object of the present invention is to achieve the most sensitive possible adjustment of the driven trailer.

[0010] This task is accomplished by the trailer according to claim 1 and the method for adjusting spacing according to claim 10. Advantageous embodiments are the subject of the dependent claims and the description.

[0011] A trailer having at least one driven wheel according to the invention comprises

[0012] - an energy source configured to supply energy to a wheel drive,

[0013] - a braking device for decelerating the at least one wheel,

[0014] - a connecting rod configured to be connected to a traction device and movably supported on the trailer,

[0015] - a displacement sensor configured to measure the position of the connecting rod relative to the trailer,

[0016] - a speed measuring device configured to determine a travel speed based on a measurement of the speed of the trailer and / or the connecting rod, and

[0017] - an electronic regulator,

[0018] and characterized in that,

[0019] - the regulator is configured to,

[0020] - move the position of the neutral point relative to the trailer from zero according to the determined travel speed,

[0021] - The adjustment deviation is calculated using the distance between the position of the neutral point and the measured position of the connecting rod, and

[0022] -- the wheel drive and / or braking device is operated using the adjustment deviation.

[0023] The trailer has one or more wheels. That is, the trailer can be upright on its own, or only when combined with a tractor vehicle, or held upright by an operator. At least one of the wheels is driven by a drive. The drive is preferably an electric motor. The electric motor can be implemented as a hub motor or mounted on the trailer and drive the driven wheels via a drive shaft. In addition, the trailer has an energy source by means of which energy is supplied to the drive. This can be a battery in the electric motor. However, fuel cells or photovoltaic cells can also be used. When an internal combustion engine is used, a corresponding fuel tank with a fuel supply section is used. In addition to the drive, the trailer also has a braking device that acts on at least one wheel to decelerate the wheel and thus the trailer. As long as the trailer has multiple wheels, the drive and braking device can be configured such that they can act separately on different wheels. Here, the braking device may have a mechanical brake, such as a disc brake or a shoe brake, by means of which at least one wheel or an axle fastened to the wheel is braked. However, the braking device may also include a device configured to manipulate a drive such that the drive produces a braking effect. In the case of an electric motor, this could be generator-like operation of the electric motor, which results in electric braking. In the case of an internal combustion engine, this could be an interruption of the fuel supply, so that the internal combustion engine does not output driving power, and the internal friction of the internal combustion engine is used as a motor brake to cause braking.

[0024] The trailer has a connecting rod configured to connect with a towing device. The towing rod is used for connection to a towing vehicle, and is mounted on the vehicle by means of the towing device. The towing vehicle can be, in particular, a bicycle. The trailer can also be towed by a person or animal using the towing device.

[0025] The connecting rod is secured to the trailer by a support member, allowing the connecting rod to move relative to the rest of the trailer. For support, suitable support members, such as linear guides or ball bearings, can be used. Depending on the form of the support member, different numbers of degrees of freedom can be provided for the connecting rod. The support member receives force only in the direction in which it does not have a degree of freedom relative to the connecting rod.

[0026] The trailer has a displacement sensor. The displacement sensor is configured to measure the position of the connecting rod relative to the trailer. For this purpose, the displacement sensor determines the point fixedly connected to the connecting rod in a coordinate system fixed to the displacement sensor. The orientation of the displacement sensor's coordinate system relative to the support member used to support the connecting rod is fixed. For example, if the support is rotatably supported about the vertical axis of the trailer, the position of the connecting rod relative to the trailer is defined as the position of the part of the connecting rod relative to the trailer that can rotate with the support. Therefore, when the support rotates accordingly, the measured position of the corresponding part of the connecting rod relative to the trailer remains unchanged. As long as the connecting rod is fixedly connected to the towing vehicle or towing device, the position of the towing vehicle or towing device relative to the trailer can be calculated by adding the corresponding spacing vector.

[0027] The trailer has a speed measuring device. The speed measuring device is configured to determine the travel speed. For this purpose, the speed measuring device uses the measurement of the speed of the trailer and / or the connecting rod relative to the world coordinate system. Therefore, the measurement of the speed of the trailer and / or the connecting rod is absolute or relative to a fixed world rather than relative to a movable coordinate system, such as the aforementioned coordinate system of a displacement sensor. According to an embodiment, the speed measuring device can be configured to perform these measurements.

[0028] The trailer has an electronic regulator configured to control the drive and braking devices. The drive and / or braking devices then change the output driving force and / or braking force, thereby accelerating or decelerating the trailer. The regulator can determine operation by means of a regulation rule. The regulation rule can be, for example, electronic circuitry integrated into the regulator or a computer program stored on the regulator. The regulator can be a microcontroller. The regulator takes the regulation deviation as an input signal. The regulation rule can have components that calculate the control signal proportional to the regulation deviation, proportional to the change in regulation deviation, and proportional to the integral of the regulation deviation. Optimal operation of the drive and braking devices can be achieved through the design of the regulation rule that is coordinated with the characteristics of the trailer, as well as the drive and braking devices. "Optimally" here can mean achieving one or different regulation objectives. Preferably, the regulation deviation is as constant and small as possible. Furthermore, it is preferable that the regulation deviation is rapidly reduced after it occurs.The requirement here is that disturbance parameters may act on the system. This includes, in particular, changes in the speed of the traction vehicle or traction device. Uneven ground or other environmental conditions, such as varying wind speeds, also represent disturbance parameters. Once such disturbance parameters act on the adjustment deviation, the regulator attempts to minimize the adjustment deviation quickly by correspondingly manipulating the wheel drives and brakes. Collisions between the connecting rod and other components of the trailer must be unconditionally avoided.

[0029] The regulator calculates the adjustment deviation by calculating the difference between the neutral point and the position of the connecting rod. As with the position of the connecting rod, the neutral point relative to the trailer is defined, in particular, in the coordinate system of the displacement sensor. Without adjustment deviation, the trailer neither accelerates nor decelerates. To determine the neutral point, the calculation device uses the travel speed. The correlation between the neutral point and these measured parameters can be stored on the regulator, for example, in the form of a stored computer program or algorithm or lookup table. Here, the regulator is configured such that the neutral point relative to the trailer is determined based on the travel speed, that is, in the coordinate system of the displacement sensor. For this purpose, the regulator moves the neutral point from a fixed zero point relative to the trailer or relative to the displacement sensor coordinate system (page 3 / 10, CN 121399019 A).

[0030] It is advantageous that when moving the neutral point according to the measured speed, sensitive regulation can be simplified, in which the operator or towing vehicle is not affected by the trailer.

[0031] According to the above description, the control of the wheel drives and brakes that causes the trailer to accelerate or decelerate depends on the regulator and the regulation deviation. It is generally advantageous that the regulator does not provide a regulation signal that causes strong acceleration or deceleration even with a small regulation deviation. Measurement unreliability and the inaccuracy of mechanical or electrical devices result in the failure to achieve optimal regulation. Therefore, the regulator is usually constructed such that a sufficiently large regulation deviation must exist in order to also generate a regulation signal that causes correspondingly strong acceleration or deceleration. That is, the regulation strategy should not be overly sensitive to regulation deviation. The disadvantage of this regulation strategy is that even during normal operation, a large gap must exist between the connecting rod and the trailer in order to produce a sufficiently large regulation deviation. If additional disturbance parameters unexpectedly occur, further movement will occur between the connecting rod and the trailer. This can be so large that the connecting rod may collide with other components of the trailer.

[0032] The solution to this problem is to increase the free space of movement of the connecting rod between the corresponding end stops. However, the structural space required for this is disadvantageous for trailer design. The present invention solves this problem. According to the invention, the regulator is configured to change the neutral point used to calculate the adjustment deviation according to the travel speed. At higher speeds, depending on the behavior of the regulator, the neutral point thus changed can move closer to or further away from the center of gravity of the trailer.This change in the neutral point allows for a virtual extension of the free space available for the connecting rod's movement. This allows for greater tolerance of adjustment deviations, enabling sensitive adjustment without the risk of the connecting rod colliding with the rest of the trailer. It also avoids the need for additional structural space.

[0033] According to one embodiment of the invention, the trailer is characterized in that the displacement sensor is configured as an inductive displacement sensor, a capacitive displacement sensor, or a resistive displacement sensor.

[0034] The sensor typically consists of a fixed component and a movable component. Changes in the relative positions of the fixed components result in changes in the electromagnetic properties of the fixed components, which are measured and output as a distance measurement signal by calculation using a proportionality coefficient or a corresponding function. Preferably, a sensor target is secured to the connecting rod and a signal receiver is secured to the trailer, the signal receiver measuring the change in distance between the sensor target and the signal receiver by a change in inductance.

[0035] The sensors are characterized in that they are suitable, robust, and accurate. Furthermore, the sensors are electronic components that can be connected particularly easily to the rest of the electronic device.

[0036] According to another embodiment, an optical sensor or a radar-supported sensor is used.

[0037] According to one embodiment, the trailer is characterized in that the connecting rod is movably supported on the trailer along its longitudinal axis in a direction toward the trailer and a direction away from the trailer.

[0038] The support according to this embodiment ensures that the connecting rod has only one degree of freedom of relative movement with respect to the trailer. Therefore, the support is responsible for ensuring that the connecting rod can only move along its longitudinal axis in a direction toward the trailer and a direction away from the trailer. The side away from the trailer is closer to the center of gravity of the trailer than the side away from the trailer. The position of the connecting rod relative to the trailer can be expressed as a scalar distance from the connecting rod to a fixed point on the trailer or a fixed point in the displacement sensor coordinate system by the degree of freedom defined by the support. The support can be, in particular, a linear guide.

[0039] Advantageously, the use of a support that allows the connecting rod to have only one degree of freedom along its longitudinal axis enables improved adjustment. That is, this support restricts the degrees of freedom, thus making it simpler to model the physical process when the spacing changes and to take the physical process into account by the regulator.

[0040] According to an embodiment, the trailer has an additional support that allows the displacement sensor and the trailer components fixedly connected to the displacement sensor to rotate relative to the rest of the trailer. The additional support, in particular, can be described in detail on page 4 / 10 of CN 121399019 A as a support capable of rotation about a vertical axis. In this case, all relative data related to the trailer pertains to the trailer components fixedly connected to the displacement sensor and its coordinate system.

[0041] According to one embodiment, the trailer is characterized in that the calculation rule is configured to move the neutral point from the zero point located on the longitudinal axis along the longitudinal axis in a direction away from the trailer by a correction distance, the correction distance being proportional to the determined travel speed minus the zero speed.

[0042] According to this embodiment, the regulator uses a linear correlation to calculate the position of the neutral point. According to this correlation, the neutral point is defined by the correction distance and the zero point located on the longitudinal axis. After the neutral point is virtually moved away from the center of gravity of the trailer along the longitudinal axis by the regulator by the correction distance, i.e., in a direction away from the trailer, the neutral point corresponds to the zero point. The correction distance is calculated using the travel speed. For this purpose, the zero speed is subtracted from the travel speed and the difference is multiplied by a proportionality constant.

[0043] The position of the neutral point p is obtained using the zero point p0, the correction distance Δp, the proportionality constant c, the travel speed v, and the zero speed v0 according to the following correlation:

[0044] p = Δp + p0 = c(v-v0) + p0.

[0045] This correlation means that as long as the travel speed corresponds to zero speed, the neutral point corresponds to zero point, and no movement of the neutral point occurs. Only when the travel speed increases above zero speed is the neutral point moved relative to zero point in a direction away from the trailer. At lower speeds, the neutral point moves relative to zero point in a direction towards the trailer. Therefore, at higher speeds, the neutral point shifts towards the traction device, and at lower speeds, it shifts away from the traction device.

[0046] The aforementioned construction of the regulator is advantageous because it facilitates sensitive adjustment. At high speeds, there may be a large gap between the connecting rod and the side facing the trailer, but despite this, only a small adjustment deviation is calculated. Therefore, the connecting rod is relatively far away from the side facing the trailer. In the case of braking by the tractor, the connecting rod may move a long way before reaching the end of the support or colliding with other components of the trailer. Therefore, a correspondingly large adjustment deviation can be generated without collision.

[0047] Correspondingly, conversely, what applies at low speeds is that a small adjustment deviation is calculated when the distance between the side facing the trailer and the connecting rod is small. Once the tractor or towing device accelerates, where acceleration is generally greater at low speeds than at high speeds, a large adjustment deviation may occur before the connecting rod collides.

[0048] The variable speed movement of the neutral point allows for a virtual extension of the free space, which can be provided to the connecting rod without collision. This is achieved by ensuring that the connecting rod has a large distance, especially at high speeds, from the side facing the trailer and at low speeds, from the side away from the trailer, in order to avoid the corresponding collision. Thus, a larger adjustment deviation can also be tolerated through this virtual extension.

[0049] Advantageously, the regulator is designed in such a way that it operates with a large adjustment deviation. Due to the electronic and mechanical components used, the regulator has inaccuracies, for example, the position measurement signal can be loaded with noise, or the corresponding analog-to-digital converter is responsible for time delays. These inaccuracies result in a relatively large share of the adjustment deviation attributable to the aforementioned inaccuracies in the case of small adjustment deviations. Using such erroneous adjustment deviations to operate the drive and braking devices may result in excessively strong or weak acceleration or deceleration. When large adjustment deviations are used as specified in the present invention, the corresponding inaccuracies are not too large compared to the remaining adjustment deviations. Therefore, these inaccuracies do not cause distortion of the control signal.

[0050] According to one embodiment, the trailer is characterized in that the regulator is configured to calculate a correction gap that is negatively proportional to the determined travel speed minus the zero speed when the determined speed is less than the starting speed which is less than the zero speed. Specification 5 / 10 pages 8 CN 121399019 A

[0051] According to this embodiment, there is a starting speed which is less than zero speed. When the travel speed is below the limit speed, the linear mathematical function with a positive proportionality coefficient described earlier is no longer used to calculate the correction gap. Instead, a continuously decreasing function is used. The corresponding function is constructed such that it connects continuously with the function at higher speeds. Therefore, according to this embodiment, at speeds below the starting speed, i.e., at very low speeds, a larger correction gap is calculated than that calculated at the starting speed.

[0052] This results in the neutral point moving slightly further away from the trailer side. Therefore, in the absence of adjustment deviation, there is an increased gap between the neutral point and the side facing the trailer. Shaking or other instability during startup thus does not directly cause the connecting rod to collide with other components of the trailer.

[0053] According to one embodiment, the trailer is characterized in that the adjuster is configured to operate the wheel drive and / or the braking device only when the value of the adjustment deviation is greater than the tolerance deviation.

[0054] The tolerance deviation is advantageous because small adjustment deviations do not immediately affect the operation of the wheel drive and / or the braking device. Small adjustment deviations can occur, in particular, due to uneven traction loads on the connecting rods. This is typically seen when the towing vehicle is a bicycle driven by an operator's footsteps, resulting in uneven traction loads. Especially at high speeds, strong acceleration or deceleration is required to avoid small adjustment deviations at any time. This places loads on the wheel drives and brakes. Therefore, setting tolerance deviations results in a reduction in the load on the wheel drives and brakes, as well as the entire trailer.

[0055] According to one embodiment, the trailer is characterized in that the adjuster is configured to calculate a tolerance deviation proportional to the determined travel speed.

[0056] Advantageously, a larger tolerance deviation is chosen at higher speeds. Especially at such speeds, continuous operation of the wheel drive and braking devices leads to accelerated wear of these components.

[0057] According to an embodiment, the trailer is characterized by the presence of a mechanical braking actuation device configured to mechanically operate the braking device when the distance between the trailer and the connecting rod is below the limit.

[0058] According to this embodiment, the trailer has a mechanical braking actuation device for the braking device. This mechanical braking actuation device serves as redundancy for electrically operating the braking device by means of an adjuster. The braking actuation device is configured such that it is mechanically triggered once the connecting rod and the trailer are below the limit distance. This can be, in particular, a very small distance between a portion of the connecting rod and, for example, an end stop. However, other devices on the connecting rod, such as protruding carriers and corresponding stops, can also be provided on the trailer to constitute the braking actuation device.

[0059] The advantage of the mechanical braking actuation device is that it brakes effectively even when the current is interrupted or the trailer is adjusted too slowly. This prevents collisions between the trailer and the towing device and avoids corresponding damage. Therefore, the mechanical braking control device improves the safety of the trailer during operation.

[0060] According to an embodiment, the trailer is characterized in that the mechanical braking control device

[0061] a) includes a lever configured to be flipped by the connecting rod once the distance falls below the limit gap, and

[0062] b) includes a rope drive connected to the braking device and the lever and configured to be tensioned by the flipping of the lever.

[0063] According to this embodiment, the mechanical braking control device is implemented as a rope drive. The rope drive is operated by a lever, which flips via the connecting rod when the distance falls below the limit gap. This embodiment uses proven components, making it particularly reliable.

[0064] This task is also solved by a method according to claim 10 for adjusting the spacing between a trailer and a connecting rod having at least one wheel, a wheel drive, and a braking device, the connecting rod being configured to connect to the traction device specification page 6 / 10 9 CN 121399019 A and the connecting rod being movably supported and fastened to the trailer, the method comprising the steps of

[0065] - measuring the position of the connecting rod relative to the trailer,

[0066] - measuring the speed of the trailer and / or the speed of the connecting rod,

[0067] - determining a travel speed by means of the speed of the trailer and / or the speed of the connecting rod,

[0068] - adjusting the control of the wheel drive and / or the braking device using an adjustment deviation,

[0069] and characterized in that,

[0070] - moving the position of the neutral point relative to the trailer from zero point with the travel speed,

[0071] - calculating the adjustment deviation using the spacing between the position of the neutral point and the position of the connecting rod.

[0072] This method is particularly suitable for implementation using a trailer according to the invention. The aforementioned advantages of the trailer and its embodiments according to the invention also apply meaningfully to this method and its embodiments.

[0073] According to an embodiment, the method is characterized in that:

[0074] - the connecting rod is moved along the longitudinal axis of the connecting rod in a direction toward or away from the trailer;

[0075] - the neutral point is moved from a zero point located on the longitudinal axis along the longitudinal axis in a direction away from the trailer by a correction distance, the correction distance being directly proportional to the travel speed minus the zero speed.

[0076] According to one embodiment, the method is characterized in that when the determined travel speed is less than a starting speed smaller than the zero speed, a correction distance negatively proportional to the travel speed is calculated.

[0077] According to one embodiment, the method is characterized in that the wheel drive and / or the braking device are operated only when the value of the adjustment deviation is greater than the tolerance deviation.

[0078] According to one embodiment, the method is characterized in that a tolerance deviation proportional to the travel speed is calculated.

[0079] According to one embodiment, the trailer is characterized in that the braking device is mechanically operated when the distance between the trailer and the connecting rod is below the limit distance. Brief Description of the Drawings

[0080] The invention is further illustrated below with the aid of embodiments.The accompanying drawings show:

[0081] FIG1: Trailer and bicycle according to the invention;

[0082] FIG2: Functional diagram of the trailer;

[0083] FIG3: Schematic diagram of the spacing measuring device;

[0084] FIG4: Schematic diagram of the oscillating spacing between the trailer and the tractor;

[0085] FIG5: Schematic diagram of the corrected spacing with respect to travel speed. Detailed Description

[0086] FIG1 shows a trailer 1 and a bicycle 2 according to the invention. The trailer 1 and the bicycle 2 are connected by a coupling rod 3. The trailer has a wheel drive not shown separately in this view. By means of the wheel drive, the trailer 1 is driven so that the trailer follows the bicycle 2, and the cyclist does not have to expend muscle strength for this.

[0087] FIG2 shows a functional diagram of the trailer 1. Acceleration and deceleration devices 4 are drawn in the functional diagram, which include wheel drives and braking devices. The braking device is supplied with the energy required for drive by an energy source 5. Here, the drive and braking devices are controlled by a regulator 6. This operation is performed so that the cyclist or other towing vehicle is as far as possible from being perceived by the bicycle rider or other towing vehicle as possible, with the trailer 1 traveling behind the bicycle. To ensure appropriate adjustment, the spacing measuring device 7 measures the spacing between the bicycle 2 and the trailer 1. This spacing is transmitted to the adjuster 6.

[0088] Figure 3 shows a schematic diagram of the spacing measuring device 7. The spacing measuring device 7 has a housing 8, which is fixedly connected to the rest of the trailer 1. A connecting rod 9 extends into the housing. The connecting rod 9 is connected to a slider 10, which is movably secured to a linear guide 11. The linear guide 11 defines the degrees of freedom that the connecting rod 9 can pass through when moving relative to the housing 8. The free space of movement of the connecting rod 9 is limited on the right by the wall of the housing, which the connecting rod contacts with a rubber end stop 12 once the connecting rod 9 has moved as far to the right as possible. On the left, the free space of movement is defined by a rubber end stop 13. The right side corresponds to the side facing away from the trailer, which is towards the bicycle. Therefore, the left side corresponds to the side facing the trailer. The corresponding stops, in the form of rubber end stops 12 and 13, define the ends of the path facing away from the trailer and the ends of the path facing the trailer, through which the connecting rod 9 can pass.

[0089] The sensor target 14 is fastened to the connecting rod 9. The displacement sensor 15 can determine the position of the sensor target 14 relative to the displacement sensor. The displacement sensor 15 and its coordinate system are here fixedly connected to the housing 8 and therefore to the trailer 1. Therefore, the measurement of the position of the sensor target 14 relative to the displacement sensor 15 corresponds to the measurement of the connecting rod 8 relative to the trailer 1. The displacement sensor 15 is an inductive displacement sensor. The sensor target 14 and the displacement sensor 15 constitute a displacement sensor.

[0090] The regulator 6 is configured to subtract the position of the neutral point from the measured position of the connecting rod and thus calculate the adjustment deviation. Based on this adjustment deviation, the regulator 6 manipulates the wheel drive and braking devices, thereby accelerating or braking the trailer 1. Caused by the linear guide 11, the connecting rod 9 can only move relative to the housing 8 and the trailer 1 along a defined path (i.e., along the longitudinal axis of the connecting rod 9). The neutral point is also located on the longitudinal axis. Therefore, the adjustment deviation can also be represented by the spacing along the longitudinal axis. The adjustment deviation is positive or negative depending on whether the connecting rod is closer to the side away from the trailer or closer to the side facing the trailer relative to the neutral point.

[0091] Once the connecting rod 9 contacts the rubber end stop 13 facing the trailer and moves further toward the wall of the housing 8 facing the trailer, the lever 16 is flipped. Here, the lever rotates about the support position 17. By flipping the lever 16, the rope drive 18 is tensioned. The rope drive 18 is connected to the braking device of the trailer 1. Lever 16 and rope drive 18 are mechanical braking devices that operate when the distance between the trailer 1 and bicycle 2 and the connecting rod 8 connected to bicycle 2 falls below the limit distance.

[0092] Figure 4 shows a schematic diagram of the oscillating distance 19 between trailer 1 and tractor 2, which is generated by the cyclist's pedaling. Adjusting this distance 19 by the corresponding acceleration and deceleration of trailer 1 results in a large load on the drivetrain.

[0093] Figure 5 shows a schematic diagram of the corrected distance according to the travel speed, wherein the corrected distance on the horizontal axis is illustrated and indicated as "position", and the travel speed on the vertical axis is illustrated and indicated as "speed". In this embodiment, the travel speed corresponds to the trailer speed, but the travel speed may also correspond to the bicycle speed or a calculation of both speeds.

[0094] The corrected distance is used to move the neutral point along the longitudinal axis. Therefore, there is no adjustment deviation at different travel speeds, at different positions of connecting rod 9 relative to displacement sensor 15 or housing 8 or trailer 1.

[0095] This illustration shows the positions of the connecting rod 9 at four different travel speeds, where there is no adjustment deviation. Position 21 is assigned to zero speed 20. Position 22 is assigned to a higher travel speed. Position 24 is assigned to a starting speed 23. Position 25 is assigned to a travel speed below the starting speed.

[0096] As can be seen from the illustrations of positions 21, 22, and 24, the connecting rod 9 must continue to move in a direction away from the right side of the trailer as the travel speed increases, thus there is no adjustment deviation. This is based on the shown curve of the correction pitch, which increases with the increase of travel speed and is added to zero to calculate the neutral point.At zero speed 20, there is no correction pitch as described on page 8 / 10 of CN 121399019 A. The zero point corresponds to the neutral point. In the shown state, the connecting rod 9 is located midway between the side facing the trailer and the side away from the trailer without adjustment deviation. Above zero speed 20, the correction pitch is positive, causing the neutral point to move towards the side away from the trailer. Below zero speed 20, the neutral point moves towards the side facing the trailer. Therefore, the connecting rod 9 must move accordingly towards or away from the trailer so that there is no adjustment deviation. Below starting speed 23, the correction pitch increases again. Correspondingly, the connecting rod must move slightly further towards the side away from the trailer, thus eliminating adjustment deviation.

[0097] The speed dependence of the correction pitch causes the neutral point and the connecting rod 9 to be closer to the side away from the trailer at high speeds. Therefore, a large adjustment deviation may occur during braking of the bicycle 2 before the connecting rod 9 contacts the end facing the trailer in the form of the rubber end stop 13. On the other hand, the speed-dependent relationship of the correction pitch results in a neutral point and thus the connecting rod 9 is closer to the end facing the trailer at low speeds. Therefore, a large adjustment deviation may occur during acceleration of the bicycle 2 before the connecting rod 9 reaches the end facing away from the trailer in the form of the rubber end stop 12.

[0098] The large adjustment deviation is not strongly caused by noise superposition, which is generated due to the mechanical and electronic inaccuracies of the components used. The large adjustment deviation thus enables sensitive adjustment. At very low speeds, the correction pitch is selected such that the neutral point is slightly further away from the side facing the trailer in order to compensate for bumps or swaying during start-up.

[0099] Furthermore, as shown in FIG5, there is a tolerance deviation 26. The adjustment deviation must be so large that the position of the connecting rod 9 is outside the corresponding tolerance deviation so that the regulator 6 can control the acceleration and deceleration devices 4. The tolerance deviation 26 increases with increasing driving speed. This tolerance deviation prevents the acceleration and deceleration devices from operating when the adjustment deviation is relatively small. This protects the acceleration and deceleration devices and prevents wear.

[0100] List of reference numerals

[0101] 1 Trailer

[0102] 2 Bicycle

[0103] 3 Coupling rod

[0104] 4 Acceleration and deceleration device

[0105] 5 Energy source

[0106] 6 Regulator

[0107] 7 Gap measuring device

[0108] 8 Housing

[0109] 9 Connecting rod

[0110] 10 Slider

[0111] 11 Linear guide

[0112] 12 Rubber end stop away from trailer

[0113] 13 End stop towards trailer

[0114] 14 Sensor target

[0115] 15 Displacement sensor

[0116] 16 Lever

[0117] 17 Support position

[0118] 18 Rope drive

[0119] 19 Oscillating gap

[0120] 20 Zero speed instruction manual 9 / 10 Page 12 CN 121399019 A

[0121] 21 Zero speed position

[0122] 22 Higher speed position

[0123] 23 Starting speed

[0124] 24 Starting speed position

[0125] 25 Lower starting speed position

[0126] 26 Tolerance deviation specification 10 / 10 Page 13 CN 121399019 A Figure 1 Attachment 1 / 5 Page 14 CN 121399019 A Figure 2 Attachment 2 / 5 Page 15 CN 121399019 A Figure 3 Attachment 3 / 5 Page 16 CN 121399019 A Figure 4 Attachment 4 / 5 Page 17 CN 121399019 A Figure 5 Attachment 5 / 5 Page 18 CN 121399019 A.

Claims

1. Trailer (1) with at least one driven wheel, comprising - an energy source (5) which is configured to supply energy to a wheel drive, - brake means for retarding the at least one wheel, - a connecting rod (9) which is configured to be connected to a traction means and is movably supported on the trailer, - a displacement sensor which is configured to measure the position of the connecting rod (9) relative to the trailer (1), - speed measuring means which are configured to determine a travel speed on the basis of a measurement of the speed of the trailer and / or the connecting rod, and - an electronic regulator (6), characterized in that - the regulator (6) is configured to - move a neutral point relative to the trailer (1) from a zero point in dependence on the determined travel speed, - calculate a regulation deviation using the distance between the position of the neutral point and the measured position of the connecting rod (9), and - actuate the wheel drive and / or the brake means using the regulation deviation. The displacement sensor is configured as an inductive displacement sensor, a capacitive displacement sensor or a resistance change displacement sensor. The connecting rod (9) is movably supported on the trailer (1) along a longitudinal axis of the connecting rod in the direction of a side facing the trailer and a side facing away from the trailer. The regulator (6) is configured to move the neutral point from a zero point located on the longitudinal axis in the direction of the side facing away from the trailer by a correction distance along the longitudinal axis, the correction distance being directly proportional to the determined travel speed minus a zero speed. The regulator (6) is configured to calculate a correction distance which is directly proportional to the determined travel speed minus the zero speed when the determined speed ratio is less than a start speed of the zero speed. The regulator (6) is configured to actuate the wheel drive and / or the brake means only when the value of the regulation deviation is greater than a tolerance deviation. The regulator (6) is configured to calculate a tolerance deviation which is directly proportional to the determined travel speed. There is a mechanical brake actuation means which is configured to mechanically actuate the brake means when a limit distance is undershot between the trailer (1) and the connecting rod (9). The mechanical brake actuation means comprises a lever (16) which is configured to be tipped over by the connecting rod (9) as soon as the limit distance is undershot, and comprises a rope drive (18) which is connected to the brake means and the lever (16) and is configured to be tensioned by the tipping over of the lever (16).

10. Method for regulating the distance between a trailer (1) with at least one wheel, a wheel drive and brake means and a connecting rod (9) which is configured to be connected to a traction means and is movably supported fastened on the trailer (1), the method comprising the steps of - measuring the position of the connecting rod (9) relative to the trailer (1), 2. The trailer (1) according to the preceding claim, characterized in that ​ 3. The trailer (1) according to any one of the preceding claims, characterized in that ​ 4. The trailer (1) according to the preceding claim, characterized in that ​ 5. The trailer (1) according to the preceding claim, characterized in that ​ 6. The trailer (1) according to any one of the preceding claims, characterized in that ​ 7. The trailer (1) according to the preceding claim, characterized in that ​ 8. The trailer (1) according to any one of the preceding claims, characterized in that ​ 9. The trailer (1) according to the preceding claim, characterized in that ​ ​ ​ ​ ​ - measuring a speed of the trailer (1) and / or a speed of the connecting rod (9), - determining a travel speed by means of the speed of the trailer (1) and / or the speed of the connecting rod (9), - adjusting the actuation of the wheel drive and / or the brake means in the event of an adjustment offset, - characterized in that - the position of the neutral point relative to the trailer (1) is moved from zero with the travel speed, - the adjustment offset is calculated using the spacing between the position of the neutral point and the position of the connecting rod.

11. The method as claimed in claim 10, characterized in that - the connecting rod (9) is moved along a longitudinal axis of the connecting rod in the direction of the side facing the trailer or the side facing away from the trailer, - the neutral point is moved from zero, which is located on the longitudinal axis, along the longitudinal axis in the direction of the side facing away from the trailer by a correction spacing, which is directly proportional to the travel speed minus zero speed.

12. The method of claim 11, wherein, When the determined travel speed is less than the zero speed start speed, a correction spacing is calculated which is inversely proportional to the travel speed.

13. The method according to any one of claims 10 to 12, characterized in that, The wheel drive and / or the brake means are actuated only when the value of the adjustment offset is greater than a tolerance offset.

14. The method according to the preceding claim, characterized in that, A tolerance offset is calculated which is directly proportional to the travel speed.

15. The method according to any one of claims 10 to 14, characterized in that, When the spacing between the trailer and the connecting rod is below a limit spacing, the brake means are actuated mechanically.

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