Bicycle and methods for operating a bicycle

Abstract

The invention relates to a bicycle (100) with a front wheel (103) and a rear wheel (102), wherein the front wheel (103) is pivotably mounted on a frame (104) of the bicycle (100) about a steering axis, wherein a handlebar (1) is pivotably mounted on the frame (104) about the steering axis and is at least indirectly connected to the front wheel (103) and is configured at least indirectly for pivoting the front wheel (103), wherein a first actuator (2) is at least indirectly connected to the handlebar (1) and is configured to introduce a torque for pivoting the handlebar (1), wherein means for detecting a deflection of the handlebar (1) from a central position on the bicycle (100) are arranged, wherein a data processing unit (3) is connected to the first actuator (2) and the means for detecting the deflection of the handlebar (1) by means of signal transmission and is configured to control the first actuator (2). to operate in this manner while driving,that the first actuator (2) generates a torque that acts in the direction of the central position of the handlebars (1). Furthermore, the invention relates to a method for operating the bicycle (100), wherein the first actuator (2) is operated by the data processing unit (3) during riding such that the first actuator (2) generates a torque that acts in the direction of the central position of the handlebars (1).

Description

[0001] The invention relates to a bicycle with a data processing unit, a front wheel, and a rear wheel. The invention further relates to a method for operating such a bicycle.

[0002] For example, DE 10 2021 211 390 A1 discloses a method for operating a bicycle, wherein the bicycle comprises a drive unit and a sensor system. The sensor system includes a gyroscope, an accelerometer, and a wheel speed sensor, the wheel speed sensor being configured to detect at least one measurement pulse per revolution of a wheel of the bicycle.The method comprises the steps of capturing, in particular three-dimensional, rotation rates of the bicycle using the rotation rate sensor, capturing acceleration values ​​of the bicycle using the acceleration sensor, estimating a motion state of the bicycle based on the captured rotation rates, wherein the motion state includes estimates for estimated acceleration values, for an estimated speed, and for an estimated distance traveled, first correcting the estimated motion state based on the captured acceleration values, determining an instantaneous steering angle of the bicycle based on the corrected estimated motion state, and actuating the drive unit and / or an anti-lock braking system of the bicycle depending on the determined instantaneous steering angle.

[0003] The object of the present invention is to improve a bicycle and a method for operating a bicycle. In particular, safety and comfort during riding are to be increased. This object is achieved with a bicycle according to claim 1 and by a method according to claim 9. Embodiments are the subject of the dependent claims.

[0004] A bicycle according to the invention comprises at least one front wheel and at least one rear wheel, wherein the front wheel is pivotably mounted on a frame of the bicycle about a steering axis, wherein a handlebar is pivotably mounted on the frame about the steering axis and is at least indirectly connected to the front wheel and is at least indirectly configured to pivot the front wheel, wherein a first actuator is at least indirectly connected to the handlebar and is configured to introduce a torque for pivoting the handlebar, wherein means for detecting a deflection of the handlebar from a central position on the bicycle are arranged, wherein a data processing unit is connected to the first actuator and the means for detecting the deflection of the handlebar by means of signal transmission and is configured to operate the first actuator during riding in such a way that the first actuator generates a torque that acts in the direction of the central position of the handlebar.When riding straight ahead, the bicycle's handlebars are in a central position, so there is no swivel angle or deflection of the handlebars. For example, the handlebars consist of a stem and two grips that the rider can hold onto while riding.

[0005] In other words, the handlebars can be connected to the front wheel either indirectly, via other elements and / or devices, or directly, in particular in a rotationally fixed manner, in order to transmit a pivoting movement initiated by the user into the handlebars to the front wheel. For example, according to one embodiment, the front wheel and the handlebars are rotationally fixed and can pivot together about the steering axis. Due to the rotationally fixed connection between the front wheel and the handlebars, a pivoting movement of the handlebars is transmitted unchanged, i.e., one-to-one, to the front wheel. The handlebars are directly connected to the front wheel, in particular to the front fork that holds the front wheel, and are designed to directly pivot the front wheel.

[0006] Alternatively, the front wheel and the handlebars are indirectly connected via a summing gear unit to which a second actuator is effectively linked. The summing gear unit is configured to superimpose the torque applied by the handlebars and the torque applied by the second actuator, thereby pivoting the front wheel about the steering axis. In particular, the summing gear unit is designed as a planetary gear unit with three shafts, namely two input shafts and one output shaft. One of the input shafts is connected to the handlebars, the other input shaft is connected to the second actuator, and the output shaft is connected to the front wheel.Depending on how the second actuator is operated, and in particular controlled and regulated, by the data processing unit, the steering characteristic of the handlebars is altered. This means that, depending on the set gear ratio of the summing gearbox, a small steering movement can, for example, lead to a correspondingly larger movement of the front wheel, or vice versa. The handlebars are indirectly connected to the front wheel via the summing gearbox and are also indirectly configured to control the steering of the front wheel via the summing gearbox.

[0007] Alternatively, the front wheel and handlebars have no mechanical connection for transmitting a pivoting movement about the steering axis, and the data processing unit is configured to adjust a second actuator for pivoting the front wheel about the steering axis depending on the handlebar deflection, in particular the handlebar pivot angle. Thus, the front wheel is pivoted about the steering axis according to the data processing unit, with means for detecting the handlebar deflection, in particular means for detecting a handlebar pivot angle, transmitting relevant sensor data to the data processing unit. Due to the lack of a rotationally fixed connection between the front wheel and handlebars, the handlebar pivot can be individually adjusted, in particular the adjustment characteristics can be adapted by the user, and this adjustment can be transmitted to the front wheel.The handlebar is indirectly connected to the front wheel via the means for detecting the deflection of the handlebar, the data processing unit and the second actuator, and is also indirectly equipped for pivoting the front wheel via the same elements and devices.

[0008] A bicycle is a vehicle that can be used by at least one person, especially a rider. The term "bicycle" encompasses not only a classic bicycle propelled solely by muscle power without a motor, but also bicycles with motors. Bicycles that can be powered by an electric motor in addition to the rider's pedaling effort are commonly known; these are also called electric bicycles, pedelecs, or e-bikes. The rider's pedaling effort is typically assisted by the electric motor according to the rider's input and torque. The electric motor can be a mid-drive motor located near the crank arm or a wheel drive directly on the respective drive wheel. The term "bicycle" also includes cargo bikes with multiple wheels, particularly those with three or four wheels.

[0009] The first actuator comprises an electric motor and, optionally, a gearbox. Specifically, the first actuator is designed as an electromechanical actuator and is optionally connected to the handlebars indirectly via the gearbox. The first actuator acts as a return spring to center the handlebars. To this end, when the handlebars are deflected from their central position, the first actuator applies a return force, specifically a torque, to the handlebars to pivot them back to the central position. The return force, particularly the torque, is adjustable via the data processing unit and can be configured by the user.

[0010] The data processing unit functions as a control unit and is designed to operate the first actuator during travel in such a way that the first actuator generates a torque acting in the direction of the handlebar's center position. In other words, the data processing unit operates—that is, controls and alternatively or additionally regulates—the first actuator during travel in such a way that it generates a torque acting in the direction of the handlebar's center position. To achieve this, the data processing unit processes signal data during travel, which is provided by the means for detecting any movement of the handlebar from a center position.Only when a deflection of the handlebars from the central position is detected is the first actuator controlled by the data processing unit and operated in such a way that a restoring force, in particular a torque, is introduced into the handlebars to center them. This improves not only safety but also comfort for the cyclist. In particular, the steering feel is enhanced. The centering of the handlebars occurs independently of the connection between the handlebars and the front wheel.

[0011] In particular, the data processing unit and the associated signal-transmitting means and devices have signal interfaces for a signal-transmitting connection. A signal interface is a connection for exchanging data and signals between different components of the bicycle. The respective signal interface enables at least two components to communicate with each other. The respective signal interface is integrated into or an integral part of the respective component and serves to receive and transmit signals. For example, the signal-transmitting connection can be wired, wireless, or optical. A signal-transmitting connection is a communicating connection in which data, especially measurement data, and / or information are transmitted as a signal from a sender to a receiver. The signals can 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 devices. For example, one of the control devices can be part of a component of the bicycle. The data processing unit can be arranged on the bicycle, in particular on the handlebars, in the area of ​​the drive motor, or at another location on the bicycle, preferably on the frame.

[0012] For example, the means for detecting a steering wheel deflection from a central position have a signal interface that is connected to a signal interface on the data processing unit. For example, the first actuator has a signal interface that is connected to a signal interface on the data processing unit. In particular, the data processing unit receives data and information about the steering wheel deflection at the signal interface and, after evaluating this data and information, controls the first actuator via a control signal. The first actuator acts, at least indirectly, on the steering wheel to apply a torque to center the steering wheel around the steering axis. The torque generated by the first actuator on the steering wheel is perceived by the driver as haptic feedback, allowing them to adjust their steering behavior.In particular, this haptic feedback can be used to educate the driver in certain driving situations, so that the first actuator indirectly affects the deflection of the front wheel via the driver, since the driver can accept the feedback from the first actuator and adjust his steering behavior, or ignore this feedback and counteract it.

[0013] Devices or elements, in particular sensors, can be used to detect the handlebar deflection. Furthermore, the handlebar deflection can be calculated from operating data of the bicycle or with the aid of additionally provided information using methods or algorithms. Thus, the invention includes the technical teaching that the determination of the handlebar deflection can be directly sensed or indirectly calculated by the data processing unit from further information. The means for detecting the handlebar deflection include, for example, at least one sensor element that detects the handlebar deflection, for example, magnetically or optically, and is arranged on the bicycle. For example, means for detecting the handlebar deflection are arranged between the handlebar and the frame, in particular partially on the handlebar and partially on the frame, or on the frame itself.Alternatively or additionally, means for detecting the steering wheel deflection can be based on a method that processes data from different sensors and thereby determines the steering wheel deflection at least indirectly.

[0014] According to one embodiment, the bicycle further comprises means for detecting the swivel angle and / or swivel angular velocity of the handlebars, wherein the data processing unit is connected to the means for detecting the swivel angle and / or swivel angular velocity of the handlebars via signal transmission and is configured to increase the magnitude of the torque generated by the first actuator with increasing magnitude of the swivel angle and / or swivel angular velocity of the handlebars. For example, the magnitude of the torque generated by the first actuator increases proportionally to the magnitude of the swivel angle and / or swivel angular velocity of the handlebars. This achieves a type of damping of the handlebars during deflection.

[0015] Devices or elements, in particular sensors, can be used to detect the steering angle and / or steering angular velocity of the handlebars. Furthermore, the steering angle and / or steering angular velocity of the handlebars can be calculated from operating data of the bicycle or with the aid of additionally provided information using methods or algorithms. Thus, the invention includes the technical teaching that the steering angle and / or steering angular velocity of the handlebars can be determined either directly by sensing or indirectly by the data processing unit from further information. The means for detecting the steering angle and / or steering angular velocity of the handlebars include, for example, at least one sensor element that detects the steering angle and / or steering angular velocity of the handlebars, for example, magnetically or optically, and is arranged on the bicycle.For example, means for detecting the steering angle and / or steering angular velocity of the handlebars are arranged between the handlebars and the frame, in particular partly on the handlebars and partly on the frame, or on the frame itself. Alternatively or additionally, means for detecting the steering angle and / or steering angular velocity of the handlebars can be based on a method that processes data from different sensors and thereby determines the steering angle and / or steering angular velocity of the handlebars, at least indirectly.

[0016] According to one embodiment, the bicycle further comprises means for detecting the bicycle's speed, wherein the data processing unit is connected to the means for detecting the bicycle's speed via signal transmission and is configured to increase the magnitude of the torque generated by the first actuator as the bicycle's speed increases. For example, the magnitude of the torque generated by the first actuator increases proportionally to the bicycle's speed. This provides the user with a particularly stable and secure steering feel.

[0017] Devices or elements, in particular sensors, can be used to detect the speed of a bicycle. Furthermore, the bicycle's speed can be calculated from operating data of the bicycle or with the aid of additionally provided information using methods or algorithms. Thus, the invention includes the technical teaching that the bicycle's speed can be determined either directly by sensing or indirectly by the data processing unit from further information. The means for detecting the bicycle's speed include, for example, at least one sensor element that detects the bicycle's speed, for instance, via the rotational speed of at least one wheel.Alternatively or additionally, means for recording the speed of the bicycle can be based on a method that processes data from different sensors and thereby determines the speed of the bicycle at least indirectly.

[0018] According to one embodiment, the bicycle further comprises means for determining state variables of the bicycle and / or its environment and generating corresponding data for the data processing unit. The data processing unit is configured to receive further determined variables of the bicycle or its environment, for example, torque generated by the actuator and / or temperature and / or incline. The data processing unit is configured to control the first actuator based on determined state variables of the bicycle and / or its environment in order to control and alternatively or additionally regulate it. In particular, the first actuator is adjusted based on state variables of the bicycle, environmental variables, and / or the riding situation.For example, the torque generated by the first actuator is automatically adjusted according to the data processing unit depending on state variables of the bicycle, environmental variables and / or the driving situation.

[0019] According to one embodiment, the bicycle further comprises a control element that is connected to the data processing unit via signal transmission. Using this control element, the user can manually control the first actuator and, if necessary, make a selection, influence or adjust the actuation characteristics of the first actuator, or activate and deactivate the first actuator as well as other devices on the bicycle. In particular, the control element is located on the bicycle, for example on the handlebars, or on another device, especially on the display of an on-board computer, or on an external device in the vicinity of the bicycle. The device in the vicinity of the bicycle can be a smartphone, smartwatch, or smart ring and can be located in clothing or on the user themselves. Alternatively or additionally, the control element is designed as a touch-sensitive area on an operating device.For example, at least one other device on the bicycle, such as a drive motor or a gearbox, can also be controlled via the control element. The data processing unit is designed to receive values ​​from the control element, evaluate them, and process them further to generate a control command for the first actuator.

[0020] According to one embodiment, the bicycle further comprises a data storage device for saving and retrieving data from the data processing unit. In particular, the data processing unit has a data storage device for saving and retrieving data. User settings, for example, can be permanently stored in user profiles on the data storage device. Thus, different users can save and retrieve different user settings. For example, the active user can be selected using a control element. Furthermore, predefined settings for influencing the steering or handling behavior of the bicycle can be stored on the data storage device. Additionally, various riding programs, such as riding programs for city riding, off-road riding, downhill riding, comfort riding, or racing at high speeds, can be saved and retrieved.In particular, bicycle settings, such as operating parameters, can be evaluated by the user during the ride and used by the data processing unit for machine learning.

[0021] According to one embodiment, the bicycle further comprises a display device, wherein the display device is configured to output optical, acoustic, and / or haptic signals according to the data processing unit. For example, the display device is arranged on the handlebars of the bicycle and emits optical, haptic, and / or acoustic signals to indicate to the user, for example, a steering input that poses a safety hazard. Alternatively or additionally, the display device includes vibration-generating means, which may be arranged in the drivetrain, in particular on the pedals, handlebars, or saddle of the bicycle, to indicate, for example, a steering input that poses a safety hazard by means of vibrations. For example, the display device is designed as a display and is part of an on-board computer of the bicycle.For example, the display device is designed as a display and is part of an external device, in particular an external computing unit, a smartwatch, a smart ring or a smartphone.

[0022] According to a method according to the invention, the first actuator is operated, i.e., controlled, by the data processing unit during driving such that the first actuator generates a torque that acts in the direction of the central position of the handlebars. Thus, a restoring force is introduced into the handlebars via the first actuator, which, regardless of the steering angle, is always directed back towards the center and is intended to achieve straight-ahead driving.

[0023] For example, the amount of torque generated by the first actuator is increased when a first threshold for the magnitude of the steering angle and / or the steering angular velocity is reached. For example, the first threshold is at least 5% and at most 50% of the maximum steering angle to the respective side. The lower the first threshold, the sooner the torque increase occurs at the first actuator.

[0024] Alternatively or additionally, the amount of torque generated by the first actuator is increased whenever a respective threshold value for the magnitude of the swivel angle and / or for the magnitude of the swivel angular velocity of the handlebar is reached. Thus, several threshold values ​​for the magnitude of the swivel angle and / or for the magnitude of the swivel angular velocity of the handlebar can be provided, with the amount of torque at the first actuator being continuously increased upon reaching the respective threshold value.

[0025] Alternatively or additionally, the magnitude of the torque generated by the first actuator is increased with increasing magnitude of the swivel angle and / or with increasing magnitude of the swivel angular velocity of the handlebar. For example, the magnitude of the torque generated by the first actuator is increased proportionally with increasing magnitude of the swivel angle and / or with increasing magnitude of the swivel angular velocity of the handlebar.

[0026] Alternatively or additionally, the amount of torque generated by the first actuator is increased when a first speed threshold for the bicycle is reached. Alternatively or additionally, the amount of torque generated by the first actuator is always increased when a speed threshold for the bicycle is reached. Thus, several speed thresholds for the bicycle can be provided, with the amount of torque at the first actuator increasing progressively upon reaching each respective threshold. Alternatively or additionally, the amount of torque generated by the first actuator increases with increasing bicycle speed.

[0027] In particular, respective threshold values ​​are stored on a data storage device of the data processing unit, whereby the data processing unit compares the data and information received by the data processing unit during the journey with the threshold values ​​stored on the data storage device of the data processing unit to determine whether one of the threshold values ​​has been reached.

[0028] In the following, exemplary embodiments of the invention are explained in more detail with reference to the drawings, wherein identical or similar elements are provided with the same reference numeral. Here, Fig. 1 a highly simplified schematic representation of a bicycle according to the invention in a first embodiment, Fig. 2 a highly simplified schematic representation of a bicycle according to the invention in a second embodiment and Fig. 3 a highly simplified schematic representation of a bicycle according to the invention in a third embodiment.

[0029] In Fig. Figure 1 shows a bicycle 100 according to a first embodiment, in a highly simplified form. The bicycle 100 has a frame 104 on which a rear wheel 102, designed as a drive wheel, a front wheel 103, a handlebar 1, and a saddle 106 are arranged. The front wheel 103 is pivotably mounted on the frame 104 of the bicycle 100 via a front fork about a steering axis, with the handlebar 1 also pivotally mounted on the frame 104 about the steering axis and non-rotatably connected to the front wheel 103. The handlebar 1 comprises a handlebar stem and handlebar grips. During riding, a user (not shown in detail) sits, for example, on the saddle 106 and supports themselves on the handlebar grips. The user initiates a steering movement in the front wheel 103 via the handlebar 1.The steering movement, i.e. the pivoting of the handlebar 1, is introduced directly, i.e. unchanged, into the front wheel 103 due to the rotationally fixed connection between handlebar 1 and front wheel 103.

[0030] Furthermore, the bicycle 100 has a drive device 108 designed to propel the bicycle 100 using the user's muscle power. The user applies power to the bicycle 100's drive train via pedals 107, which are connected to a pedal crank shaft 109 of the drive device 108 via crank arms. This power is transmitted to the drive wheel via a traction drive 101 with two sprockets and a chain. Thus, the bicycle 100 is designed as a classic, purely muscle-powered bicycle without a motor.

[0031] Furthermore, the bicycle 100 comprises a first actuator 2, which is connected to the handlebar 1 and configured to apply a torque to pivot the handlebar 1, as well as means for detecting a deflection of the handlebar 1 from a central position on the bicycle 100 and a data processing unit 3. The data processing unit 3 is connected to the first actuator 2 and the means for detecting the deflection of the handlebar 1 via a signal transmission mechanism and is configured to operate the first actuator 2 during riding such that the first actuator 2 generates a torque acting in the direction of the central position of the handlebar 1. In other words, during riding, the first actuator 2 is controlled and regulated by the data processing unit 3, either alternatively or additionally, such that the first actuator 2 generates a torque acting in the direction of the central position of the handlebar 1.This stabilizes the bicycle 100 during riding and improves the steering feel for the user. Since the handlebar 1 and the front wheel 103 are connected in a rotationally fixed manner, the torque introduced into the handlebar 1 by the first actuator 2 also acts on the front wheel 103.

[0032] Devices or elements, in particular sensors, can be used to detect the deflection of the handlebars 1. Furthermore, the deflection of the handlebars 1 can be calculated from operating data of the bicycle 100 or with the aid of additionally provided information using methods or algorithms. In the present case, a sensor device 9 with several sensors is arranged on the frame 104, wherein at least one of the sensors of the sensor device 9 is configured to detect the deflection of the handlebars 1.

[0033] Furthermore, the bicycle 100 has a control element 6 and a display device 8, which are connected to the data processing unit 3 via signal transmission. In this case, the control element 6 is integrated into the display device 8 and arranged on the handlebars 1. The data processing unit 3 includes a data memory 7 for storing and retrieving data that is received and evaluated at the data processing unit 3. User settings, for example in user profiles, can be permanently stored on the data memory 7. Thus, different users can store and retrieve different user settings, in particular different torques for haptic feedback on the handlebars 1 when the handlebars 1 are deflected from the central position. For example, the active user can be selected via the control element 6.Furthermore, predefined settings for influencing the first actuator 2 can be stored on the data storage device 7. Various driving programs can also be saved and recalled. Using the control element 7, the user can manually activate, deactivate, and control the first actuator 2, i.e., adjust the torque for centering the handlebar 1. In this case, the control element 7 is designed as a touch-sensitive area on the display device 9. The display device 9 is configured to output optical, acoustic, and / or haptic signals, as specified by the data processing unit 2, to alert the user to at least a steering input that poses a safety risk.

[0034] In Fig. Figure 2 shows a bicycle 100 according to the invention in a highly simplified form, based on a second embodiment. The embodiment according to Fig. 2 essentially corresponds to the embodiment shown in Fig. 1, to which reference is made. The differences between these two embodiments are explained below. According to Fig. In Figure 2, the bicycle 100 is designed as an e-bike and features an electric machine 105, which is configured as a drive motor and integrated into the drive unit 108 of the bicycle 100. The drive unit 108 of the bicycle 100 is designed to propel the bicycle 100, at least with the muscle power of a user (not shown here). For this purpose, the user sits, for example, on the saddle 106 while riding and applies drive power to the drive train of the bicycle 100 via pedals 107, which are connected to the pedal crank shaft 109 of the drive unit via crank arms. The electric machine 105 is arranged as a mid-drive motor in the area of ​​the pedal crank shaft 109 and can, at the user's discretion, also introduce drive power into the drive train of the bicycle 100 to assist the user while riding.To generate the drive power, the electric machine 105 takes electrical energy from an energy storage device - not shown here - which can be arranged on the frame 104.

[0035] Furthermore, the front wheel 103 and the handlebar 1 are not rotationally fixed, but are indirectly connected via a summing gear 4, which is further connected to a second actuator 5. The summing gear 4 is configured to superimpose the torque applied by the user via the handlebar 1 and the torque applied by the second actuator 5, and to use this superimposed torque to pivot the front wheel 103 about the steering axis. This allows the steering characteristics to be adjusted, at least partially.

[0036] The user can use the control element 7 to adjust the behavior of the second actuator 5, in particular the operation of the second actuator 5.

[0037] Furthermore, at least one of the sensors of the sensor device 9 is configured to detect the swivel angle and swivel angular velocity of the handlebar 1. The data processing unit 3 is configured to increase the magnitude of the torque generated by the first actuator 2 with increasing swivel angle and swivel angular velocity of the handlebar 1. This dampens the swiveling of the handlebar 1 and improves the steering feel for the user. For example, the data processing unit 3 increases the magnitude of the torque generated by the first actuator 2 when a first threshold for the magnitude of the swivel angle of the handlebar 1 is reached. Similarly, the data processing unit 3 increases the magnitude of the torque generated by the first actuator 2 when a first threshold for the swivel angular velocity of the handlebar 1 is reached.In particular, several threshold values ​​for the magnitude of the swivel angle and for the magnitude of the swivel angular velocity of the handlebar 1 can be stored on the data memory 7 of the data processing unit 3, whereby the magnitude of the torque generated by the first actuator 2 is always increased when a respective threshold value for the magnitude of the swivel angle and / or for the magnitude of the swivel angular velocity of the handlebar 1 is reached.

[0038] Furthermore, at least one of the sensors of the sensor device 9 is configured to detect the speed of the bicycle 100. The data processing unit 3 is configured to increase the magnitude of the torque generated by the first actuator 2 as the speed of the bicycle 100 increases. This stabilizes the bicycle 100 as its speed increases and improves the steering feel for the user. For example, the data processing unit 3 increases the torque generated by the first actuator 2 when a first threshold for the speed of the bicycle 100 is reached. In particular, several thresholds for the speed of the bicycle 100 can also be stored in the data memory 7 of the data processing unit 3, with the magnitude of the torque generated by the first actuator 2 being increased whenever a respective threshold for the speed of the bicycle 100 is reached.Otherwise, the embodiment corresponds to the following. Fig. 2 according to the exemplary embodiment Fig. 1 to which reference is made.

[0039] In Fig. Figure 3 shows a bicycle 100 according to the invention in a highly simplified form, based on a third embodiment. The embodiment according to Fig. 3 essentially corresponds to the embodiment shown in Fig. 2, to which reference is made. The differences between these two embodiments are explained below. According to Fig. In this embodiment, the front wheel 103 and the handlebar 1 are not indirectly connected via a summing gear, but rather have no mechanical connection for transmitting a pivoting movement about the steering axis. The front wheel 103 is mechanically independent of the handlebar 1 and pivots indirectly via the front fork on the frame 104, with the handlebar 1 being mechanically independent of the front wheel 103 and pivoting on the frame 104. A second actuator 5 is arranged on the bicycle 100 for pivoting the front wheel 103 about the steering axis. The data processing unit 3 is configured to adjust the second actuator 5 for pivoting the front wheel 103 about the steering axis depending on the deflection of the handlebar 1, in particular depending on the pivot angle and the pivot angular velocity of the handlebar 1, as well as depending on the speed of the bicycle 100. Otherwise, the embodiment corresponds to the embodiment shown in the figure below. Fig. 3 according to the exemplary embodiment Fig.2 to which reference is made. Reference sign 1 handlebar 2 first actuator 3 Data processing unit 4 summing gears 5 second actuator 6 Control element 7 Data storage 8 Display device 9 Sensor device 100 bicycles 101 Traction drive 102 rear wheel 103 front wheel 104 frames 105 electric machine 106 saddles 107 pedals 108 Drive device 109 Pedal crankshaft QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2021 211 390 A1

[0002]

Claims

[1] Bicycle (100) with a front wheel (103) and a rear wheel (102), • wherein the front wheel (103) is pivotably mounted on a frame (104) of the bicycle (100) about a steering axis, • wherein a handlebar (1) is pivotably mounted on the frame (104) about the steering axis and is at least indirectly connected to the front wheel (103) and is at least indirectly designed to pivot the front wheel (103), • wherein a first actuator (2) is at least indirectly connected to the handlebar (1) and is configured to introduce a torque for pivoting the handlebar (1), • wherein means for detecting a deflection of the handlebar (1) from a central position on the bicycle (100) are arranged, • wherein a data processing unit (3) is connected to the first actuator (2) and the means for detecting the deflection of the handlebar (1) by means of signal transmission and is configured to operate the first actuator (2) during driving in such a way that the first actuator (2) generates a torque that acts in the direction of the central position of the handlebar (1). [2] Bicycle (100) according to claim 1, wherein means for detecting a swivel angle and / or a swivel angular velocity of the handlebars (1) are arranged on the bicycle (100), wherein the data processing unit (3) is connected to the means for detecting the swivel angle and / or the swivel angular velocity of the handlebars (1) by means of signal transmission and is configured to increase the amount of the torque generated by the first actuator (2) with increasing amount of the swivel angle and / or with increasing amount of the swivel angular velocity of the handlebars (1). [3] Bicycle (100) according to claim 1 or 2, wherein means for detecting the speed of the bicycle (100) are arranged on the bicycle (100), wherein the data processing unit (3) is connected to the means for detecting the speed of the bicycle (100) by means of signal transmission and is configured to increase the amount of the torque generated by the first actuator (2) as the speed of the bicycle (100) increases. [4] Bicycle (100) according to one of the preceding claims, further comprising a control element (6) which is connected to the data processing unit (3) for signal transmission. [5] Bicycle (100) according to one of the preceding claims, further comprising a data storage device (7) for storing and retrieving data from the data processing unit (3). [6] Bicycle (100) according to one of the preceding claims, wherein the front wheel (103) and the handlebar (1) are connected in a rotationally fixed manner and can be pivoted together about the steering axis. [7] Bicycle (100) according to one of claims 1 to 5, wherein the front wheel (103) and the handlebar (1) are indirectly connected to a second actuator (5) via a summing gear (4), wherein the summing gear (4) is configured to superimpose the torque applied by a user via the handlebar (1) and the torque applied by the second actuator (5) and to pivot the front wheel (103) about the steering axis. [8] Bicycle (100) according to one of claims 1 to 5, wherein the front wheel (103) and the handlebar (1) do not have a mechanical connection for transmitting a pivoting movement about the steering axis, wherein the data processing unit (3) is configured to adjust a second actuator (5) for pivoting the front wheel (103) about the steering axis at least as a function of the deflection of the handlebar (1). [9] Method for operating a bicycle (100) according to one of the preceding claims, wherein the first actuator (2) is operated by the data processing unit (3) during the ride such that the first actuator (2) generates a torque that acts in the direction of the central position of the handlebars (1). [10] Method according to claim 9, wherein the torque generated by the first actuator (2) is increased when a first threshold value for the magnitude of the swivel angle and / or for the magnitude of the swivel angular velocity of the steering arm (1) is reached. [11] Method according to claim 9 or 10, wherein the amount of torque generated by the first actuator (2) is increased whenever a respective threshold value for the amount of the swivel angle and / or for the amount of the swivel angular velocity of the steering arm (1) is reached. [12] Method according to any one of claims 9 to 11, wherein the amount of torque generated by the first actuator (2) is increased with increasing magnitude of the pivot angle and / or with increasing magnitude of the pivot angular velocity of the steering arm (1). [13] Method according to any one of claims 9 to 12, wherein the amount of torque generated by the first actuator (2) is increased when a first threshold for the speed of the bicycle (100) is reached. [14] Method according to any one of claims 9 to 13, wherein the amount of torque generated by the first actuator (2) is increased whenever a threshold value for the speed of the bicycle (100) is reached. [15] Method according to any one of claims 9 to 14, wherein the amount of torque generated by the first actuator (2) is increased with increasing speed of the bicycle (100).

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