Electrically driven wheel device

Abstract

Electrically driven wheel device, in particular smartwheel device, with at least one wheel body (12) and with at least one drive unit (14) arranged at least partially in the wheel body (12), in particular an electric motor unit, characterized by a sensor unit (16) which is provided to determine a surface roughness of a floor (18) and / or at least a coefficient of friction within the wheel body (12) and / or the drive unit (14).

Description

State of the art

[0001] An electrically driven wheel device, in particular a smartwheel device, with at least one wheel body and with at least one drive unit, in particular an electric motor unit, arranged at least partially in the wheel body, has already been proposed. Disclosure of the invention

[0002] The invention relates to an electrically driven wheel device, in particular a smartwheel device, with at least one wheel body and with at least one drive unit, in particular an electric motor unit, arranged at least partially in the wheel body.

[0003] It is proposed that the electrically driven wheel device, in particular the smartwheel device, shall include a sensor unit designed to determine the surface roughness of a floor and / or at least a coefficient of friction within the wheel body and / or the drive unit.

[0004] Preferably, a "smartwheel device" comprises at least some of the components of a smartwheel. In particular, the smartwheel device can comprise the complete smartwheel. A "smartwheel" is understood to be, in particular, a wheel with electric drive components, preferably with sensor components and with data interface components, which contribute to the implementation of at least one system functionality. Preferably, the propulsion of the smartwheel is controlled at least partially automatically, in particular depending on at least one signal from a sensor component.

[0005] The term "wheel body" shall be understood to mean, in particular, a component that at least partially forms a wheel and / or at least partially encloses a wheel. In particular, the wheel body can advantageously form at least a partial protective shell to keep out contaminants and / or foreign objects that could, for example, cause moving components of the wheel assembly to become jammed, from the interior of the wheel body, especially sensitive components of the electrically driven wheel assembly, particularly the smartwheel assembly, which are susceptible to dirt and / or moisture. Furthermore, the wheel body can advantageously form a mounting space and / or a receptacle for additional components of the electrically driven wheel assembly, particularly the smartwheel assembly.Preferably, the drive unit of the electrically driven wheel device, in particular the smartwheel device, is arranged at least partially within the wheel body. In particular, an energy storage unit of the electrically driven wheel device, in particular the smartwheel device, for supplying at least part of the drive unit with, in particular, electrical energy, is arranged at least partially within the wheel body. Alternatively, the energy storage unit can be arranged at least partially outside the wheel body, such as in a connection unit of the electrically driven wheel device, in particular the smartwheel device.In particular, a computing unit of the electrically driven wheel device, especially the smartwheel device, is arranged at least partially within the wheel body for controlling and / or regulating at least one function of the electrically driven wheel device, especially the smartwheel device. Alternatively, the computing unit can be arranged at least partially outside the wheel body. A "computing unit" is understood to mean, in particular, a controller with a processor, a memory unit, and / or an operating, control, and / or calculation program stored in the memory unit. In particular, the wheel body has at least one tread and / or at least one tire with at least one tread. In particular, the wheel body has at least one rim. Preferably, the rim has at least one mounting surface for at least one tire.

[0006] The drive unit, in particular the electric motor unit, preferably comprises at least one electric motor. The electric motor is preferably a DC motor, an electrically commutated DC motor, or a three-phase motor. Furthermore, it is conceivable that the drive unit includes at least one gearbox for varying the torque of at least one rotational movement of the wheel body. In this context, a "sensor unit" is understood to mean, in particular, a unit designed to record at least one characteristic value, at least one environmental parameter, and / or a physical property, whereby the recording can be active, such as by generating and transmitting an electrical measurement signal, and / or passive, such as by detecting changes in the properties of a sensor component.In this context, "surface roughness" refers specifically to the height deviations of an actual interface from an ideally smooth, averaged reference plane. "Floor" refers specifically to the surface on which the electrically driven wheel device is to be operated. In particular, the floor may have at least one surface covering. "Coefficient of friction" refers specifically to the frictional force in relation to the contact force between two bodies. Specifically, the sensor unit is designed to detect and / or determine from recorded measurements any surface roughness and / or coefficients of friction within the wheel body that counteract rotational movement of the wheel base.In particular, the coefficient of friction within the wheel body can be influenced by frictional connections and / or bearings of components of the wheel body and / or the drive unit. Specifically, the sensor unit is designed to transmit the determined surface roughness of a surface and / or at least a determined coefficient of friction within the wheel body and / or the drive unit to a processing unit of the electrically driven wheel device, in particular the smartwheel device, for the control and / or regulation of at least one function, in particular the control and / or regulation of a drive of the wheel body. Specifically, the processing unit is designed to at least largely compensate for the surface roughness and / or the coefficient of friction when controlling and / or regulating a drive of the wheel body.

[0007] Such a design allows for the provision of a generic, electrically driven wheel device, particularly a smartwheel device, with advantageous user support features. Specifically, determining the surface roughness of a floor and / or at least the coefficient of friction within the wheel body and / or the drive unit enables a conveniently simple compensation of disturbances when driving the wheel body. This advantageously ensures that, regardless of the surface roughness of a floor and / or the coefficient of friction within the wheel body and / or the drive unit, the user always has to exert the same force to move the vehicle driven by the electrically driven wheel device. • Furthermore, it is proposed that the sensor unit includes at least one vibration sensor and is designed to determine the surface roughness of the ground based on vibration patterns detected by the vibration sensor. In particular, the vibration sensor is arranged at least partially within the wheel body. Specifically, the vibration sensor is designed to detect vibrations of the wheel body caused by the surface roughness of the ground. In particular, the sensor unit includes at least one processing unit designed to determine the surface roughness of the ground from the vibration patterns detected by the vibration sensor, for example, by means of a frequency analysis, particularly one based on an FFT, which is specific to different soil conditions.Alternatively or additionally, it is proposed that the sensor unit includes at least one optical sensor and is designed to determine the surface roughness of the ground based on optical measurements acquired by the optical sensor. In particular, the optical sensor is arranged directly on the wheel body. For example, the optical sensor can be a 3D camera, a laser sensor, or the like. Specifically, the optical sensor is designed to optically detect the surface roughness of the ground. Specifically, the sensor unit includes at least one processing unit designed to determine the surface roughness of the ground from the optical measurements acquired by the optical sensor. Alternatively or additionally, it is proposed that the sensor unit includes at least one slip sensor and is designed to determine the surface roughness of the ground based on measurements acquired by the slip sensor.In particular, the slip sensor is designed to detect any wheel slippage on the ground when the wheel body is subjected to torque by the drive unit. Specifically, the sensor unit includes at least one processing unit designed to determine the surface roughness of the ground from the slip sensor readings in conjunction with the applied torque. This allows for a conveniently simple and / or reliable determination of the ground surface roughness.

[0008] Furthermore, the invention relates to a method for operating an electrically driven wheel device, in particular a smartwheel device, with at least one wheel body and with at least one drive unit, in particular an electric motor unit, arranged at least partially in the wheel body.

[0009] It is proposed that in at least one process step, particularly a learning process step, the wheel body is automatically subjected to a torque from the drive unit from a standstill until it begins to rotate. The torque value is stored when the rotation starts, and the surface roughness of a floor and / or at least a coefficient of friction within the wheel body and / or the drive unit is determined based on this torque. Specifically, the wheel body is subjected to a torque from a standstill by the drive unit until a vehicle, such as a logistics vehicle, driven by the electrically powered wheel device begins to move. As soon as the vehicle driven by the electrically powered wheel device starts to move, the drive unit is switched off and the currently applied torque value is stored.The stored torque value is used during normal operation of the electrically driven wheel assembly to at least largely compensate for surface roughness of the ground and / or at least a coefficient of friction within the wheel body and / or the drive unit. Alternatively or additionally, it is proposed that the surface roughness of the ground and / or at least a coefficient of friction within the wheel body and / or the drive unit be determined for each rotational movement of the wheel body initiated by a user action. This advantageously ensures that, regardless of surface roughness of the ground and / or a coefficient of friction within the wheel body and / or the drive unit, a user always has to apply the same force to move the vehicle driven by the electrically driven wheel assembly during normal operation.

[0010] Furthermore, it is proposed that in at least one process step, particularly a learning process step, the wheel body is automatically set into a forward and / or backward movement, and that during the movement of the wheel body, the surface roughness of a floor and / or at least a coefficient of friction within the wheel body and / or the drive unit is determined. In particular, the electrically driven wheel device can be arranged on the vehicle by means of a rail running parallel to a main direction of movement of a vehicle driven by the electrically driven wheel device. In particular, forward and / or backward movement during the process step occurs exclusively within the extension of the rail.This makes it advantageous to avoid movement of the vehicle driven by the electrically driven wheel device when determining the surface roughness of a floor and / or at least a coefficient of friction within the wheel body and / or the drive unit.

[0011] Furthermore, it is proposed that in at least one process step, the surface roughness of a surface and / or at least a coefficient of friction within the wheel body and / or the drive unit be calculated and / or determined based on defined conditions. In particular, the surface roughness of the surface and / or the coefficient of friction within the wheel body and / or the drive unit can be calculated using formulas and / or determined using lookup tables. This allows for a conveniently simple and / or fast determination of the surface roughness of a surface and / or at least a coefficient of friction within the wheel body and / or the drive unit for defined conditions. In particular, additional measurements can be advantageously eliminated.

[0012] Furthermore, a vehicle with an electrically driven wheel device, in particular a smartwheel device, is proposed.

[0013] The electrically driven wheel device according to the invention, in particular the smartwheel device, the method according to the invention and / or the vehicle according to the invention are not / should not be limited to the application and embodiment described above. In particular, the electrically driven wheel device according to the invention, in particular the smartwheel device, the method according to the invention and / or the vehicle according to the invention may, in order to achieve a functionality described herein, have a different number of individual elements, components and units and / or process steps than that specified herein. List of characters

[0014] Further advantages will become apparent from the following description of the drawing. The drawing illustrates an embodiment of the invention. The drawing, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations.

[0015] They show: Fig. 1 a vehicle with an electrically driven wheel device in a schematic representation and Fig. 2 a schematic view of a section through the electrically driven wheel device with a sensor unit. Description of the exemplary embodiment

[0016] Fig. Figure 1 shows a perspective view of a vehicle 26 with four electrically driven wheel devices 10 and with a transport plate 28The electrically driven wheel devices 10 are on one underside of the transport plate 28 arranged. The electromechanical wheel devices 10 Each is designed as a smartwheel. Each electrically driven wheel device 10 Each has a wheel base body 12 on.

[0017] The wheel base 12 a wheel rim 30 up. The wheel rim 30 forms a contact surface for a running surface 32 out. The running surface 32 is made from a solid material. However, it is also conceivable in this context that the running surface 32 forms a pneumatic tire. The tread 32 is at least partially made of a rubber material. The running surface 32 The running surface is designed to be interchangeable. 32 is permanently rotationally fixed to the wheel rim, at least in one operating state.30 connected. The running surface 32 has a wheel tread surface 34 up. The wheel rim 30 forms at least a partially radial, cylindrical boundary of the wheel base body 12 out. Alternatively, the wheel rim 30 and the running surface 32 be formed in one piece and / or the wheel rim 30 directly a wheel tread 34 exhibit.

[0018] The wheel base 12 shows a first wheel cover wall 36 and a second wheel cover wall 38 (cf.) Fig. 2) on. The wheel cover walls 36 , 38 form at least a partial lateral, axial boundary of the wheel base body 12 out. The wheel rim 30 is with the two wheel cover walls 36 , 38 joined by a material bond, in particular welded. The wheel rim 30 can be used in particular with the two wheel cover walls 36 , 38The wheel rim can be laser-welded or friction-welded. 30 can alternatively or additionally be used with the two wheel cover walls 36 , 38 It may be soldered, cold-soldered, and / or glued. However, it is also conceivable that the wheel rim... 30 with the two wheel cover walls 36 , 38 is positively connected, in particular via at least one screw, at least one rivet, at least one bolt, or at least one toothed connection. Furthermore, it is conceivable that the wheel rim 30 with the two wheel cover walls 36 , 38 is connected by friction, in particular by a press fit. The wheel base body 12 shows a first wheel axle bolt 40 and a second wheel axle bolt 42 (cf.) Fig. 2) on. The wheel cover walls 36 , 38 each have an opening 44 on (cf.) Fig. 2) The opening 44forms a receptacle for at least one of the wheel axle bolts 40 , 42 out of.

[0019] The electrically driven wheel device 10 has a connection unit 48 to a detachable connection of the wheel base body 12 with an external unit. The connection unit 48 has a connecting element 50 up. The connecting element 50 forms a kind of protective cover which protects the wheel base 12 partially encloses. The connection unit 48 connects the wheel base 12 with the underside of the transport plate 28 The wheel axle bolts 40 , 42 connect the connection unit 48 with the wheel base 12 The wheel axle bolts 40 , 42 are rotationally fixed to the connecting element 50 connected. Alternatively, it is conceivable that at least one of the wheel axle bolts is connected. 40 ,42 rotationally fixed to at least one of the wheel cover walls 36 , 38 is connected.

[0020] Fig. Figure 2 shows a schematic drawing of a frontal section through an electrically driven wheel device. 10 along an axis of rotation 52 . When the vehicle moves 26 The wheel base rotates 12 around the axis of rotation 52 The axis of rotation 52 runs through the center of gravity of the wheel axle bolts 40 , 42 .

[0021] The wheel base 12 has two camps 54 , 56 up. The camps 54 , 56 are in depressions 58 inside the openings 44 arranged. The depressions 58 run radially to the axis of rotation 52 and extend over the entire circumference of a circle. The bearings 54 , 56are sealed against the ingress of dirt and / or moisture. The bearings 54 , 56 They serve to provide a rotatable mounting for the wheel base. 12 at the connecting element 50 .

[0022] The electrically driven wheel device 10 a drive unit 14 up. The drive unit 14 features an electric motor 60 up. The electric motor 60 a motor shaft 62 up. The drive unit 14 a gearbox 64 up. The motor shaft 62 forms one input of the gearbox 64 off. The drive unit 14 is in the wheel body 12 arranged.

[0023] The electrically driven wheel device 10 a computing unit 66 up. The electrically driven wheel device 10 features an energy storage unit 68on. The energy storage unit 68 is designed for storing electrical energy. The energy storage unit 68 is for a supply of the drive unit 14 designed to be powered by electrical energy. The energy storage unit 68 It includes a lithium-based battery. The drive unit 14 indicates a fixing point, not shown in detail, on at least one of the wheel axle bolts 40 , 42 up. At least one wheel axle bolt. 40 , 42 is shaped in such a way that it covers all stationary parts of the drive unit 14 prevents twisting.

[0024] The electrically driven wheel device 10 a sensor unit 16 on, which is intended to create a surface roughness of a floor 18 and / or at least a coefficient of friction within the wheel body 12 and / or the drive unit 14 to determine. The sensor unit16 It has at least one vibration sensor. 20 on and is intended to reduce the surface roughness of the floor 18 based on the vibration sensor 20 to determine the detected vibration patterns. Alternatively or additionally, the sensor unit indicates 16 at least one optical sensor 22 on and is intended to reduce the surface roughness of the floor 18 based on the optical sensor 22 to determine the captured optical measurement values. Alternatively or additionally, the sensor unit indicates 16 at least one slip sensor 24 on and is intended to reduce the surface roughness of the floor 18 based on the slip sensor 24 to determine the recorded measured values. In particular, the sensor unit 16 at least one (not shown) computing unit, which is intended to process the data from the sensors. 20 , 22 , 24The recorded measurements indicate the surface roughness of the soil. 18 and / or a coefficient of friction within the wheel body 12 and / or the drive unit 14 to determine. The sensor unit 16 is intended to determine the surface roughness of a soil 18 and / or at least a determined coefficient of friction within the wheel body 12 and / or the drive unit 14 to the computing unit 66 the electrically driven wheel device 10 , to transmit. The computing unit 66 is intended to determine the surface roughness and / or the coefficient of friction during the control and / or regulation of a drive of the wheel body. 12 to compensate for at least a large extent.

[0025] In a method for operating an electrically driven wheel device 10, especially during a learning phase, the wheel base body is processed in at least one process step 12 automatically from a standstill with a torque from the drive unit 14 actuated until the wheel base 12 performs a rotary movement, whereby the torque value is stored when the rotary movement begins and is used to determine the surface roughness of a floor based on the torque. 18 and / or at least a coefficient of friction within the wheel body 12 and / or the drive unit 14 is closed. Preferably, in at least one process step, the wheel base body is closed. 12 automatically set into a forward and / or backward movement and during the movement of the wheel base 12 surface roughness of a floor 18 and / or at least a coefficient of friction within the wheel body 12 and / or the drive unit 14determined. Alternatively or additionally, for every rotational movement of the wheel base caused by a user action, 12 the surface roughness of the ground 18 and / or at least a coefficient of friction within the wheel body 12 and / or the drive unit 14 determined. Alternatively, the surface roughness of the floor can be determined. 18 and / or at least a coefficient of friction within the wheel body 12 and / or the drive unit 14 The surface roughness of the soil is determined once and stored as a fixed value. Alternatively or additionally, it is determined in at least one process step. 18 and / or at least a coefficient of friction within the wheel body 12 and / or the drive unit 14 calculated and / or determined based on defined conditions. In particular, the surface roughness of the soil can be... 18 and / or the coefficient of friction within the wheel body 12and / or the drive unit 14 based on defined conditions, for example for defined floor coverings and / or for defined drive unit components, calculated using formulas and / or determined using lookup tables.

Claims

[1] Electrically driven wheel device, in particular smartwheel device, with at least one wheel body (12) and with at least one drive unit (14), in particular electric motor unit, arranged at least partially in the wheel body (12), characterized by a sensor unit (16) which is intended to determine a surface roughness of a floor (18) and / or at least a coefficient of friction within the wheel body (12) and / or the drive unit (14). [2] Electrically driven wheel device according to claim 1, characterized by , that the sensor unit (16) has at least one vibration sensor (20) and is designed to determine the surface roughness of the ground (18) based on vibration patterns detected by the vibration sensor (20). [3] Electrically driven wheel device according to claim 1 or 2, characterized by, that the sensor unit (16) has at least one optical sensor (22) and is designed to determine the surface roughness of the ground (18) based on optical measurements taken by the optical sensor (22). [4] Electrically driven wheel device according to one of the preceding claims, characterized by , that the sensor unit (16) has at least one slip sensor (24) and is designed to determine the surface roughness of the soil (18) based on measurements taken by the slip sensor (24). [5] Method for operating an electrically driven wheel device (10), in particular a smartwheel device, in particular according to one of the preceding claims, with at least one wheel body (12) and with at least one drive unit (14), in particular an electric motor unit, arranged at least partially in the wheel body (12), characterized by, that in at least one process step the wheel base body (12) is automatically subjected to a torque from the drive unit (14) from standstill until the wheel base body (12) performs a rotational movement, the torque value being stored when the rotational movement begins and the surface roughness of a floor (18) and / or at least a coefficient of friction within the wheel base body (12) and / or the drive unit (14) being determined on the basis of the torque. [6] Method according to claim 5, characterized by , that in at least one process step the wheel base body (12) is automatically set into a forward and / or backward movement and during the movement of the wheel base body (12) a surface roughness of a floor (18) and / or at least a coefficient of friction within the wheel base body (12) and / or the drive unit (14) is determined. [7] Methods according to the preamble of claim 5, in particular according to claim 5 or 6, characterized by , that in at least one process step a surface roughness of a floor (18) and / or at least a coefficient of friction within the wheel body (12) and / or the drive unit (14) is calculated and / or determined on the basis of defined conditions. [8] Method according to the preamble of claim 5, in particular according to any one of claims 5 to 7, characterized by , that during each rotational movement of the wheel body (12) caused by a user action, the surface roughness of the ground (18) and / or at least a coefficient of friction within the wheel body (12) and / or the drive unit (14) is determined. [9] Vehicle with an electrically driven wheel device (10), in particular a smartwheel device, according to any one of claims 1 to 4.

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