Bicycle and method for operating a bicycle

Abstract

The invention relates to a bicycle (100) comprising a pedal crankshaft (1) which is drivingly connected to at least one drive wheel (102) via an automated transmission device (2) having a plurality of gear ratios, means for detecting slippage on the drive wheel (102) and a data processing unit (3) which is connected in a signal-transmitting manner at least to the means for detecting slippage on the drive wheel (102) and to the transmission device (2), wherein the data processing unit (3) is designed to evaluate data relating to the slippage on the drive wheel (102) and, upon detection of slippage on the drive wheel (102), to control the transmission device (2) by means of a shift command and to change the gear ratio.Furthermore, the invention relates to a method for operating the bicycle (100) according to one of the preceding claims, wherein the data processing unit (3) evaluates data on the slippage on the drive wheel (102) and, upon detection of slippage of the drive wheel (102), changes the gear ratio on the transmission device (2).

Description

The invention relates to a bicycle having at least two wheels and a drive train. The invention further relates to a method of operating the bicycle.Bicycles are generally known that can be driven by an electric machine in addition to the driving power of a user. Such bicycles are also known as electric bicycles, pedelec or e-bikes. A driving power of the user is generally supported by the electric machine in accordance with a user's request and a torque fed in by the user. The electric machine can be arranged as a central motor in the region of the pedal crankshaft or as a wheel drive directly on the respective drive wheel. A bicycle is therefore to be understood as meaning not only a classic bicycle that can be driven exclusively with muscle power without a motor, but also a bicycle with a motor. In particular, the term "bicycle" is also to be understood as meaning load wheels having three or more wheels. The bicycle is a vehicle that can be used by at least one user, in particular a rider.The object of the present invention is to improve a bicycle. In particular, an improvement in the riding comfort, the driving safety and / or the performance of the bicycle is to be achieved. The object is achieved with a bicycle according to claim 1. Embodiments are subject of the dependent claims.A bicycle according to the invention comprises a pedal crank shaft which is connected in a drive-effective manner to at least one drive wheel via an automated transmission device having a plurality of transmission ratios, means for detecting a slip at the drive wheel, and a data processing unit which is connected in a signal-transmitting manner at least to the means for detecting a slip at the drive wheel and to the transmission device, wherein the data processing unit is designed to evaluate data for the slip at the drive wheel and, when the drive wheel is detected to slip, to actuate the transmission device by means of a shift command and to change the transmission ratio.Slipping of the drive wheel is understood to mean a driving situation in which wheel slip on the drive wheel is so great that the drive wheel can only transmit significantly reduced longitudinal and / or transverse guiding forces to the underlying surface. As soon as the data processing unit detects slipping of the drive wheel, the data processing unit changes the transmission ratio of the transmission device by means of a shift command in order to improve the adhesion between the drive wheel and the underlying surface. In this case, the data processing unit can either change the transmission ratio to speed or to speed in order to prevent the drive wheel from slipping through. The user may apply less speed or torque to the drive wheel when the transmission ratio of the transmission device is changed. As a result, the wheel slip on the drive wheel is reduced, as a result of which the traction, that is to say the contact between the drive wheel and the underlying surface, is in turn improved, as a result of which more longitudinal and / or transverse guidance forces can be transmitted again.As means for detecting a slip at the drive wheel, both devices or elements, in particular sensors of a sensor system can be used, which for example detect, in particular sense, measurement data at the bicycle, in particular at the drive wheel, and methods or algorithms, which for example determine, in particular calculate, data during a bicycle operation from operating data of the bicycle or with the aid of additionally provided information. The invention thus includes the technical teaching that the detection of a slip at the drive wheel can be sensed directly or calculated indirectly from further information. For example, the means for detecting a slip at the drive wheel is integrated into the data processing unit and thus part of the data processing unit.The drive train of the bicycle comprises at least the crankshaft, the transmission device and the at least one drive wheel, wherein a user can introduce a drive power into the drive train via the crankshaft in order to drive the drive wheel. Optionally, a drive machine can also be arranged in the drive train and be connected in a drive-effective manner to the drive wheel in order to assist the user in driving. For example, the transmission device comprises a plurality of gears. Alternatively or additionally, the transmission device comprises two electric machines coupled to one another, wherein a first electric machine is designed as a generator and is configured for driving by the user, wherein a second electric machine is designed as a drive motor and is configured for driving the drive wheel in accordance with a drive power generated by the user, such that the transmission ratio of such a transmission device takes place by setting the drive power of the electric machine provided as a drive motor. The transmission device can be designed as a continuously variable transmission with a plurality of transmission ratios, but also as a multi-speed transmission with a plurality of specific transmission ratios, in particular gears. For example, an actuator of the transmission device can be controlled by the data processing unit to change a transmission ratio.The data processing unit functions as a control unit or control device and is designed to acquire, evaluate and control data on the basis of these data via at least the transmission device, optionally also a drive machine. In particular, the data processing unit has a signal interface for a signal-transmitting connection. For example, the signal-transmitting connection can be configured to be wired, wireless or optical. A signal-transmitting connection is a communicating connection in which data, in particular measurement data, and / or information are transmitted as a signal from a transmitter to a receiver. The signals may be, for example, switching, control, data transmission or command signals. For example, the data processing unit can be a group of control units or control units. For example, one of the control units can be part of a transmission device, a drive machine or another device of the bicycle. The data processing unit can be arranged on the handlebar, in the region of the transmission device, in the region of the drive machine or at another location of the bicycle, for example on the frame. Alternatively, the data processing unit may be arranged outside the bicycle.A signal interface is a connection for exchanging data and signals between various components of the bicycle and other devices external to the bicycle. The respective signal interface enables at least two components or units to communicate with one another. The respective signal interface is integrated into the respective component or integral part thereof and serves for receiving and transmitting signals.The bicycle comprises the drive train and at least two wheels, wherein at least one of the two wheels is configured as a drive wheel. For example, the bicycle comprises the usual components of a muscle-powered bicycle. In particular, the bicycle comprises an electric machine designed as a drive motor, which is integrated in the drive train of the bicycle in order to reduce the load on the user during the movement or to increase its range, specifically as a function of the capacity of an energy store connected thereto. The drive motor can be arranged as a central motor in the region of the pedal crankshaft or as a wheel drive directly on a drive wheel and be connected to the drive wheel in a drive-effective manner. For example, the data processing unit is configured to reduce the drive power of the drive machine simultaneously or in a short time sequence and to increase the transmission ratio in order to prevent the drive wheel from slipping through. Accordingly, after the drive wheel has ended slipping, the drive power of the drive machine can be increased again simultaneously or in a short chronological sequence and the transmission ratio can be reduced.According to one embodiment, the bicycle comprises at least one operating element which is configured at least for switching the data processing unit and / or the means for detecting a slip on the drive wheel on and off. The user can control the data processing unit and / or the means for detecting a slip on the drive wheel via the at least one operating element and navigate through a menu and make a selection, for example. In particular, the operating element is designed as a mechanical button or button. Alternatively or additionally, the operating element is designed as a touch-sensitive region on the data processing unit. For example, at least one further device on the bicycle, for example the drive motor or the transmission device, can also be controlled via the at least one operating element. In particular, the data processing unit can be controlled with at least one external device located in the vicinity of the bicycle, for example a smartphone, preferably via an application provided for this purpose.In a method according to the invention for operating a bicycle according to the invention, i.e. a bicycle, which has an automated transmission device with multiple transmission ratios, at least one drive wheel, means for detecting a slip at the drive wheel and a data processing unit, the data processing unit evaluates data for the slip at the drive wheel and changes the transmission ratio at the transmission device when detecting a slip of the drive wheel. For example, the transmission ratio at the transmission device is reduced. Alternatively, the transmission ratio at the transmission device is increased. In particular, the transmission ratio is increased or decreased until the data processing unit no longer detects slipping of the drive wheel. As soon as the data processing unit no longer detects slipping of the drive wheel, the previously set transmission ratio can be set again.According to one specific embodiment, slipping of the drive wheel is detected when a torque and / or a rotational acceleration of the drive wheel reaches at least one threshold value. The rotational acceleration of the driving wheel may be determined by detecting a speed change between two times. In particular, the bicycle comprises means for detecting a rotational acceleration, in particular a rotational speed, of the drive wheel. For example, the means for detecting a rotational acceleration can be part of the data processing unit, in particular integrated into the data processing unit. The torque of the drive wheel can be detected by sensors provided for this purpose on the drive wheel or can be calculated from further information of the drive train. In particular, the bicycle comprises means for detecting a torque of the drive wheel. For example, the means for detecting the torque can be part of the data processing unit, in particular integrated into the data processing unit.According to one embodiment, the torque and / or the rotational acceleration of the drive wheel is compared with a longitudinal acceleration of the bicycle for plausibility checking. The torque and / or the rotational acceleration of the drive wheel and the longitudinal acceleration of the bicycle are therefore linked to one another by the data processing unit, so that deviations between the detected actual data and desired data stored, for example, on a data carrier of the data processing unit can serve as an indicator for the drive wheel slipping through. If there is no slipping of the drive wheel, in particular assuming negligible wheel slip, an increase in the rotational acceleration of the drive wheel always results in an increase in the longitudinal acceleration of the bicycle.According to one embodiment, slipping of the drive wheel is detected when a change in a drive torque reaches at least a threshold value. For example, slipping of the drive wheel can be detected when the time derivative of a user torque and / or of a drive motor torque reaches or falls below a respective threshold value. In particular, such a driving situation exists when the drive wheel slips, although the user hardly drives the pedal crank shaft. Preferably, the drive torque of the user and / or of the drive machine is compared with a longitudinal acceleration of the bicycle for plausibility checking.According to one specific embodiment, the at least one threshold value is set automatically by the data processing unit at least as a function of a rotational speed of the crankshaft. In other words, for a specific rotational speed of the pedal crankshaft, a specific threshold value for the rotational acceleration of the drive wheel or a specific threshold value for the change of a drive torque of the user and / or of the drive machine is provided. In particular, the threshold values are stored in a database on an internal data memory or an external server, wherein the data processing unit reads out the stored data and correspondingly adjusts the amount for the respective threshold value to the rotational speed of the pedal crankshaft. If a drive motor is arranged in the drive train of the bicycle, the data processing unit can adapt the amount for the respective threshold value to the rotational speed of the drive shaft, in particular of the rotor shaft or of a shaft connected at least indirectly thereto. For example, a respective threshold value can be increased in magnitude by the data processing unit if the aforementioned reference rotational speeds increase. For example, if the user pedals faster, a larger threshold value for the rotational acceleration of the drive wheel may be used than if the user pedals more slowly. In particular, the user can configure the threshold values via an operating element on an onboard computer of the bicycle or on the data processing unit or in an application of a smartphone, a smart watch or a smart ring signal-transmittingly connected to the data processing unit, in particular select the value and the number of threshold values and store them on the data memory.According to one embodiment, the at least one threshold value is automatically set by the data processing unit at least as a function of a slope inclination. In particular, means for detecting a slope are connected to the data processing unit in a signal-transmitting manner or integrated into the data processing unit. For example, the method or the means for detecting a slip can be activated or deactivated as a function of the slope, in particular when the slope reaches or exceeds a threshold value. Steep hangers often have an uneven ground which can lead to the drive wheel slipping through. The means for determining the slope can comprise a slope and / or rotation rate and / or acceleration sensor system. Alternatively or additionally, the means for determining the slope can carry out a position determination, for example by means of satellite navigation and a topographical map, in particular in combination with a means for determining the direction of travel.According to one embodiment, the at least one threshold value is automatically set by the data processing unit at least as a function of a background condition and / or weather information. In particular, means for detecting the environment of the bicycle, in particular a background condition and / or an atmosphere, are connected to the data processing unit in a signal-transmitting manner or integrated in the data processing unit. Weather information can be called up by a server, for example by a weather application on an onboard computer and / or a smartphone, which are connected to the data processing unit in a signal-transmitting manner. Data on the background condition and / or weather information can be stored as parameter sets and selected by the user via the operating element. For example, a threshold value for a slip at the drive wheel can be increased if the underlying surface is uneven and, in particular, wet due to the weather. For example, the user may adjust the threshold for the slip of the drive wheel, and machine learning models may be used to detect the slip and adjust the threshold to increase comfort and safety.Therefore, in the determination of the threshold value for the slip of the drive wheel, different aspects can be taken into account which relate to the current driving mode of the bicycle. The threshold value can be determined as a function of a position, speed, angular speed, acceleration and / or angular acceleration of the bicycle. The threshold value can be determined as a function of an angle of the bicycle about the longitudinal axis, vertical or vertical axis and / or transverse axis, i.e. an inclination about a roll or roll axis, about a yaw axis and / or about a pitch axis. The threshold value can be determined as a function of a rotational speed of the drive wheel of the bicycle. The threshold value can be determined as a function of a mass, a load distribution, a wheel contact force, a tire pressure, a tire type and / or further tire parameters, in particular a profile type and shape, of the bicycle. The threshold value can be determined as a function of an ambient temperature, GPS coordinates, weather information and / or a slope. Accordingly, the means for determining the threshold value mentioned, independently of its configuration and / or arrangement, can communicate with further internal and / or external units or devices which provide the required information and data for improving the accuracy in determining the threshold value.According to one embodiment, a drive power of a drive machine is reduced by the data processing unit when slipping of the drive wheel is detected. Thus, in a drive train with a drive engine, not only is the transmission ratio changed, but in particular the torque at the drive engine is also reduced in order to reduce slipping of the drive wheel. Thus, for example, simultaneously or in a short time sequence, the torque at the drive machine can be reduced and the transmission ratio at the transmission device can be increased. Accordingly, after the end of the slipping, the torque at the drive engine can be increased again simultaneously or in a short time sequence and the transmission ratio at the transmission device can be reduced again.Exemplary embodiments of the invention are explained in more detail below with reference to the drawings, wherein identical or similar elements are provided with the same reference numerals. This shows FIG. 1 shows a greatly simplified schematic illustration of a bicycle according to the invention according to a first embodiment, and FIG. 2 shows a greatly simplified schematic illustration of a bicycle according to the invention according to a second embodiment.FIG. 1 shows a bicycle 100 according to the invention in a greatly simplified manner. The bicycle 100 has a frame 104, on which a steerable wheel 101 designed as a front wheel, a wheel designed as a drive wheel 102 or a rear wheel, a steering handle 105 pivotably arranged on the frame 104, with steering handles arranged thereon, on which the user can support and hold himself during travel, and a saddle 106 are arranged. The steerable wheel 101 is pivotable together with the steering arm 105 about a steering axis.Furthermore, the bicycle 100 has a drive train which is configured to drive the bicycle 100 only with a muscle power of a user-not shown here. For this purpose, the user sits on the saddle 106 during driving, for example, and introduces a drive power into the drive train of the bicycle 100 via respective pedals 107, which are connected to a crankshaft 1 via respective cranks. In the present case, the drive power is transmitted to the drive wheel 102 via a traction drive 103 having two sprockets and a chain. Thus, the bicycle 100 is configured as a conventional bicycle 100 without a drive assistance.Furthermore, the bicycle 100 has an automated transmission device 2 with multiple transmission ratios, which is arranged in a drive-effective manner between the crankshaft 1 and the drive wheel 102, as well as means for detecting a slip on the drive wheel 102 and a data processing unit 3. The means for detecting the slip at the drive wheel 102 is designed in the present case as a sensor system 6 and is provided for detecting a rotational speed at the drive wheel 102. The data processing unit 3 is connected in a signal-transmitting manner to the means for detecting the slip at the drive wheel 102 and the transmission device 2 and is configured to evaluate data for the slip at the drive wheel 102 and, when detecting a slipping of the drive wheel 102, to actuate the transmission device 2 by means of a shift command and to change the transmission ratio in order to reduce a slipping of the drive wheel 102 and thereby improve the contact of the drive wheel 102 with the ground.The transmission ratio at the transmission device 2 is increased or decreased until the data processing unit 3 no longer detects slipping of the drive wheel 102. For example, slipping of the drive wheel 102 is detected by the data processing unit 3 when a rotational acceleration of the drive wheel 102 reaches at least a threshold value. In particular, the data processing unit 3 can compare the rotational acceleration of the drive wheel 102 with a longitudinal acceleration of the bicycle 100 for plausibility checking. Alternatively or additionally, slipping of the drive wheel 102 can be detected by the data processing unit 3 if a change in a drive torque of the user, in particular a torque on the pedal crankshaft 1, reaches at least one threshold value. For example, the respective threshold value can be automatically set by the data processing unit 3 as a function of a rotational speed of the pedal crankshaft 1. The user can switch the data processing unit 3 on and off via an operating element 5 and change the respective threshold value. Furthermore, the threshold value can be automatically set and configured by the user as a function of a slope inclination by the data processing unit 3. Furthermore, the threshold value can be automatically set by the data processing unit 3 and configured by the user as a function of a subsurface condition and / or weather information.FIG. 2 shows a second exemplary embodiment of the bicycle 100. The bicycle 100 according to FIG. 2 substantially corresponds to the bicycle 100 according to FIG. 1 and has an extended scope of function. In the present case, a drive machine 4 is arranged in the drive train of the bicycle 100 and is provided for drive assistance by the user. The drive machine 4 is designed as an electric machine. The driving power of the user is supported by the drive machine 4 in accordance with a user's request and a torque input by the user. The drive machine 4 is arranged as a wheel drive directly on the drive wheel 102 and is operatively connected to the drive wheel 102. Alternatively, the drive engine 4 can be arranged as a central engine in the region of the pedal crankshaft 1. The bicycle 100 is therefore designed as an e-bike. The data processing unit 3 evaluates data on the slip on the drive wheel 102 and, when detecting slipping of the drive wheel 102, not only changes the transmission ratio on the transmission device 2 but also reduces a drive power of the drive machine 4.Reference numerals denote reference numerals1 Pedal crankshaft 2 Transmission device 3 Data processing unit 4 Drive machine 5 Operating element 6 Sensor system 100 Bicycle 101 Wheel 102 Drive wheel 103 Traction drive 104 Frame 105 Steering rod 106 Seat 107 Pedals

Claims

Bicycle (100) comprising a pedal crank shaft (1) which is connected in a drive-effective manner to at least one drive wheel (102) via an automated transmission device (2) which has a plurality of transmission ratios, means for detecting a slip at the drive wheel (102), and a data processing unit (3) which is connected in a signal-transmitting manner at least to the means for detecting a slip at the drive wheel (102) and to the transmission device (2), wherein the data processing unit (3) is designed to evaluate data for the slip at the drive wheel (102) and, when detecting a slip of the drive wheel (102), to actuate the transmission device (2) by means of a shift command and to change the transmission ratio.The bicycle (100) of claim 1, further comprising a drive machine (4) drivingly connected to the drive wheel (102).Bicycle (100) according to one of the preceding claims, further comprising at least one operating element (5) at least for switching the data processing unit (3) on and off and / or the means for detecting a slip on the drive wheel (102).Method for operating a bicycle (100) according to one of the preceding claims, wherein the data processing unit (3) evaluates data relating to the slip at the drive wheel (102) and, when the drive wheel (102) detects slipping, changes the transmission ratio at the transmission device (2).Method according to Claim 4, wherein the transmission ratio is increased or decreased until the data processing unit (3) no longer detects slipping of the drive wheel (102).Method according to Claim 4 or 5, wherein slipping of the drive wheel (102) is detected if a torque and / or a rotational acceleration of the drive wheel (102) reaches at least one threshold value.Method according to claim 6, wherein the torque and / or the rotational acceleration of the drive wheel (102) is compared with a longitudinal acceleration of the bicycle (100) for plausibility checking.Method according to one of Claims 4 to 7, wherein slipping of the drive wheel (102) is detected if a change in a drive torque reaches at least one threshold value.Method according to one of Claims 6 to 8, wherein the at least one threshold value is set automatically by the data processing unit (3) at least as a function of a rotational speed of the pedal crankshaft (1).Method according to one of Claims 6 to 9, wherein the at least one threshold value is set automatically by the data processing unit (3) at least as a function of a slope inclination.Method according to one of Claims 6 to 10, wherein the at least one threshold value is set automatically by the data processing unit (3) at least as a function of a background condition and / or weather information.Method according to one of Claims 4 to 11, wherein a drive power of a drive machine (4) is reduced by the data processing unit (3) if slipping of the drive wheel (102) is detected.

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