Bicycle control system

Abstract

The invention relates to a bicycle control system. An electronic component for an electric bicycle is provided. An electric bicycle includes a transmission. The electronic component includes a processor configured to: identify an operating condition of the electric bicycle; determining a transmission loss of a transmission of the electric bicycle based on the identified operating condition; and controlling an assist motor of the electric bicycle based on the determined transmission loss.

Description

Technical Field

[0001] The present disclosure relates generally to an electric bicycle, and more particularly to control of an electric bicycle. Background Art

[0002] Bicycles with pedal-assist electric motors (e.g., e-bikes or e-cycles) may be required by law to not provide motor assistance to the rider if the e-bike is traveling above a speed threshold (e.g., 25 km / h). In order to prevent motor assistance above the speed threshold, the bicycle control system will have information about the speed of the e-bike. Information about the bicycle speed is typically provided by a sensor (e.g., reed switch, Hall effect) mounted near the rear wheel, which detects, for example, a magnet mounted to the rear wheel.

[0003] The electric bicycle may include multiple rider-selectable support levels. For example, "Eco mode" may provide 40% support, "Tour mode" may provide 100% support, "Sport mode" may provide 170% support, and "Turbo mode" may provide 250% support. As an example, if the rider selects "Comfort mode" and rides below a speed threshold and inputs 100 watts of power to the pedals of the electric bicycle, the auxiliary motor of the electric bicycle may also provide 100 watts to the rear wheel of the electric bicycle. This results in a total output power of 200 watts for the electric bicycle.

[0004] The electric bicycle may include a transmission to provide a comfortable pedaling rhythm (cadence) to change riding conditions and speed for multiple rider selectable support levels. The transmission may provide multiple gear ratios to the rider to provide a comfortable pedaling rhythm for the rider. Summary of the invention

[0005] In one example, an electronic component for an electric bicycle is provided. The electric bicycle includes a transmission. The electronic component includes a processor configured to: determine a condition of the electric bicycle; identify the presence of a transmission loss of the transmission (or transmission) of the electric bicycle; and control an auxiliary motor of the electric bicycle based on the identified presence of the transmission loss and the determined condition of the electric bicycle.

[0006] In one example, the processor being configured to identify the presence of a transmission loss includes the processor being configured to determine a speed of an output of a clutch of the electric bicycle.

[0007] In one example, the processor is configured to identify the presence of transmission loss, including: the processor is also configured to determine the speed of the input end of the clutch of the electric bicycle; determine the difference between the speed of the output end of the clutch and the speed of the input end of the clutch, and control the auxiliary motor of the electric bicycle based on the identified presence of transmission loss and the determined condition of the electric bicycle, including: the processor is configured to control the speed of the auxiliary motor of the electric bicycle based on the determined difference.

[0008] In one example, the processor is configured to determine the condition of the electric bicycle includes determining a speed of the electric bicycle.

[0009] In one example, the processor is configured to control the speed of the auxiliary motor of the electric bicycle based on the determined difference, including: the processor controls the speed of the auxiliary motor so that when the speed of the electric bicycle meets or exceeds a threshold speed, the speed of the input end of the clutch is less than the engagement speed of the clutch.

[0010] In one example, the processor is configured to control the speed of the auxiliary motor of the electric bicycle based on the determined difference, including: the processor controls the speed of the auxiliary motor so that when the speed of the electric bicycle meets or exceeds a threshold speed, the speed of the input end of the clutch is less than the speed of the output end of the clutch.

[0011] In one example, the processor is configured to control the speed of an auxiliary motor of the electric bicycle based on the determined difference includes the processor controlling the speed of the auxiliary motor such that a speed of an input of the clutch is less than or equal to a speed of an output of the clutch.

[0012] In one example, the processor is configured to identify a speed of an input of a clutch of the electric bicycle includes the processor being configured to receive speed data of the input of the clutch from a clutch input speed sensor.

[0013] In one example, the auxiliary motor includes one or more gear reducers, and an output of one of the one or more gear reducers is connected to an input of the clutch.

[0014] In one example, a speed at the input of the clutch is equal to a speed at the output of one of the one or more gear reducers.

[0015] In one example, the processor is configured to determine a speed of an input of a clutch of the electric bicycle includes the processor being configured to receive speed data of an output of one of the one or more gear reductions from a gear reduction output speed sensor.

[0016] In one example, the clutch and one or more gear reducers are part of the auxiliary motor.

[0017] In one example, a clutch and one or more gear reducers are decoupled from the auxiliary motor.

[0018] In one example, the input of the clutch is connected to the rotor of the motor, and the speed of the input of the clutch is equal to the speed of the rotor of the motor.

[0019] In one example, the processor is configured to determine a speed of an input of a clutch of an electric bicycle includes the processor being configured to receive speed data of the rotor from a rotor speed sensor.

[0020] In one example, an electronic component for an electric bicycle is provided. The electric bicycle includes a transmission or a gearing. The electronic component includes a processor configured to: identify an operating condition of the electric bicycle; determine a transmission loss of the transmission (or gearing) of the electric bicycle based on the identified operating condition; and control an auxiliary motor of the electric bicycle based on the determined transmission loss.

[0021] In one example, the processor is configured to identify an operating condition of the electric bicycle, including: the processor is configured to identify an input torque at a crank assembly of the electric bicycle. The processor is configured to determine a transmission loss of a transmission of the electric bicycle based on the identified operating condition, including: the processor is configured to determine a transmission loss of the transmission of the electric bicycle based on the identified input torque at the crank assembly of the electric bicycle.

[0022] In one example, the processor is configured to identify an input torque at a crank assembly of the electric bicycle includes: the processor is configured to receive torque data from an input power sensor at the crank assembly of the electric bicycle. The torque data represents the input torque at the crank assembly.

[0023] In one example, the processor is configured to determine the transmission loss of the transmission of the electric bicycle based on the identified input torque, including: the processor is configured to identify the rhythm of the crank arm assembly of the electric bicycle and determine the input power based on the identified input torque and the identified rhythm. The processor is configured to determine the transmission loss of the transmission of the electric bicycle based on the identified input torque, including: the processor is configured to determine the output power of the electric bicycle and determine the difference between the determined input power and the determined output power. The difference between the determined input power and the determined output power represents the transmission loss of the transmission of the electric bicycle. The processor is configured to control the auxiliary motor of the electric bicycle based on the determined transmission loss, including: the processor is configured to control the auxiliary motor of the electric bicycle based on the determined difference.

[0024] In one example, the processor is configured to determine the output power of the electric bicycle includes: the processor is configured to receive power data from a power sensor of the electric bicycle. The power data represents the output power of the electric bicycle.

[0025] In one example, the processor is configured to control an auxiliary motor of the electric bicycle based on the determined difference includes the processor being configured to control the auxiliary motor of the electric bicycle based on a predetermined portion of the determined difference.

[0026] In one example, the processor is further configured to identify the speed of the electric bicycle and compare the identified speed of the electric bicycle with a predetermined maximum threshold speed. The processor is configured to control the auxiliary motor of the electric bicycle based on the determined transmission loss, including: the processor is configured to control the auxiliary motor of the electric bicycle based on the determined transmission loss when the identified speed of the electric bicycle is greater than the predetermined maximum threshold speed based on the comparison.

[0027] In one example, the processor is configured to identify the speed of the electric bicycle includes: the processor is configured to receive speed data from a speed sensor of the electric bicycle. The speed data indicates the speed of the electric bicycle.

[0028] In one example, the speed sensor includes a rotational wheel speed sensor, a global positioning system (GPS) sensor, an accelerometer-based speed sensor, or any combination thereof.

[0029] In one example, the electronic component further includes a memory configured to store a plurality of predetermined transmission losses and a plurality of operating conditions respectively corresponding to the plurality of predetermined transmission losses. The processor is configured to determine the transmission loss of the transmission of the electric bicycle based on the identified operating condition, including: the processor is configured to compare the identified operating condition of the electric bicycle with the plurality of operating conditions, and identify the transmission loss of the transmission of the electric bicycle from the plurality of predetermined transmission losses based on the comparison.

[0030] In one example, the plurality of operating conditions corresponding to the plurality of predetermined transmission losses include input torque at a crank assembly of the electric bicycle, a cadence of the crank assembly of the electric bicycle, a speed of the electric bicycle, a temperature, or any combination thereof.

[0031] In one example, a controller for an auxiliary motor of an electric bicycle is provided. The electric bicycle includes a transmission. The controller includes a processor configured to identify an input torque at a crank assembly of the electric bicycle, identify a speed of the electric bicycle, and compare the identified speed of the electric bicycle with a predetermined maximum threshold speed. The processor is also configured to determine a transmission loss of the transmission of the electric bicycle based on the identified input torque, and when, based on the comparison, the identified speed of the electric bicycle is greater than the predetermined maximum threshold speed, control the auxiliary motor of the electric bicycle based on the determined transmission loss. The processor is also configured to control the auxiliary motor of the electric bicycle based on the identified input torque when, based on the comparison, the identified speed of the electric bicycle is less than the predetermined maximum threshold speed.

[0032] In one example, the processor is further configured to identify a mode of the electric bicycle. The mode is selectable by the rider. The processor is further configured to identify a level of support to be provided by the auxiliary motor based on the identified mode. The support level is a percentage of the identified input torque that is provided as additional power by the auxiliary motor. The processor is configured to control the auxiliary motor of the electric bicycle based on the identified input torque, including: the processor is configured to control the auxiliary motor of the electric bicycle based on the product of the identified input torque and the identified level of support to be provided by the auxiliary motor.

[0033] In one example, the processor is configured to determine the transmission loss includes: the processor is configured to determine the input power based on the identified input torque and the cadence of the crank arm assembly of the electric bicycle, determine the output power of the electric bicycle, and determine the difference between the determined input power and the determined output power. The difference between the determined input power and the determined output power indicates the transmission loss of the transmission of the electric bicycle. The processor is configured to control the auxiliary motor of the electric bicycle based on the determined transmission loss includes: the processor is configured to control the auxiliary motor of the electric bicycle based on the determined difference.

[0034] In one example, the controller further includes a memory configured to store a plurality of predetermined transmission losses and a plurality of operating conditions respectively corresponding to the plurality of predetermined transmission losses. The processor is configured to determine the transmission loss includes: the processor is configured to compare the identified input torque at the crank assembly of the electric bicycle with the plurality of operating conditions, and identify the transmission loss of the transmission of the electric bicycle from the plurality of predetermined transmission losses based on the comparison.

[0035] In one example, the processor is configured to identify an input torque at a crank assembly of an electric bicycle, including: the processor is configured to receive torque data from an input power sensor at a crank assembly of the electric bicycle. The torque data represents the input torque at the crank assembly. The processor is configured to identify a speed of the electric bicycle, including: the processor is configured to receive speed data from a speed sensor of the electric bicycle. The speed data represents the speed of the electric bicycle.

[0036] In one example, a system for controlling an electric bicycle is provided. The electric bicycle includes a transmission. The system includes a first sensor configured to generate input torque data, a second sensor configured to generate bicycle speed data, and a processor in communication with the first sensor and the second sensor. The processor is configured to receive input torque data from the first sensor. The input torque data represents the input torque at the crank arm assembly of the electric bicycle. The processor is also configured to receive bicycle speed data from the second sensor. The bicycle speed data represents the speed of the electric bicycle. The processor is also configured to compare the speed of the electric bicycle with a predetermined maximum threshold speed. The processor is also configured to determine a transmission loss of the transmission of the electric bicycle based on the input torque, and when the speed of the electric bicycle is greater than the predetermined maximum threshold speed based on the comparison, control an auxiliary motor of the electric bicycle based on the determined transmission loss.

[0037] In one example, the processor is further configured to control an auxiliary motor of the electric bicycle based on the input torque when, based on the comparison, the identified speed of the electric bicycle is less than a predetermined maximum threshold speed.

[0038] In one example, the processor is configured to determine the transmission loss of the transmission of the electric bicycle based on the input torque, including the processor being configured to: determine the input power based on the input torque and the cadence of the crank arm assembly of the electric bicycle; determine the output power of the electric bicycle; and determine the difference between the determined input power and the determined output power. The difference between the determined input power and the determined output power represents the transmission loss of the transmission of the electric bicycle. The processor is configured to control the auxiliary motor of the electric bicycle based on the determined transmission loss, including: the processor is configured to control the auxiliary motor of the electric bicycle based on the determined difference.

[0039] In one example, the processor is configured to determine the output power of the electric bicycle, including: the processor is configured to receive power data from a power sensor of the electric bicycle. The power data represents the output power of the electric bicycle. The output power sensor is positioned at the output end of the transmission, in the hub of the rear wheel of the electric bicycle, or on the frame of the electric bicycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The objects, features and advantages of the present invention will become apparent from the following description read in conjunction with the accompanying drawings, in which:

[0041] Figure 1 shows a side view of one example of an electric bicycle having movement of components that may be controlled according to the teachings of the present disclosure;

[0042] Figure 2 is a side view of an example of a rear derailleur;

[0043] Figure 3 is a block diagram of an example of an electromechanical control system;

[0044] Figure 4 is a block diagram of an example of an electric bicycle;

[0045] Figure 5 is a block diagram of another example of an electric bicycle;

[0046] Figure 6 is a block diagram of yet another example of an electric bicycle;

[0047] Figure 7 is a block diagram of an example of an operating component;

[0048] Figure 8 is a flow chart of an embodiment of a method for compensating for transmission loss of an electric bicycle;

[0049] 9A to 9C is a block diagram of an example of a motor for an electric bicycle;

[0050] Fig.10 is a flow chart of an embodiment of a method for compensating for transmission loss of an electric bicycle; and

[0051] Fig.11 is a flow chart of an embodiment of a method for compensating for transmission losses of an electric bicycle. DETAILED DESCRIPTION

[0052] A bicycle (e.g., an electric bicycle) having an electric pedal-assist motor capable of driving a chain ring independently of a crank is provided. The electric bicycle includes a transmission that provides multiple gear ratios to the rider. The multiple gear ratios provide a comfortable pedaling cadence for varying riding conditions and speeds.

[0053] The transmission losses of an electric bicycle can range from 1% to 15% or more. Due to the increased weight of an electric bicycle compared to a conventional bicycle, and due to transmission losses, an electric bicycle can require considerable effort from the rider to ride above a speed threshold (e.g., 25 km / h).

[0054] The control of the electric bicycle of the present embodiment includes identifying the transmission loss of the transmission of the electric bicycle and controlling the auxiliary motor of the electric bicycle so that when the rider rides the electric bicycle at a speed greater than a speed threshold, a mechanical driving power less than or equal to the determined transmission loss is provided to the wheel (e.g., the rear wheel) of the electric bicycle. In other words, above the speed threshold, almost all (e.g., 95%, 97%, or 99%) of the power input into the pedals is transmitted to, for example, the rear wheel.

[0055] At the rider input (e.g., pedals), the rider pedals the e-bike in a typical manner. The pedals drive the rear wheel through a transmission. The transmission may include multiple gears (e.g., a multi-gear transmission) to provide a desired cadence for a variety of speeds and conditions. The multi-gear transmission may include external gears (e.g., a chain, a derailleur, a plurality of coaxial sprockets), an internal gear drive rear hub, a spur gear set within a drive unit, a continuously variable (CV) transmission, and / or a virtual electronic transmission.

[0056] The electric bicycle may also include an auxiliary motor. The auxiliary motor may drive the rear wheel through a multi-gear transmission. Alternatively, the auxiliary motor may include a gear reducer to allow the auxiliary motor to provide additional torque to the transmission or the rear wheel.

[0057] The electric bicycle may include a speed sensor, an input power sensor (e.g., a crank cadence and a crank torque sensor), and an output power sensor. The speed sensor is configured to measure the speed of the electric bicycle, and may include, for example, a rotating wheel speed sensor, a global positioning system (GPS) sensor, and / or an accelerometer-based speed sensor. The speed sensor may also include a sensor configured to measure the speed of the input and / or output of other elements of a clutch or a transmission. The input power sensor is configured to measure the input cadence and / or input torque from the rider. The input power sensor or the controller of the electric bicycle (e.g., a motor controller) may determine the input power based on the measured input cadence and the measured input torque. The output power sensor is configured to measure the output angular velocity and the output torque. The output power sensor or the controller of the electric bicycle (e.g., a motor controller) may determine the output power based on the measured output angular velocity and the measured output torque. The output power sensor may be located at, for example, the output of the transmission, in the hub of the rear wheel, and / or in the frame of the bicycle.

[0058] The output of the auxiliary motor is controlled, for example, by a motor controller. The motor controller receives bicycle speed data, for example, from a speed sensor, a rider input power from an input power sensor, and an output power from an output power sensor. For example, the motor controller is configured to control the auxiliary motor to assist the rider in propelling the electric bicycle by adding power to drive the rear wheel of the electric bicycle.

[0059] In an embodiment, a transmission loss is identified. For example, a transmission loss may be identified by determining the presence of a loss via measurement. A measurement of power input into the transmission may be used in conjunction with a measured or determined loss due to resistance / drag of elements in the system that are not driven by the auxiliary motor to identify the presence of a transmission loss.

[0060] Transmission loss may be determined in any number of ways. For example, transmission loss may be characterized in a laboratory under a variety of different operating conditions (eg, input torque, input cadence, speed of the electric bicycle, and / or temperature).

[0061] In another example, the transmission system components between the rotor of the motor and the clutch may cause transmission loss. In this example, the presence of transmission loss can be identified based on the speed of the output end 908 of the clutch 904 and / or the speed of the input end of the clutch 904. For example, in an example where the output end 908 of the clutch 904 is connected to one or more gear reducers, it will be known that one or more gear reducers will cause transmission loss. Therefore, by measuring the speed of the output end 908 of the clutch 904, transmission loss can be identified.

[0062] It should be understood that in some examples, the identified or determined transmission losses will be a portion of or less than the total actual transmission losses of each transmission system component of the electric bicycle. That is, the identified or determined transmission losses may be a portion of the total transmission losses of the entire electric bicycle. For example, in some examples, the identified or determined transmission losses will be transmission losses from the electric motor 408 and the components connecting the electric motor 408 to the clutch 904. Other transmission losses such as transmission losses from chains, chain rings, flywheels, pedal bearings, hubs, hub bearings, bottom bracket (middle bracket) bearings, and any other transmission system components may not be included in the identified or determined transmission losses.

[0063] This transmission loss information may be stored in a memory of the motor controller, and the motor controller may use the stored information to estimate transmission loss for a particular sensed riding condition.

[0064] As another example, transmission loss can be measured directly by comparing a determined input power from an input power sensor with a determined output power from an output power sensor. The motor controller can determine a difference between the determined input power and the determined output power, and the determined difference can be identified as transmission loss.

[0065] As another example, the transmission loss of the transmission of the electric bicycle can also be identified or determined based on the speed of various components of the bicycle. For example, in an embodiment, the transmission loss of the electric bicycle can be determined based on the speed of the output end 908 of the clutch 904.

[0066] It should be appreciated that different embodiments of determining transmission loss may also be used to identify the presence of transmission loss.

[0067] It should be understood that drive train components (e.g., clutch 904, gear reducer 902, chain ring, flywheel, chain, bottom bracket (middle bracket) bearings, etc.) introduce transmission losses into the bicycle. For example, the drive train components between the rotor 906 of the motor 408 and the clutch 904 can add transmission losses to the bicycle. For example, this may occur when the one-way clutch is overdriven or overrun, such as when the rider is pedaling the electric bicycle without motor assistance (e.g., the motor is powered off or temporarily powered down). These transmission losses can be overcome at least in part by rotating the input end 910 of the clutch 904 so that the speed of the input end 910 of the clutch 904 does not exceed the speed of the output end 908 of the clutch 904. Generally, when the speed of the input end 910 of the clutch 904 does not exceed the speed of the output end 908 of the clutch 904, little or no assistance will be provided to the rider. This is particularly true if the speed of the input end 910 of the clutch 904 causes the input end 910 of the clutch 904 to separate from the output end 908 of the clutch 904.

[0068] Then, the speed of the output end 908 of the clutch 904 can be used to determine the target motor speed. The target motor speed should be a speed that at least partially overcomes the transmission loss of the bicycle. The target motor speed should also be set so that the rider receives little or no assistance from the motor 408. In an embodiment, the target motor speed is set so that the speed of the input end 910 of the clutch 904 does not exceed (i.e., is less than, or is less than or equal to) the speed of the output end 908 of the clutch 904. In another embodiment, the input end 910 of the clutch 904 can receive power from the output end (912, 912a, 912b) of one or more gear reducers 902. In this embodiment, the target motor speed should be set so that the output end (912, 912a, 912b) of the gear reducer 902 drives the input end 910 of the clutch 904 to a speed that does not exceed (i.e., is less than, or is less than or equal to) the speed of the output end 908 of the clutch 904. In another embodiment, the target motor speed is set so that the input end 910 of the clutch 904 is separated from the output end 908 of the clutch 904.

[0069] The estimated transmission loss can be reduced by a predetermined margin to provide, for example, a total power delivered to the rear wheel (e.g., output power) that does not exceed the rider's input power at the crank arm assembly of the electric bicycle. For example, the estimated transmission loss can be reduced by 5% or another amount, and the motor controller can control the auxiliary motor of the electric bicycle based on the reduced estimated transmission loss. In other words, the motor controller can control the auxiliary motor of the electric bicycle based on a portion (e.g., 95%) of the estimated transmission loss.

[0070] The power assistance provided by the auxiliary motor of the electric bicycle when the electric bicycle is traveling faster than the speed threshold offsets transmission losses and allows all or nearly all (e.g., 95%, 97%, or 99%) of the power input by the rider into the pedals of the electric bicycle to be transferred to, for example, the rear wheel of the electric bicycle.

[0071] These and other objects, features and advantages of the disclosed bicycle component control will become apparent to those of ordinary skill in the art by reading this disclosure. Throughout the drawings, where the same reference numerals are used, the same reference numerals represent the same or substantially similar parts in the various disclosed examples. In addition, specific examples utilizing specific combinations of the disclosed aspects, features and components of the present disclosure are disclosed and described herein. However, in other examples not disclosed or described herein, each disclosed aspect, feature and / or component of the present disclosure may be used independently of other aspects, features and components of the present disclosure or in different combinations therewith.

[0072] Turning now to the accompanying drawings, Figure 1 An exemplary bicycle 100 (e.g., an electric bicycle or e-bike) is shown, which includes a frame 106, a handlebar 108, and a seat 110. The bicycle 100 also includes a first or front wheel 112 and a second or rear wheel 114. A front brake 116 and / or a rear brake 118 are included to brake the front wheel 112 and the rear wheel 114, respectively. The front brake 116 and / or the rear brake 118 are controlled by at least one brake actuator 120. The bicycle 100 includes a drive train 122 (e.g., components of which form at least a portion of a transmission). Figure 1The drive train 122 includes a crank assembly 124 operably coupled to a rear flywheel 126 via a chain 128. The crank assembly 124 includes a crank arm 130 and a pedal 132 and at least one chain ring 134 configured to be operably coupled to the chain 128 to transfer the force and / or power applied to the crank assembly 124 to the chain 128. The force and / or power is transferred to the rear flywheel 126 through the chain 128, whereby the driving force 136 and / or power is transferred from the rear flywheel 126 to the rear wheel 114. Although the drive train 122 includes a shifter (e.g., a rear derailleur 102 in the illustrated embodiment), other transmissions such as an internal gear hub, a gear box, and / or a continuously variable transmission may be applied to the bicycle 100.

[0073] The drive train 122 may also include a power assist device 140. The rider applies pedal torque to the crank assembly 124 using the pedals 132 and the crank arm 130. The power assist device 140 is configured to assist the rotation of the rear wheel 114. In the illustrated embodiment, the power assist device 140 is configured to assist the rotation of the rear wheel 114 via a coupled connection to the crank assembly 124. The power assist device 140 includes a power assist motor 141 powered by a remote power source 142.

[0074] like Figure 1 As shown, the chain 128 can be moved between the various sprockets of the rear flywheel 126 using a shifter (such as a rear derailleur 102). The rear derailleur 102 is, for example, an electric shifter controlled by a signal indicating that a shift command has been actuated by a bicycle operator or rider. The electric rear derailleur 102 can alternatively be powered by an integrated power source or by a remote power source 142 using a conductive connector or cable. Power is provided from the remote power source 142 to an intermediate power connector coupled to the rear derailleur 102, for example, via a cable. The shift command is implemented using an electric actuator 148 that can be manually operated by the rider. The signal indicating the shift command can be transmitted to the electric rear derailleur 102 using wired and / or wireless communication technology.

[0075] refer to Figure 2, the rear derailleur 102 is attached to the bicycle frame 106 and positioned adjacent to the rear cassette 126. The chain 128 is schematically shown only in dashed lines. The electric or electromechanical rear derailleur 102 includes a base member 150 (e.g., a "B-knuckle"), an outer link 152, and an inner link 154. The base member 150 can be attached to the bicycle frame 106 in a conventional manner. For example, the inner link 154 is pivotally attached to the base member 150 by a link pin. A movable member or assembly 156 (e.g., a "P-knuckle") is pivotally connected to the outer link 152 and the inner link 154 at the end opposite to the base member 150 to allow the movable assembly 156 to be displaced relative to the base member 150.

[0076] The rear derailleur 102 may also be configured to work with an integrated power source 158, such as a removable battery. Figure 1 and Figure 2 In the example shown, an integrated power source or battery 158 is attached to the rear derailleur 102. The integrated power source 158 can power, for example, a motor of the rear derailleur 102 for shifting the rear derailleur 102.

[0077] like Figure 1 As shown, the bicycle 100 also has a user interface mounted on the handlebars through a shift actuator or electric actuator 148. All of the electrical components discussed above and / or other electrical components can be connected to a remote power source or remote battery 142. In addition, all communications between the electric bicycle central control system or controller and each of these electrical components are achieved through wired or wireless communications. There can be discrete control using separate wires from the central controller to each component, or the system can use a controller area network ("CAN") bus, which is designed to allow microcontrollers and devices to communicate with each other in an application.

[0078] Although the bicycle 100 shown is a mountain bike and may include suspension components (e.g., a suspension fork), the embodiments disclosed herein may be implemented with other types of bicycles (e.g., a road bicycle). The front and / or forward orientation of the bicycle 100 is determined by Figure 1 In this way, the forward movement direction of the bicycle is indicated by the direction of arrow A.

[0079] An electric bicycle central control system or controller (e.g., a motor controller) can be supported by the same housing as the remote power source 142. The electric bicycle controller can control power from the remote power source 142 to components on the bicycle 100 (e.g., the power assist device 140). The electric bicycle controller can control power to other and / or different components on the bicycle 100. The electric bicycle controller can send signals (e.g., commands) to and / or receive data (e.g., commands and / or sensor data) from components on the bicycle 100 (e.g., the derailleur 102, the suspension system, and / or the seat post assembly) to actuate and / or control components of the bicycle 100.

[0080] In other embodiments, the electric bicycle controller can be located elsewhere on the bicycle 100 (e.g., mounted on the handlebars), or alternatively, can be distributed between various components of the bicycle 100, with the routing of the communication link adapting to the necessary signal and power paths. The electric bicycle controller can also be located at a location other than on the bicycle 100, for example, on the rider's wrist or in a jersey pocket. The communication link can include wired, can be wireless, or can be a combination of wired and wireless. In one example, the electric bicycle controller can be integrated with the rear derailleur 102 to transmit control commands between components. The electric bicycle controller can include, for example, a processor, a communication device (e.g., a wireless communication device), a memory, and one or more communication interfaces.

[0081] In one example, the controller of the derailleur and / or the electric bicycle controller wirelessly actuates the motor module and / or the auxiliary motor of the derailleur 102 and operates the derailleur 102 to perform shifting and gear selection. Additionally or alternatively, the controller of the derailleur and / or the electric bicycle controller can be configured to control the shifting of the front shifter.

[0082] The bicycle 100 may include one or more sensors. For example, the one or more sensors include a wheel speed sensor 160 configured to determine wheel speed based on sensing a sensing element 162 (e.g., a magnet) positioned, for example, on the rear wheel 114 of the bicycle 100. The one or more sensors may also include an input power sensor 163, for example, at a crankshaft of a crank assembly 124 of the electric bicycle 100, and an output power sensor 164, for example, at a hub of the rear wheel 114.

[0083] Figure 3 An example of a control system 300 (e.g., an electromechanical control system) is shown, for example, for a bicycle 100. The control system 300 includes an electric bicycle controller 302 (e.g., a motor controller), a power assist device 140, a rear derailleur 102, and one or more sensors. The power assist device 140 is, for example, an assist motor.

[0084] The one or more sensors include, for example, a wheel speed sensor 304, an input power sensor 306, and an output power sensor 308. For example, the wheel speed sensor 304 measures the rotational speed of at least one of the wheels 114, 112, the input power sensor 306 measures the input torque and cadence at the crankshaft of the crank assembly 124, and the output power sensor 308 measures the output torque and angular velocity at, for example, the rear wheel 114. In one embodiment, the one or more sensors may include at least two wheel speed sensors 304, one for the front wheel 112 and one for the rear wheel 114.

[0085] The wheel speed sensor 304, the input power sensor 306, and the output power sensor 308 can be any number of different types of sensors. For example, the wheel speed sensor 304 can be a combined speed and cadence sensor. The speed and cadence sensor can include a spoke magnet attached to the spokes of the front wheel 112 or the rear wheel 114 and / or a cadence magnet attached to one of the crank arms 130 and a sensor (e.g., a Hall effect sensor) attached to the frame 106 of the bicycle 100. The sensor attached to the frame 106 of the bicycle is configured to identify and count the rotation of one crank arm 130 and / or the front wheel 112 or the rear wheel 114, respectively, based on the cadence magnet and / or the spoke magnet passing through the sensor attached to the frame 106. The input power sensor 306 and the output power sensor 308 can include, for example, a power meter.

[0086] The control system 300 may include more, fewer, and / or different sensors. For example, one or more sensors may include a torque sensor that measures the torque on the crank assembly 124 and / or the torque on the output shaft of the auxiliary motor 141. Any number of different types of torque sensors may be provided. For example, the torque sensor may include a magnetoelastic torque sensor, a strain gauge, a SAW device, and / or other types of torque sensors. In one embodiment, the torque sensor is a current sensor that measures the current through the auxiliary motor 141. The amount of current consumed by the auxiliary motor 141 is proportional to the torque applied by the auxiliary motor 141 to the drive train of the bicycle 100.

[0087] like Figure 3As shown in the embodiment of the control system 300, the power assist device 140, the rear derailleur 102, and one or more sensors (e.g., wheel speed sensor 304, input power sensor 306, and output power sensor 308) can communicate directly with the electric bicycle controller 302. Alternatively or additionally, at least some components of the control system 300 can communicate indirectly with the electric bicycle controller 302. For example, the wheel speed sensor 304, the input power sensor 306, and / or the output power sensor 308 can communicate directly with the rear derailleur 102, and communicate indirectly with the electric bicycle controller 302 via the rear derailleur 102. In one embodiment, at least each of the rear derailleur 102 and the electric bicycle controller 302 communicates directly with all sensors such as the wheel speed sensor 304, the input power sensor 306, and the output power sensor 308. Other and / or different components of the control system 300 can communicate directly with all sensors of the one or more sensors (e.g., the power assist device 140). The communication between the components of the control system 300 can be wired communication and / or wireless communication.

[0088] Each communication link 310 between components of the control system 300 can be in both directions. In other words, data flow between components of the control system 300 in direct communication can be in both directions. For example, the wheel speed sensor 304 can receive a signal (e.g., regarding when the rotational speed is measured) from the electric bicycle controller 302 or the rear derailleur 102 and return the measured rotational speed to the electric bicycle controller 302 or the rear derailleur 102.

[0089] Figure 4 4 is a block diagram of an example of an electric bicycle 400. A rider pedals the electric bicycle 400 at a rider input 402. The rider input 402 includes a crank arm assembly (e.g., Figure 1 The crank arm assembly 124 includes a crank arm (e.g., Figure 1 A crank arm 130) and a pedal rotatably connected to the crank arm (e.g., Figure 1 At the rider input 402 , the rider pedals the electric bicycle 400 in a typical manner (eg, via the pedals of the rider input 402 ).

[0090] The pedals of the rider input 402 drive wheels 404 (eg, Figure 1The transmission 406 may include any number of gears to provide a desired cadence for various speeds and conditions of the electric bicycle 400. In one example, the transmission 406 is a multi-gear transmission 406 that includes one or more external gears (e.g., a chain, a derailleur, a plurality of coaxial sprockets), one or more internally geared rear hubs, a drive unit (e.g., Figure 1 One or more spur gear sets within the power assist device 140), one or more continuously variable (CV) transmissions, one or more virtual electronic transmissions, or any combination thereof.

[0091] The electric bicycle 400 also includes a motor 408 (e.g., Figure 1 The motor 408 drives the wheels 404 through the transmission 406. The motor 408 may include one or more gear reducers 902. In an embodiment, the rotor of the motor 408 is connected to the one or more gear reducers 902. The one or more gear reducers 902 allow the motor 408 to provide additional torque to the transmission 406 or the wheels 404. In an embodiment where the motor 408 includes one or more gear reducers 902, the motor 408 drives the wheels through the transmission 406 via the one or more gear reducers 902.

[0092] The motor may further include a clutch 904. The clutch 904 has a clutch input 910 and a clutch output 908. Power is transferred from the clutch input 910 to the clutch output 908. The clutch 904 is configured to connect or engage the clutch input 910 to the clutch output 908 when power transfer is required, and to disconnect or separate the clutch output 908 from the clutch input 910 when power transfer is not required. Some clutches may partially engage the clutch input 910 to the clutch output 908 or partially separate the clutch output 908 to at least partially transfer power. Examples of clutches include, but are not limited to, one-way clutches, dry friction clutches, wet friction clutches, and centrifugal clutches.

[0093] In one embodiment, the clutch input 910 is connected to the motor 408, for example via the rotor 906. In another embodiment, the clutch input 910 is connected to the output 912, 912a of the gear reducer 902. In this embodiment, the gear reducer 902 can be directly or indirectly connected to the motor 408 or another input source.

[0094] In an embodiment, the clutch output 908 is connected to a bicycle crank assembly. In another embodiment, the clutch output is connected to the input of the gear reducer 902.

[0095] When the clutch 904 is engaged, the speed of the clutch output 908 is the same as the speed of the clutch input 910. When the clutch 904 is partially engaged (or partially disengaged), the speed of the clutch output 908 can be higher or lower than the speed of the clutch input 910, and power can be transferred from the clutch input 910 to the clutch output 908. When the clutch 904 is disengaged, power is not transferred from the clutch input 910 to the clutch output 908. When disengaged, the clutch input 910 can rotate independently of the clutch output 908. In some cases, the clutch input 910 can be stationary while the clutch output 908 rotates, or vice versa. In other cases, the clutch input 910 can rotate at a different speed than the clutch output 908, so that power is not transferred from the clutch input 910 to the clutch output 908.

[0096] In embodiments where the motor 408 includes one or more gear reducers 902 , 902a , 902b between the auxiliary motor and the clutch, the speed of the input 910 of the clutch 904 will be the same as the speed of the output 912 , 912a of the gear reducer connected to the input 910 of the clutch 904 .

[0097] In embodiments where the input 910 of the clutch 904 is directly connected to the rotor 906 of the auxiliary motor 408 , the speed of the input 910 of the clutch 904 is the same as the speed of the auxiliary motor 408 (or the rotor 906 ).

[0098] In another embodiment, the clutch 904 and / or one or more gear reducers 902 are separate from the motor 408. In this embodiment, the one or more gear reducers 902 and / or the clutch are part of a transmission. Examples of transmissions include, but are not limited to, gear boxes. It should be understood that the one or more gear reducers 902 and / or the clutch 904 can be located anywhere along the drive train.

[0099] The control system may include one or more clutch output speed sensors 916. The clutch output speed sensor 916 detects the speed of the output of the clutch 904.

[0100] The control system may include one or more clutch input speed sensors 910. The clutch input speed sensor 918 detects the speed of the input 910 of the clutch.

[0101] The control system may include one or more gear reducer output speed sensors 922, 922a, 922b. The gear reducer output speed sensors 922, 922a, 922b detect the speed of the gear reducer output 912, 912a, 912b. In some embodiments, the gear reducer output 912, 912a, 912b is directly or indirectly connected to the input 910 of the clutch 904.

[0102] The control system may include one or more motor 408 (or rotor 906) speed sensors 920. The motor 408 (or rotor 906) speed sensor 920 detects the speed of the auxiliary motor 408 or rotor 906. In embodiments where the motor 408 does not have one or more gear reducers 902, 902a, 902b, the output speed of the auxiliary motor 408 (or rotor 906) is the output speed of the output shaft of the motor 408 (or rotor 906).

[0103] In embodiments where the motor 408 has a gear reducer 902 before the clutch 904, the output speed of the auxiliary motor 408 (or rotor 906) is the speed of the output 912 of the gear reducer 902. In embodiments where there is more than one gear reducer 902a, 902b, the output speed of the auxiliary motor 408 (or rotor 906) is the output speed of the output 912, 912a of the gear reducers 902a, 902b, which are directly connected to the input 910 of the clutch 904.

[0104] Motor 408 can be any number of different types of motors, including, for example, a brushless direct current (DC) mid-drive motor. Motor 408 can be, for example, a 250 watt motor, a 350 watt motor, or a 500 watt motor. Other types of motors can be used for motor 408.

[0105] The electric bicycle 400 also includes an input power sensor 410. The input power sensor 410 can be configured to determine, for example, an input cadence and an input torque from a rider, where the input power is equal to the input cadence multiplied by the input torque. The input power sensor 410 can include any number of different types of sensors, including, for example, a power meter, a strain gauge, and / or a cadence sensor. The input power sensor 410 can be located at any number of different locations of the electric bicycle 400, including, for example, a pedal shaft, a pedal body, a crank shaft, and / or a crank arm of the electric bicycle 400. In other embodiments, different types of input power sensors 410 can be used, and / or the input power sensor 410 can be located at other locations of the electric bicycle 400.

[0106] The electric bicycle 400 also includes a speed sensor 412. The speed sensor 412 is configured to measure the speed of the electric bicycle 400. The speed sensor 412 can include any number of different types of sensors, including, for example, a rotational wheel speed sensor, a global positioning system (GPS) sensor, and / or an accelerometer-based speed sensor. The speed sensor 412 can be located at any number of different locations on the electric bicycle 400, including, for example, a wheel 404, a fork (e.g., a front fork and / or a front fork), and / or a crank axle of the electric bicycle 400. In other embodiments, different types of speed sensors 412 can be used, and / or the speed sensor 412 can be located at other locations on the electric bicycle 400.

[0107] The electric bicycle 400 also includes a controller 414 (e.g., a motor controller). The controller 414 may include any number of components. For example, the controller 414 includes one or more processors and a memory. The controller 414 may be part of the motor 408 or separate from the motor 408 and is configured to control the motor 408 via a wired connection and / or wirelessly.

[0108] The motor controller 414 communicates (e.g., via a wired connection and / or wirelessly) with the input power sensor 410 and the speed sensor 412. The motor controller 414 is configured to receive bicycle speed data from the speed sensor 412 and rider input power data from the input power sensor 410. The motor controller 414 is configured, for example, to control the motor 408 based on the bicycle speed data received from the speed sensor 412 and the rider input power data received from the input power sensor 410. The motor controller 414 is configured to assist the rider in propelling the electric bicycle 400 by increasing power with the motor 408 to drive the wheels 404 of the electric bicycle 400.

[0109] The motor controller 414 can be powered by (e.g., receive power from) a battery 416. The battery 416 can be a dedicated battery for the motor controller 414. In one embodiment, the battery 416 is a battery for another component of the electric bicycle 400 (e.g., the motor 408 or a derailleur of the electric bicycle 400) and powers the motor controller 414 in addition to at least the other component of the electric bicycle 400.

[0110] Figure 5 is a block diagram of another example of an electric bicycle 500. Figure 4 In addition to the 400 components of the electric bicycle, Figure 5The electric bicycle 500 also includes an output power sensor 502. The output power sensor 502 can be configured to determine, for example, the output power of the electric bicycle 500. The output power sensor 502 can include any number of different types of sensors, including, for example, a power meter, a strain gauge, and / or a cadence sensor. The output power sensor 502 can be located at any number of different locations on the electric bicycle 500, including, for example, at the output end of the transmission 406, in the hub of the wheel 404, and / or on the frame of the electric bicycle 500. In other embodiments, different types of output power sensors 502 can be used, and / or the output power sensor 502 can be located at other locations on the electric bicycle 500.

[0111] The motor controller 414 may also communicate with the output power sensor 502 (e.g., via a wired connection and / or wirelessly). The motor controller 414 is configured to receive output power data from the output power sensor 502. The motor controller 414 is configured, for example, to control the motor 408 based on bicycle speed data received from the speed sensor 412, rider input power data received from the input power sensor 410, and rider output power data received from the output power sensor 502. The motor controller 414 is configured to assist the rider in propelling the electric bicycle 400 by adding power to drive the wheels 404 of the electric bicycle 500.

[0112] Figure 6 600. The motor 602 is configured to directly drive the wheel 404 rather than via a transmission (e.g., such as Figure 4 ). The transmission 604 of the electric bicycle 600 can be different from the transmission 406 of the electric bicycle 400 and the electric bicycle 500, respectively. For example, the transmission 604 of the electric bicycle 600 can include more, fewer and / or different gears. For example, the transmission 604 can include: more, fewer and / or different external gears; more, fewer and / or different internal gear transmission rear hubs; more, fewer and / or different spur gear sets within the drive unit; more, fewer and / or different continuously variable (CV) transmissions; and / or more, fewer and / or different virtual electronic transmissions. In an embodiment, the motor 602 can alternatively be configured to directly drive the front wheel in a manner similar to that described with respect to the wheel 404.

[0113] Figure 7is a block diagram of an operating component 700. The operating component 700 may be one or more of the previously described components (e.g., the electric bicycle controller 302, the motor controller 414, or the motor 408) or a portion of one or more of the previously described components. The operating component 700 may also be another component, such as a power assist device 140 or an internal gearbox component. A plurality of operating components 700 may be provided.

[0114] The operating component 700 is provided with an operating unit 702, which can be a circuit board or an alternative configuration. The operating unit 702 includes an operating processor 704, an operating memory 706, an operating user interface 708, an operating power supply 710, an operating communication interface 712, and an operating device interface 714. In one embodiment, the operating communication interface 712 communicates with the operating communication device 716, and the operating device interface 714 communicates with the operating device 718. Additional, different or fewer components can be provided. For example, the operating user interface 708 can be omitted.

[0115] The structure, connections, and functions of the operation processor 704 may represent the structure, connections, and functions of the rear derailleur 102, the front derailleur, the electric bicycle controller 302, the motor controller 414, or another component. The operation processor 704 may include a general purpose processor, a digital signal processor, an ASIC, an FPGA, an analog circuit, a digital circuit, a combination thereof, or other processors now known or later developed. The operation processor 704 may be a single device or a combination of multiple devices (such as through shared or parallel processing).

[0116] The operating memory 706 may be a volatile memory or a non-volatile memory. The operating memory 706 may include one or more memories of ROM, RAM, flash memory, EEPROM or other types of memory. The operating memory 706 may be removable from the operating component 700, such as an SD memory card. In a specific non-limiting exemplary embodiment, the computer-readable medium may include a solid-state memory, such as a memory card or other packages that accommodate one or more non-volatile read-only memories. In addition, the computer-readable medium may be a random access memory or other volatile rewritable memory. In addition, the computer-readable medium may include a magneto-optical or optical medium, such as a disk or tape or other storage device. Therefore, the present disclosure is considered to include any one or more of the computer-readable medium and other equivalents and successor media in which data or instructions may be stored.

[0117] The operating memory 706 is a non-transitory computer-readable medium and is described as a single medium. However, the term "computer-readable medium" includes a single medium or multiple media, such as a centralized or distributed memory structure, and / or an associated cache operable to store one or more sets of instructions and other data. The term "computer-readable medium" should also include any medium that can store, encode, or carry a set of instructions for execution by a processor or cause a computer system to perform any one or more of the methods or operations disclosed herein.

[0118] The operating power supply 710 is a portable power source that can be stored inside the operating part 700 or stored outside the operating part 700 and is communicated with the operating part through a conductive cable. The operating power supply 710 can involve, for example, using a mechanical generator, a fuel cell device, a photovoltaic cell, a piezoelectric or other power generation device to generate electricity. The operating power supply 710 can include a battery, such as a device consisting of two or more electrochemical cells that convert stored chemical energy into electrical energy. The operating power supply 710 can include a combination of multiple batteries or other power supply devices. A specially adapted or configured battery type or a standard battery type can be used.

[0119] In the example where the operating component 700 is the motor controller 414, the operating power source 710 may be stored outside the operating component 700. In the example where the operating component 700 is the electric bicycle controller 302 or the motor 408, the operating power source 710 may be stored inside or outside the operating component 700. For example, the electric bicycle controller 302 may be supported on Figure 1 The remote power supply 142 is located within the housing.

[0120] The operating device interface 714 provides operation of components of the bicycle 100. For example, the operating device interface 714 can transmit power from the operating power source 710 to produce movement in the operating device 718. In various embodiments, the operating device interface 714 sends power to control the movement of the auxiliary motor 141, the motor of the rear derailleur 102, the motor of the front derailleur, or any combination thereof. In one embodiment, the operating component 700 is the electric bicycle controller 302 or the motor controller 414, and the operating device interface 714 sends power to control the movement of the power assist device 140. The operating device interface 714 includes wired conductive signal and / or data communication circuitry operable to control the operating device 718.

[0121] The operation user interface 708 can be one or more buttons, keypads, keyboards, mice, styluses, trackballs, rocker switches, touchpads, voice recognition circuits, or other devices or components for transmitting data between a user and the operation component 700. The operation user interface 708 can be a capacitive or resistive touch screen. The operation user interface 708 can include an LCD panel, LED, LED screen, TFT screen, or another type of display. The operation user interface 708 can also include audio capabilities or speakers.

[0122] The operational communication interface 712 is configured to receive data, such as measurement data (e.g., input power, output power, rotational crank speed, rotational wheel speed, bicycle speed and / or torque), expected signals, operational signals and / or other signals from bicycle components (e.g., wheel speed sensor 304, input power sensor 306, output power sensor 308 and / or electric bicycle controller 302) using an operational communication device 716.

[0123] In one embodiment, the operating component 700 includes more than one operating communication interface 712 that communicates with more than one operating communication device 716, respectively. The operating communication interface 712 can also be configured to send data such as status signals (e.g., input power sensor signals) for reception by, for example, the electric bicycle controller 302. The operating communication interface 712 uses any operable connection to transmit data. An operable connection can be a connection in which signals, physical communications, and / or logical communications can be sent and / or received. An operable connection can include a physical interface, an electrical interface, and / or a data interface. One or more operating communication interfaces can provide wireless communication through the operating communication device 716 in any format now known or later developed.

[0124] Although this specification describes components and functions that can be implemented in specific embodiments with reference to specific standards and protocols, the present invention is not limited to such standards and protocols. For example, standards for Internet and other packet-switched network transmissions (e.g., TCP / IP, UDP / IP, HTML, HTTP, HTTPS) represent examples of prior art. Such standards are periodically replaced by faster or more efficient equivalents having substantially the same functionality. Therefore, replacement standards and protocols having the same or similar functionality as that disclosed herein are considered to be their equivalents.

[0125] According to various embodiments of the present disclosure, the methods described herein may be implemented with a software program executable by a computer system, such as components of the control system 300 (e.g., the motor controller 414, the electric bicycle controller 302, and the rear derailleur 102) and / or other components on the bicycle 100 and / or worn by the user. In addition, in an exemplary non-limiting embodiment, implementations may include distributed processing, component / object distributed processing, and parallel processing. Alternatively, a virtual computer system process may be constructed to implement one or more of the methods or functions as described herein.

[0126] A computer program (also referred to as a program, software, software application, script, or code) may be written in any form of programming language, including compiled or interpreted languages, and a computer program may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for a computing environment. A computer program does not necessarily correspond to a file in a file system. A program may be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or portions of code). A computer program may be deployed to execute on one computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communications network.

[0127] The processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuits (e.g., FPGAs or ASICs), and the devices can also be implemented as special purpose logic circuits.

[0128] As used in this application, the terms "circuitry" or "circuitry" refer to all of the following: (a) hardware circuit implementations only (such as implementations in analog and / or digital circuitry only); and (b) combinations of circuitry and software (and / or firmware), such as (where applicable): (i) a combination of a processor or (ii) portions of a processor / software (including a digital signal processor), software, and memory that work together to enable a device such as a mobile phone or server to perform various functions); and (c) circuits that require software or firmware to operate, such as a microprocessor or portion of a microprocessor, even if the software or firmware is not physically present.

[0129] This definition of "circuit / circuitry" applies to all uses of the term in this application, including any claims. As another example, as used in this application, the term "circuit / circuitry" would also cover an implementation of only a processor (or multiple processors) or a portion of a processor and its (or their) accompanying software and / or firmware and other electronic components. For example, and if applicable to a particular claim element, the term "circuit / circuitry" would also cover a baseband integrated circuit or application processor integrated circuit for a mobile computing device or a similar integrated circuit in a server, cellular network device, or other network device.

[0130] For example, processors suitable for executing computer programs include both general-purpose and special-purpose microprocessors and any one or more processors of any type of digital computer. Typically, the processor receives instructions and data from a read-only memory or a random access memory or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, the computer also includes one or more mass storage devices (e.g., magnetic disks, magneto-optical disks, or optical disks) for storing data or is operatively connected to one or more mass storage devices to receive data from it or to transmit data to it or both. However, the computer does not need to have such a device. In addition, the computer can be embedded in another device, such as a mobile phone, a personal digital assistant ("PDA"), a mobile audio player, a global positioning system ("GPS") receiver, a control unit, a rear derailleur or a front shifter, etc. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including, for example: semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0131] The operating communication device 716 provides data and / or signal communication from the operating component 700 to another component of the bicycle 100 or an external device such as a mobile phone or other computing device. The operating communication device uses any operable connection to transmit data. An operable connection can be a connection in which signals, physical communications, and / or logical communications can be sent and / or received. An operable connection can include a physical interface, an electrical interface, and / or a data interface. The control communication device can be configured for wireless communication and therefore include one or more antennas. The control communication device provides wireless communication in any format now known or later developed.

[0132] A control antenna may also be provided. The control antenna may be a plurality of control antennas. The operating component 700 may include an antenna with the circuit / circuitry of the PCB of the operating component 700; however, additional antennas may also be included in the circuit / circuitry. The control antenna may be integrated with another component of the bicycle 100, or may be a separate component. For example, the control antenna may be integrated as part of the motor controller 414, the electric bicycle controller 302, and / or as part of the rear derailleur 102.

[0133] The motor controller 414 can, for example, allow for configuration of multiple riding modes, which can be switched between by a control unit (e.g., the electric bicycle controller 302 or another controller on or outside the bicycle 100). The control unit can automatically switch riding modes based on user input (e.g., via the electric actuator 148 or another interface) or based on sensed conditions. In each mode, various characteristics of the riding mode can be adjusted. For example, gear hysteresis, the minimum gear to shift to without pedaling, and / or other characteristics can be adjusted.

[0134] Various regional regulations limit motor assistance above a predetermined bicycle speed (e.g., a predetermined maximum threshold speed). Electric bicycles typically include multiple support levels that can be selected by the rider. The support levels that the rider can select can include, for example: Economy (Eco) mode (40% support); Comfort (Tour) mode (100% support); Sport (Sport) mode (170% support); and Turbo mode (250% support). For example, if the rider selects "Comfort Mode" and rides below a predetermined maximum threshold speed and inputs 100 watts to the pedals of the electric bicycle, the auxiliary motor of the electric bicycle will provide an additional 100 watts to the wheels (e.g., the rear wheel) of the electric bicycle.

[0135] The transmission of the electric bicycle provides multiple gear ratios to the rider to provide a comfortable pedaling cadence for varying riding conditions and speeds. These transmissions have losses that can range from 1% to 15% or more. When riding at or above a predetermined maximum threshold speed, the transmission loss is determined and the motor is instructed to provide mechanical drive power to a wheel (e.g., a rear wheel) that is less than or equal to the determined transmission loss.

[0136] Figure 8800 is a flow chart of an embodiment of a method for compensating for transmission losses of an electric bicycle (e.g., bicycle 100). The flow chart also shows a method for sending and receiving wireless signals on a bicycle. As presented in the following sections, any combination of the components indicated in the previous figures can be used to perform actions. For example, the following actions can be performed by at least some components of the control system 300 and additional or other components. In an embodiment, these actions can be performed by, for example, an electric bicycle controller 302, a motor controller 414, a power assist device 140, one or more sensors, or any combination thereof. Additional, different, or fewer actions can be provided. These actions are performed in the order shown or in other orders. These actions can be repeated.

[0137] In action 802, method 800 is started. Method 800 can start when a controller (e.g., motor controller 414) of the electric bicycle is turned on. For example, the controller of the bicycle can wake up when the electric bicycle moves. The controller or another component of the electric bicycle can include, for example, an accelerometer, and the accelerometer can sense when the electric bicycle moves. The controller of the electric bicycle can communicate with the accelerometer, and the controller can receive acceleration data from the accelerometer indicating that the electric bicycle has moved. The controller can wake up in response to the received acceleration data and start method 800 in action 802.

[0138] In one embodiment, in act 802, a rider may initiate method 800 at an interface of an electric bicycle. For example, the rider may interact (e.g., press or press and hold) an electric actuator (e.g., Figure 1 The electrical actuator 148 ) is used to begin method 800 in action 802 .

[0139] In action 804, a controller (e.g., a processor of the controller) determines a speed of the electric bicycle. The electric bicycle includes, for example, a speed sensor that communicates with, for example, the processor of the controller (e.g., via one or more wired connections and / or wirelessly). The speed sensor generates speed data corresponding to the electric bicycle and transmits it to the processor, and the processor determines the speed of the electric bicycle based on the received speed data. The speed sensor can include any number of different types of sensors, including, for example, one or more rotational wheel speed sensors, one or more GPS sensors, one or more accelerometer-based speed sensors, one or more other types of speed sensors, or any combination thereof.

[0140] In action 806, the processor determines whether the speed of the electric bicycle determined in action 804 is greater than a predetermined maximum threshold speed. The predetermined maximum threshold speed may be set based on local and / or federal law. For example, if the electric bicycle is traveling at more than 25 km / h, the law may require that the electric bicycle not provide motor assistance to the rider. Other predetermined maximum threshold speeds may be provided.

[0141] The predetermined maximum threshold speed may be stored in a memory of the controller, another memory of the electric bicycle, and / or a memory external to the electric bicycle (e.g., a memory of a mobile computing device). For example, the predetermined maximum threshold speed may be stored in the memory of the controller when the electric bicycle is manufactured or after the electric bicycle is manufactured. For example, the predetermined maximum threshold speed may be user defined.

[0142] The processor may identify a predetermined maximum threshold speed from the memory and compare the speed of the electric bicycle determined in act 804 to the predetermined maximum threshold speed. When, based on the comparison, the speed of the electric bicycle determined in act 804 is less than the predetermined maximum threshold speed, the method 800 moves to act 808. When, based on the comparison, the speed of the electric bicycle determined in act 804 is greater than the predetermined maximum threshold speed, the method 800 moves to act 816.

[0143] In action 808, the processor determines the level of assistance to be provided by an auxiliary motor (e.g., auxiliary motor 141) of the electric bicycle. In one embodiment, the level of assistance provided by the auxiliary motor is user (e.g., rider) selected. For example, the rider interacts with an input device (e.g., electric actuator 148) of the electric bicycle to select the level of assistance to be provided by the auxiliary motor, and the processor determines the level of assistance to be provided by the auxiliary motor based on the rider's interaction with the input device. Different button presses, button press sequences, button holds, lever pulls, or other user inputs at the bicycle can correspond to different levels of assistance provided by the auxiliary motor.

[0144] The support levels selectable by the rider may include, for example: an Eco mode (e.g., 40% support); a Tour mode (e.g., 100% support); a Sport mode (e.g., 170% support); and a Turbo mode (e.g., 250% support). The support levels selectable by the rider may include more, fewer, and / or different support levels. For example, an Eco mode may correspond to a single button press of a button on an electric bicycle within a predetermined time period (e.g., 3 seconds). A Comfort mode may correspond to two button presses of the button within the predetermined time period. A Sport mode may correspond to three button presses of the button within the predetermined time period. An Turbo mode may correspond to four button presses of the button within the predetermined time period. Other inputs corresponding to different modes may be provided.

[0145] In action 810, the processor determines the rider input power. For example, the electric bicycle includes an input power sensor, and the processor determines the rider input power based on data generated by the input power sensor and received from the input power sensor. The input power sensor can be configured to determine, for example, an input cadence and an input torque from the rider, where the input power is equal to the input cadence multiplied by the input torque. The input power sensor can include any number of different types of sensors, including, for example, a power meter, a strain gauge, and / or a cadence sensor. The input power sensor can be located at any number of different positions of the electric bicycle, including, for example, a pedal shaft, a pedal body, a crank shaft, and / or a crank arm of the electric bicycle. In other embodiments, different types of input power sensors can be used, and / or the input power sensor can be located at other positions of the electric bicycle.

[0146] In act 812, the processor determines a target motor assist to be provided by the auxiliary motor of the electric bicycle based on the assist level determined in act 808. For example, the assist level may be a percentage of the rider input power determined in act 810 (e.g., economy mode, 40% support; comfort mode, 100% support; sport mode, 170% support; and acceleration mode, 250% support), and the processor may calculate the target motor assist by multiplying the assist level determined in act 808 by the rider input power determined in act 810. For example, if the rider selects "comfort mode" in act 808, rides below a predetermined maximum threshold speed as determined in act 806, and inputs 100 watts to the pedals of the electric bicycle as determined in act 810, the processor determines the target motor assist to be an additional 100 watts. In another example, if the rider selects "economy mode" in act 808, is riding below a predetermined maximum threshold speed as determined in act 806, and is inputting 100 watts to the pedals of the electric bicycle, the processor determines the target motor assistance to be an additional 40 watts. Other assistance levels may be selected and / or provided.

[0147] In one embodiment, the assistance level may be a predetermined power corresponding to a target motor assistance to be provided by the auxiliary motor. In other words, the target motor assistance to be provided by the auxiliary motor is not based on the rider input power determined in act 810.

[0148] In act 814, the processor controls the auxiliary motor based on the calculated target motor assist to be provided by the auxiliary motor of the electric bicycle determined in act 812. For example, the processor may control the current provided by the battery of the bicycle to the auxiliary motor based on the target motor assist determined in act 812.

[0149] After action 814, method 800 returns to action 804 and repeats method 800. In one embodiment, method 800 is repeated at predetermined intervals. For example, method 800 may be repeated every 0.01 ms, 0.1 ms, 1.0 ms, 2.0 ms, 5.0 ms, or another amount of time. In another embodiment, method 800 is performed continuously without delay between repetitions.

[0150] In action 816, the processor sets the level of assistance to be provided by the auxiliary motor of the electric bicycle to an amount (e.g., a parity level) that offsets, for example, losses within the drive train of the electric bicycle. In this mode, the power applied to the rear wheel of the electric bicycle may be equal to or less than the power input by the rider.

[0151] In action 818, the processor determines the rider input power. For example, the electric bicycle includes an input power sensor, and the processor determines the rider input power based on data (e.g., signal) generated by the input power sensor and received from the input power sensor. The input power sensor can be configured to determine, for example, an input cadence and an input torque from the rider, where the input power is equal to the input cadence multiplied by the input torque. The input power sensor can include any number of different types of sensors, including, for example, a power meter, a strain gauge, and / or a cadence sensor. The input power sensor can be located at any number of different positions of the electric bicycle, including, for example, a pedal shaft, a pedal body, a crank shaft, and / or a crank arm of the electric bicycle. In other embodiments, different types of input power sensors can be used, and / or the input power sensor can be located at other positions of the electric bicycle.

[0152] In act 820, the processor determines mechanical losses (e.g., transmission losses) within the electric bicycle. Electric bicycles may include transmissions to provide multiple gear ratios to the rider and thus provide a comfortable pedaling cadence for varying riding conditions and speeds. These transmissions may have losses that may range from 1% to 15% or more.

[0153] In one embodiment, the processor determines the transmission loss directly by comparing the signal received from the output power sensor with the signal received from the input power sensor in action 818. The output power sensor may include any number of different types of sensors, including, for example, a power meter, a strain gauge, and / or a cadence sensor. The output power sensor may be located at any number of different locations on the electric bicycle, including, for example, the output end of the transmission, within the hub of the wheel, and / or on the frame of the electric bicycle. Other types of output power sensors may be used, and / or the output power sensor may be located at other locations on the electric bicycle. The processor may determine the output power of the electric bicycle based on data (e.g., a signal) generated by the output power sensor and received from the output power sensor.

[0154] The processor may compare the signal from the output power sensor to the signal from the input power sensor by calculating the difference between the rider input power determined in act 818 and the output power of the electric bicycle determined in act 820. The calculated difference may correspond to a transmission loss.

[0155] In another embodiment, the transmission loss can be determined experimentally (e.g., in a laboratory) for a variety of different operating conditions (e.g., rider input torque, cadence, bicycle speed, and / or temperature). The controller can, for example, include a memory in communication with the processor, and the transmission loss and corresponding operating conditions can be stored in the memory (e.g., when the electric bicycle is manufactured). For example, the transmission loss and corresponding operating conditions can be stored as a table in the memory of the controller.

[0156] The processor may identify the current operating condition. For example, the processor may identify the current operating condition based on data from one or more sensors of the electric bicycle. In one embodiment, the processor may identify the current operating condition based on the rider input power determined in action 818. Additionally or alternatively, the processor may identify the current operating condition based on bicycle speed data from a speed sensor of the electric bicycle, cadence data from a cadence sensor of the electric bicycle, temperature data from a temperature sensor of the electric bicycle, other data from one or more other sensors of the electric bicycle, or any combination thereof.

[0157] The processor may compare the identified current operating condition with different operating conditions stored in memory (e.g., corresponding to experimentally determined transmission losses). The processor may determine, based on the comparison, an operating condition among the stored operating conditions that is closest to the identified current operating condition. For example, the processor may determine the difference between the identified current operating condition (e.g., rider input torque) and different operating conditions stored in memory (e.g., rider input torque). The processor may identify the stored operating condition with the smallest determined difference as the closest operating condition. Then, in action 820, the processor may identify the transmission loss stored in memory corresponding to the closest operating condition as the transmission loss within the electric bicycle.

[0158] In one embodiment, the processor may extrapolate between two closest stored operating conditions to determine the transmission loss (e.g., using the transmission loss corresponding to the two closest stored operating conditions). In one embodiment, the experimental data may be a curve fit, and one of the operating conditions (e.g., rider input torque) may be used as an input to the result function. In another embodiment, a digital model representing the transmission of the electric bicycle may be stored at a memory of the controller, and the digital model may output an estimated transmission loss based on the current operating condition of the electric bicycle.

[0159] In act 822, the processor controls the auxiliary motor based on the transmission loss within the electric bicycle determined in act 820. For example, the processor may control the current provided to the auxiliary motor by the battery of the bicycle based on the transmission loss within the electric bicycle determined in act 820. For example, the processor may control the auxiliary motor so that the auxiliary motor provides an output power equal to the transmission loss within the electric bicycle determined in act 820.

[0160] In one embodiment, the processor may reduce the transmission loss in the electric bicycle determined in act 820 by a predetermined margin (e.g., 5%) to provide, for example, a total power delivered to the wheels that does not exceed the rider input power. For example, the processor may multiply the transmission loss in the electric bicycle determined in act 820 by a predetermined percentage (e.g., 95%), and may control the auxiliary motor to provide an output power equal to the reduced transmission loss.

[0161] After action 822, method 800 returns to action 804 and repeats method 800. In one embodiment, method 800 is repeated at predetermined intervals. For example, method 800 may be repeated every 0.01 ms, 0.1 ms, 1.0 ms, 2.0 ms, 5.0 ms, or another amount of time. In another embodiment, method 800 is performed continuously without delay between repetitions.

[0162] 9A to 9C Embodiments of motor 408 are shown in various configurations with a clutch 904 and one or more gear reducers 902. In these embodiments, clutch 904 is a one-way clutch, but other clutch or clutch-like devices may also be used. 9A to 9C Each of the embodiments described in the present invention introduces drag (drag) losses to the electric bicycle, particularly when the electric bicycle is ridden at a speed above a maximum threshold or when the clutch is overdriven. For example, a clutch including a one-way clutch introduces drag losses to the electric bicycle when the clutch is overdriven. In addition, the gear reducer element introduces drag losses to the electric bicycle, particularly when the clutch is overdriven or the bicycle is ridden at a speed above a maximum threshold.

[0163] Fig.9AAn embodiment is shown in which the output 912 of the gear reducer 902 is connected to the input 910 of the clutch 904. In this embodiment, the rotor 906 of the motor 408 provides power (torque) to the input 914 of the gear reducer 902. In this embodiment, the larger, heavier clutch 904 is used to withstand the increased torque from the output 912 of the gear reducer 902. However, when the motor 408 (via the rotor 906) does not provide assistance or is turned off, both the motor 408 and the gear reducer 902 can be stopped, which reduces the drag loss of the electric bicycle. In this embodiment, when the clutch 904 is engaged, the speed of the input 910 of the clutch 904 will be the same as the speed of the output 912 of the gear reducer 902.

[0164] Fig. 9B Another embodiment is shown in which the output 908 of the clutch 904 is connected to the input 914 of the gear reducer 902. In this embodiment, the rotor 906 of the motor 408 provides power (torque) to the input 910 of the clutch 904. In this embodiment, a smaller clutch 904 can be used due to the lower torque output of the motor 408. However, when the bicycle is ridden without assistance or the motor 408 is turned off, the gear reducer 902 continues to rotate, which increases the transmission (or drag) losses on the bicycle. In this embodiment, when the clutch 904 is engaged, the speed of the input 910 of the clutch 904 will be the same as the speed of the rotor 906 of the motor 408.

[0165] Fig. 9C Another embodiment is shown in which the output 912a of the first stage gear reducer 902a is connected to the input 910 of the clutch 904, and the output 908 of the clutch 904 is connected to the input 914b of the second stage gear reducer 902b. In this embodiment, the rotor 906 of the motor 408 provides input to the input 914a of the first stage gear reducer 902a. It should be noted that the size of the clutch 904 should be determined based on the torque output of the first stage gear reducer 902a. In this embodiment, the clutch size will be as follows Fig.9A and Fig. 9B However, when the bicycle is ridden without assistance from motor 408 or when motor 408 is turned off, second stage gear reducer 902b will continue to rotate, which increases the transmission (or drag) losses on the bicycle. In this embodiment, when clutch 904 is engaged, the speed of input end 910 of clutch 904 will be the same as the speed of output end 912a of first stage gear reducer 902a.

[0166] When the electric bicycle is ridden at a speed above the maximum threshold, 9A to 9CThe embodiment shown increases resistance. In order to overcome this additional resistance, the auxiliary motor 408 can be driven at a speed lower than the engagement speed of the clutch 904. That is, the motor 408 is configured to provide enough torque to rotate the input end 910 of the clutch 904 and / or the output end 912 of the gear reducer 902 connected to the input end 910 of the clutch 904 via the controller, without providing assistance to the rider, thereby at least partially overcoming the transmission loss. In some embodiments, this will cause the speed of the input end 910 of the clutch 904 to be less than or equal to the speed of the output end 908 of the clutch 904. In other embodiments, this will cause the speed of the input end 910 of the clutch 904 to separate the input end 910 of the clutch 904 from the output end 908 of the clutch 904. In this way, the loss (or resistance) introduced into the system can be offset by the motor 408 without providing assistance to the rider.

[0167] Fig.10 yes Figure 8 An alternative embodiment of a flowchart of . In this embodiment, when the processor determines whether the speed of the electric bicycle determined in action 804 is greater than a predetermined maximum threshold speed, the method moves to action 1002. In action 1002, the processor sets the motor controller to an underspeed mode. In this underspeed mode, the processor is configured to set the motor speed so that the clutch is disengaged. In one embodiment, the motor speed is set so that the speed of the input end 910 of the clutch 904 is less than the engagement speed of the clutch 904. In another embodiment, the speed of the motor is set so that the speed of the input end 910 of the clutch 904 is less than or less than or equal to the speed of the output end 908 of the clutch 904.

[0168] In embodiments where the rotor 906 of the motor 408 is directly connected to the input 910 of the clutch 904, the motor speed is set so that the motor output is less than the clutch engagement speed causing the clutch 904 to disengage. In embodiments where one or more gear reducers are between the motor 408 and the clutch 904, the motor speed is set so that the speed of the output 912, 912a of the gear reducer 902 connected to the input 910 of the clutch 904 is slower than the clutch engagement speed. It should be understood that in some cases, the underspeed mode can completely depower the motor 408, causing the motor output to be stationary. In other cases, it may be preferred that the motor output is moving, but at a motor output speed that causes the clutch 904 to disengage.

[0169] Once the motor control is in underspeed mode, the method moves to action 1004. In action 1004, the processor is configured to determine the speed of the output 908 of the clutch 904. The speed of the output 908 of the clutch 904 can be determined in various ways. For example, in an embodiment, the speed of the output 908 of the clutch 904 is measured using a clutch output speed sensor 916. In this embodiment, the processor is configured to measure the speed of the output 908 of the clutch 904 via the clutch output speed sensor 916. In another embodiment, the speed of the output 908 of the clutch 904 is determined by the rider input rhythm and the transmission ratio of the bicycle. In this embodiment, the processor is configured to obtain the rider input rhythm data from the rhythm sensor. The processor is also configured to obtain the transmission ratio data of the bicycle from any one of the transmission ratio, derailleur controller, front derailleur, rear derailleur, system controller or bicycle computer or host unit, for example, between the rider input 402 and the clutch output 908, or their combination. Once the rider input rhythm and transmission ratio are known, the speed of the output of the clutch can be calculated. In another embodiment, the speed of the output 908 of the clutch 904 is calculated from the bicycle speed and the transmission ratio of the bicycle. In this embodiment, the processor is configured to obtain bicycle speed data from one or more speed sensors of the bicycle. The processor is also configured to obtain transmission ratio data from the bicycle. Once the bicycle speed data and the transmission ratio are known, the speed of the output of the clutch can be calculated.

[0170] The method then moves to act 1006. In act 1006, the processor is configured to determine a target motor speed. The target motor speed is a motor speed that at least partially overcomes the resistance introduced by the clutch 904 and / or the one or more gear reducers 902 while also downdriving or underdriving the input 910 of the clutch 904 so that no assistance is provided to the rider when the speed of the bicycle is above a maximum threshold speed.

[0171] The target motor speed may cause the input 910 of the clutch 904 to partially or completely disengage from the output 908 of the clutch 904. Keeping the clutch completely disengaged reduces wear on the clutch 904 while also ensuring that no assistance is provided to the rider from the motor 408 when the speed of the bicycle is above a maximum threshold speed. Conversely, keeping the clutch 904 partially disengaged (or partially engaged) may increase wear on the clutch 904, but may also overcome additional drag losses compared to when the clutch is completely disengaged. However, there is a risk that if the target motor speed is incorrectly set when the clutch 904 is partially disengaged (or partially engaged), some incidental assistance may be provided to the rider from the motor when the speed of the bicycle is above the maximum threshold speed.

[0172] In another embodiment, the resistance information (e.g., in watts) of the clutch and / or one or more gear reductions may be known and stored in a memory of the system. This resistance information may be used in determining the target motor speed. For example, when determining the target motor speed, the processor may add the known resistance information to its target motor speed determination.

[0173] In another embodiment, the target motor speed can be determined so that the speed of the input end 908 of the clutch 904 is proportional to the speed of the output end 910 of the clutch 904. In this embodiment, the motor output is determined by calculating the speed of the input end of the clutch based on a ratio or ratio range of the speed relative to the output end of the clutch. In some embodiments, the ratio can take into account the riding conditions of the bicycle (e.g., whether the rider is standing or sitting, or whether the rider is climbing a mountain). In another embodiment, the ratio or ratio range can be predetermined. As an example, the example predetermined ratio will set the target motor speed so that the speed of the input end 908 of the clutch 904 is approximately 90% of the speed of the output end 910 of the clutch 904.

[0174] The processor then determines a target motor speed that sets the speed of the input of the clutch to a determined proportion (or ratio) of the speed of the output of the clutch. For example, if the speed of the output of the clutch is 100 rpm, then if the ratio is 90%, the speed of the input of the clutch will be determined to be 90 rpm. In this example, the target motor speed will be the motor speed that will result in a speed of 90 rpm at the input of the clutch.

[0175] In another embodiment, the target motor speed may be determined such that the speed of the input 908 of the clutch 904 is less than or less than or equal to the speed of the output 910 of the clutch 904 .

[0176] In another embodiment, the target motor speed may be determined such that the speed of the input end 908 of the clutch 904 is less than the engagement speed of the clutch 904 .

[0177] It will be appreciated that the predetermined ratio or range of ratios should be selected so as to avoid a scenario where assistance (from the motor) is provided to the rider when the speed of the bicycle is above a maximum threshold speed. This will ensure a safety margin so that motor assistance is not provided when the bicycle is operating above a maximum threshold speed. The predetermined ratio (or range of ratios) will depend on the details of the bicycle's drive train.

[0178] Once the target motor speed is determined, the method moves to act 1008. In act 1008, the processor instructs the motor 408 to operate at the target motor speed determined in act 1006. The target motor speed will be set so that transmission (or drag) losses are at least partially overcome.

[0179] In addition to (at least partially) overcoming transmission (or drag) losses, the underactuated clutch input can allow for a smoother transition to rider assist mode when the bicycle speed drops below a maximum threshold speed. Since the motor 408 is preferably operating at the target motor speed, the motor 408 can more easily adjust from the current motor speed (e.g., by accelerating or decelerating) to the motor speed of the engaged clutch to provide assistance to the rider. An idle motor would need to be accelerated quickly from a stop to the clutch engagement speed. This would result in delayed motor assistance and severe clutch engagement, which could result in driveline damage.

[0180] After action 1008, method 800 returns to action 804 and repeats method 800. In one embodiment, method 800 is repeated at predetermined intervals. For example, method 800 may be repeated every 0.01 ms, 0.1 ms, 1.0 ms, 2.0 ms, 5.0 ms, or another amount of time. In another embodiment, method 800 is performed continuously without delay between repetitions.

[0181] Fig.11 Shows Figure 8 Another embodiment of the invention. In this embodiment, the method determines the condition of the electric bicycle 1104. In an embodiment, the processor is configured to determine the condition of the electric bicycle. Examples of the condition of the electric bicycle include, but are not limited to, the speed of the electric bicycle, the power output of the electric bicycle (e.g., in watts or Newton meters or foot pounds, etc.), the wheel speed, etc.

[0182] Once the bicycle condition is satisfied in step 1106, the method moves to step 1106. In step 1106, the method identifies the presence of a transmission loss of the transmission of the electric bicycle. In an embodiment, the processor is configured to identify the transmission loss by determining the speed of the output of the clutch of the electric bicycle. In another embodiment, the processor is configured to identify the transmission loss by determining the input torque / power.

[0183] Once a transmission loss is identified in step 1106, the method moves to step 1108. In this step, the processor is configured to control an auxiliary motor of the electric bicycle based on the identified presence of the transmission loss and the determined condition of the electric bicycle. In an embodiment, the auxiliary motor is controlled so that the identified transmission loss is at least partially mitigated.

[0184] After action 1108, the method returns to action 1104 and repeats the method. In one embodiment, the method is repeated at predetermined intervals. For example, method 800 may be repeated every 0.01 ms, 0.1 ms, 1.0 ms, 2.0 ms, 5.0 ms, or another amount of time. In another embodiment, method 800 is performed continuously without delay between repetitions.

[0185] In an embodiment, an electronic component for an electric bicycle is provided. The electric bicycle includes a transmission, the electronic component includes a processor, and the processor is configured to: determine the speed of the electric bicycle; determine the speed of the output end of the clutch of the electric bicycle; and control the auxiliary motor of the electric bicycle based on the determined speed of the output end of the clutch and the determined speed of the electric bicycle. The control motor can be controlled so that the input end of the clutch is rotating, but the input end speed of the clutch is less than the output end speed of the clutch. In another example, the motor can be controlled so that the input end speed of the clutch is equal to the output end speed of the clutch or within 10% of the output end speed of the clutch, while still remaining slower than the output end speed.

[0186] The illustrations of the embodiments described herein are intended to provide a general understanding of the structures of the various embodiments. The illustrations are not intended to be used as a complete description of all elements and features of the equipment and systems utilizing the structures or methods described herein. By reading this disclosure, many other embodiments may be apparent to those skilled in the art. Other embodiments may be utilized and derived from this disclosure so that structural and logical replacements and changes may be made without departing from the scope of this disclosure. In addition, the illustrations are merely representative and may not be drawn to scale. Certain proportions in the illustrations may be exaggerated, while other proportions may be minimized. Therefore, this disclosure and the accompanying drawings should be considered illustrative rather than restrictive.

[0187] Although this specification contains many details, these details should not be interpreted as limitations on the scope of the present invention or the content that can be claimed, but as descriptions of features specific to a particular embodiment of the present invention. Certain features described in the context of a separate embodiment in this specification may also be implemented in combination in a single embodiment. On the contrary, the various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in the form of any suitable sub-combination. In addition, although features may be described above as acting in certain combinations and even initially claimed as such, in some cases, one or more features from the claimed combination may be removed from the combination, and the claimed combination may involve a sub-combination or a variation of the sub-combination.

[0188] Similarly, although operations and / or actions are depicted in the accompanying drawings and described herein in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in a sequential order, or that all of the operations shown be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of the various system components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that any described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0189] One or more embodiments of the present disclosure may be referred to herein individually and / or collectively by the term "invention", which is merely for convenience and is not intended to actively limit the scope of the present application to any particular invention or inventive concept. In addition, although specific embodiments have been shown and described herein, it should be understood that any subsequent arrangements designed to achieve the same or similar purposes may replace the specific embodiments shown. The present disclosure is intended to cover any and all subsequent modifications or variations of the various embodiments. By reading the specification, the combination of the above-mentioned embodiments and other embodiments not specifically described herein will be apparent to those skilled in the art.

[0190] The Abstract of the present disclosure is provided to comply with 37 CFR § 1.72 (b) and is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing Detailed Description, various features may be grouped together or described in a single embodiment for the purpose of simplifying the disclosure. This disclosure should not be interpreted as reflecting an intention that the claimed embodiments require more features than those expressly recited in each claim. On the contrary, as reflected in the following claims, the inventive subject matter may involve less than all the features of any disclosed embodiment. Therefore, the following claims are incorporated into the Detailed Description, with each claim independently defining a separately claimed subject matter.

[0191] It is intended that the foregoing detailed description be regarded as illustrative rather than restrictive, and it should be understood that the appended claims, including all equivalents, are intended to define the scope of the invention. The claims should not be understood to be limited to the described order or elements unless otherwise stated. Therefore, all embodiments falling within the scope and spirit of the appended claims and their equivalents are claimed to be protected as inventions.

[0192] CROSS-REFERENCE TO RELATED APPLICATIONS

[0193] This application is a continuation-in-part of U.S. patent application No. 18 / 479,231 filed on October 2, 2023, the contents of which are incorporated herein by reference in their entirety.

Claims

1. An electronic component for an electric bicycle, the electric bicycle comprising a transmission, the electronic component comprising: A processor, the processor being configured to: determining a condition of the electric bicycle; identifying the presence of a transmission loss in the transmission of the electric bicycle; and An auxiliary motor of the electric bicycle is controlled based on the identified presence of the transmission loss and the determined condition of the electric bicycle.

2. The electronic component according to claim 1, wherein The processor being configured to identify the presence of the transmission loss includes the processor being configured to determine a speed of an output of a clutch of the electric bicycle.

3. The electronic component according to claim 2, wherein: The processor being configured to identify the presence of the transmission loss includes the processor being further configured to: determining a speed of an input end of the clutch of the electric bicycle; determining a difference between a speed of an output of the clutch and a speed of the input of the clutch; and The processor being configured to control the auxiliary motor of the electric bicycle based on the identified presence of the transmission loss and the determined condition of the electric bicycle includes the processor being configured to control a speed of the auxiliary motor of the electric bicycle based on the determined difference.

4. The electronic component according to claim 3, wherein The processor is configured to determine a condition of the electric bicycle including determining a speed of the electric bicycle.

5. The electronic component according to claim 4, wherein The processor is configured to control the speed of the auxiliary motor of the electric bicycle based on the determined difference, including: the processor controls the speed of the auxiliary motor so that when the speed of the electric bicycle meets or exceeds a threshold speed, the speed of the input end of the clutch is less than the engagement speed of the clutch.

6. The electronic component according to claim 4, wherein The processor is configured to control the speed of the auxiliary motor of the electric bicycle based on the determined difference, including: the processor controls the speed of the auxiliary motor so that when the speed of the electric bicycle meets or exceeds a threshold speed, the speed of the input end of the clutch is less than the speed of the output end of the clutch.

7. The electronic component according to claim 3, wherein The processor being configured to control the speed of the auxiliary motor of the electric bicycle based on the determined difference includes the processor controlling the speed of the auxiliary motor so that the speed of the input end of the clutch is less than or equal to the speed of the output end of the clutch.

8. The electronic component according to claim 3, wherein The processor being configured to identify a speed of the input end of the clutch of the electric bicycle includes the processor being configured to receive speed data of the input end of the clutch from a clutch input speed sensor.

9. The electronic component according to claim 3, wherein The auxiliary motor includes one or more gear reducers, and an output of one of the one or more gear reducers is connected to the input of the clutch.

10. The electronic component according to claim 9, wherein The speed of the input of the clutch is equal to the speed of the output of one of the one or more gear reducers.

11. The electronic component according to claim 10, wherein The processor being configured to determine a speed of the input of the clutch of the electric bicycle includes the processor being configured to receive speed data of the output of one of the one or more gear reducers from a gear reducer output speed sensor.

12. The electronic component according to claim 9, wherein The clutch and the one or more gear reducers are part of the auxiliary motor.

13. The electronic component according to claim 9, wherein The clutch and the one or more gear reducers are decoupled from the auxiliary motor.

14. The electronic component according to claim 3, wherein The input end of the clutch is connected to a rotor of the auxiliary motor, and a speed of the input end of the clutch is equal to a speed of the rotor of the auxiliary motor.

15. The electronic component according to claim 14, wherein The processor being configured to determine a speed of the input of the clutch of the electric bicycle includes the processor being configured to receive speed data of the rotor from a rotor speed sensor.

Images