Method for detecting a jump state for a bicycle, control device and bicycle with a control device

Abstract

A method for detecting a jump state of a bicycle (10) comprises the following steps: (S1) receiving sensor information relating to a vibration of the bicycle (10) while the bicycle (10) is in motion; and (S2) determining the jump state of the bicycle (10) by evaluating the sensor information, wherein the evaluation of the sensor information determines whether the bicycle (10) is moving on the ground or has been lifted off the ground.

Description

[0001] The present invention relates to a method for detecting a jump state for a bicycle. In particular, the present invention relates to a method by which a state can be detected during the operation of the bicycle in which the bicycle performs a jump, during which the bicycle is lifted off the surface it is traveling on. Furthermore, the present invention relates to a control device for carrying out the method and to a bicycle with such a control device.

[0002] When riding bicycles off-road, especially during sporty riding, situations arise where the bicycle leaves the ground, causing the rider to perform a jump. Prior art describes methods for detecting dynamic operating states of bicycles. Various sensors can be used to, for example, detect a trajectory for the bicycle that can be associated with a jump.

[0003] DE 10 2023 205 971 A1 (subsequently published) relates to a method for component protection in a bicycle. The method comprises the steps of receiving sensor information from a sensor device, determining, based on the sensor information, whether the bicycle is currently in a flight phase, and, if so, preventing a switching operation of a switching device of the bicycle.

[0004] DE 10 2022 209 507 A1 relates to a control device for a bicycle that automatically adjusts the suspension and seat support based on the tire pressure and the inclination of the bicycle.

[0005] DE 10 2022 211 469 A1 relates to a method for controlling a drive unit of a bicycle, wherein the drive unit is configured to provide support torque to a rider upon request from a control unit. The method comprises the steps of detecting a jump of the vehicle and reducing the support torque requested by the drive unit when a jump of the vehicle is detected.

[0006] EP 3 183 167 B1 relates to a method and a device for a bicycle in which a possible rollover after a jump is detected and prevented by the targeted generation of a counter-torque on the lifting wheel.

[0007] EP 3 275 773 A1 relates to a method and a device for activating an actuator on a two-wheeler, wherein the actuator in the area of ​​the front wheel is only activated when certain conditions and driving dynamic parameters are met in order to allow the front wheel to lift off briefly in order to jump over an obstacle.

[0008] The present invention is based on the objective of providing an improved method for detecting a jump state for a bicycle. This objective is achieved by the subject matter with the features of the independent claims. Advantageous embodiments of the invention are defined in the dependent claims.

[0009] A method for detecting a jump state for a bicycle has the following steps: Receiving sensor information relating to vibrations of the bicycle while the bicycle is in motion; Determining the jumping state of the bicycle by evaluating the sensor information, whereby the evaluation of the sensor information determines whether the bicycle is riding on the ground or has lifted off the ground.

[0010] According to the invention, the method further includes the step of recording the time elapsed since the bicycle was determined to have lifted off the ground, whereby the bicycle's jumping state is determined if the recorded time elapsed exceeds a predetermined duration. This prevents a brief lifting of at least one wheel of the vehicle from the ground from being interpreted as a jumping state. A jumping state of the bicycle can thus be determined if the bicycle has been lifted off the ground for at least the predetermined duration. This duration can also be understood as the bicycle's flight time during the jumping state. The predetermined duration can be determined empirically. Alternatively, the duration can be adjustable based on a setting by the rider. In one embodiment, the predetermined duration can be set to a range of a few seconds.The bicycle can be a bicycle propelled by muscle power. It can also be an e-bike or pedelec, which has a drive system that, for example, uses an electric motor to assist the rider's muscle power. The bicycle can have two wheels, one of which can be a drive wheel.

[0011] According to a further developed embodiment, the method can determine whether the bicycle is moving on the surface if, during evaluation, it is determined that the sensor information contains information about a vibration of the bicycle relating to the rolling of at least one wheel of the bicycle on the surface. This information about the vibration of the bicycle relating to the rolling of at least one wheel of the bicycle on the surface can be determined in advance. In particular, a characteristic map can be maintained with which the sensor information can be evaluated to determine whether it contains information about the vibration of the bicycle relating to the rolling of at least one wheel of the bicycle on the surface.The vibrations of a bicycle, resulting from the rolling of at least one wheel on the ground, can involve the frame or another component. These vibrations can be caused by unevenness in the ground as at least one wheel rolls. Similarly, the tire tread pattern can also be a source of vibration as at least one wheel rolls on the ground.

[0012] According to a further developed embodiment, the method can determine that the bicycle is lifted from the ground if, during evaluation, it is determined that the sensor information does not contain any information relating to a vibration of the bicycle caused by at least one wheel of the bicycle rolling on the ground. The sensor information can be evaluated based on a pre-prepared characteristic map. Based on this evaluation using the pre-prepared characteristic map, it can be determined whether a vibration of the bicycle detected by the method is caused by at least one wheel of the bicycle rolling on the ground.In the event that the assessment determines that the vibration of the bicycle is not caused by at least one wheel of the bicycle rolling on the ground, it is assumed that the sensor information does not contain any information about a vibration of the bicycle relating to the rolling of at least one wheel of the bicycle on the ground.

[0013] According to a further developed embodiment, when evaluating the sensor information in the step of determining a jump state, a filtering step of the sensor information can be performed to detect the vibrations of the bicycle resulting from the rolling of at least one wheel of the bicycle on the ground, based on the sensor information. In this case, it can be taken into account that the vibrations of the bicycle generated by the rolling on the ground contain a characteristic frequency spectrum. Based on knowledge of the characteristic frequency spectrum, the filtering step can be configured accordingly so that, among all the detected vibrations of the bicycle, those vibrations generated by the rolling of at least one wheel of the bicycle on the ground can be identified.For this purpose, a filter in the form of a device with an input and an output can be used, incorporating software that takes into account the specified characteristic frequency spectrum.

[0014] According to a further developed embodiment, sensor information can be obtained from an accelerometer mounted on the bicycle. The accelerometer can be a multi-axis accelerometer. In one embodiment, the accelerometer can be configured to detect acceleration in at least one direction with a vertical component relative to the ground. The design of the accelerometer can be selected as appropriate, as long as it can detect corresponding vibrations of the bicycle. The accelerometer can be permanently mounted on a component of the bicycle. In particular, the accelerometer can be mounted on the bicycle frame to detect the frame's vibrations. Furthermore, the accelerometer can be located on or in a drive unit that may be provided on the bicycle.The accelerometer can output an electrical signal that can provide sensor information for evaluation. This sensor information can be in digital or analog form.

[0015] According to a further developed embodiment, the detection of the jump state can be taken into account when controlling at least one operating device for controlling the operation of the bicycle. This takes into account that the jump state can have an impact on the function or reliability of the operating device.

[0016] According to a further developed embodiment, at least one operating device of the bicycle can be designed as a switching device for changing gear ratios in a drive unit of the bicycle. The switching device can be configured as a hub gear, derailleur gear, or similar system. Furthermore, if the bicycle is designed as an e-bike or pedelec, the switching device can be at least partially integrated into a drive unit that can change the gear ratios for operating the bicycle. The switching device can be at least partially automatically switchable. In particular, the operation of the switching device can be prevented upon detection of predetermined states. Such a predetermined state can occur when a jump state of the bicycle is detected.In this case, the operation of the switching device can be prevented until it is determined that the jump state no longer exists.

[0017] This measure prevents adverse effects on the switching device that can result from particularly high loads to which the switching device is subjected during the jumping state. According to one embodiment, a change in the gear ratio of the switching device can be prevented when the presence of the bicycle's jumping state is detected.

[0018] According to another aspect, a control device for a bicycle is provided with an input interface for receiving at least a signal from an accelerometer and an output interface for outputting information relating to the detection of the bicycle's jumping state, wherein the control device is configured to execute the method with one or more of the features defined above. The control device may be provided on the bicycle. In particular, the control device may be integrated into a drive unit for assisting muscle power operation of the bicycle. The control device may also be connected to the operating device, which may be designed, for example, as a circuit, for controlling the operation of the bicycle.In this respect, the operating device can control, for example, the operating device designed as a switching device for changing transmission ratios in a drive system of the bicycle.

[0019] According to another aspect, a bicycle has an acceleration sensor and a control device with the aforementioned features. Fig. Figure 1 shows a schematic representation of an example trajectory of a bicycle for which a jump state is detected; Fig. Figure 2 shows a flowchart of the procedure in one embodiment; and Fig. Figure 3 shows a schematic representation of a bicycle with a control device to which the method is applicable.

[0020] Fig. Figure 1 shows a schematic diagram illustrating an example trajectory of a bicycle 10 (represented only schematically here), in which a jump state is detected. The following discussion will be based on the representation of Fig. 1. The different phases of the bicycle's trajectory curve are explained. Fig. Figure 1 shows the course of a subsurface U. Furthermore, in Fig. One different point on the trajectory path of bicycle 10 is shown. At point A1, bicycle 10 travels on surface U at a certain speed. At point A1, bicycle 10 enters a slope on surface U, which continues to point A2. After point A2, the slope decreases significantly, so that due to the vertical acceleration of bicycle 10, it leaves surface U. In the area between point A2 and point A3, bicycle 10 thus follows a trajectory 11, as shown in Fig. Figure 1 shows that both wheels of bicycle 10 have lifted off the ground U. The trajectory 11 has an inverted parabolic shape, lying above the ground U between points A2 and A3.

[0021] After completing flight path 11, bicycle 10 hits the surface U again at point A3 and moves along a path that Fig. 1. The gradient shown in the direction of a point A4, whereby at least one or both wheels of the bicycle 10 roll back onto the surface U.

[0022] In the area between points A1 and A2, characteristic vibrations are generated in the bicycle 10, resulting from the rolling of its wheels on the surface U. In the area between points A2 and A3, these characteristic vibrations are not generated in the bicycle 10, as the wheels do not roll on the surface U. At point A3, the bicycle 10 impacts the surface U, subjecting the bicycle 10 and its components to a more or less significant impact. In the area between points A3 and A4, the bicycle 10 rolls again on the surface U, thus generating the corresponding characteristic vibrations.

[0023] The following describes the basic structure of a bicycle 10 using the following examples: Fig. 3 explains to which the procedure is applicable. Fig. Figure 3 shows a generally known bicycle with a frame, handlebars, and a saddle, which are not explained further. Bicycle 10 has a front wheel 10a and a rear wheel 10b. Furthermore, bicycle 10 has an accelerometer 12, which is located in the Fig. In the embodiment shown in Figure 3, the accelerometer 12 is mounted on the frame of the bicycle 10. This allows the accelerometer 12 to detect vibrations induced in the frame of the bicycle 10. In this embodiment, the accelerometer 12 is a sensor for detecting vertical acceleration relative to the ground. In other embodiments, the accelerometer 12 can be mounted at a different position on the bicycle, as long as the vibration state can be detected appropriately for carrying out the method. Furthermore, in one embodiment, the accelerometer 12 can be a multi-axis sensor.

[0024] The bicycle 10 further comprises a control unit 13, which has input and output interfaces. The accelerometer 12 is connected to the control unit 13 via the input interface. The control unit 13 includes means for evaluating signals emitted by the accelerometer 13. Furthermore, the control unit 13 has a storage device for storing characteristic maps or other data and information.

[0025] The bicycle 10 further comprises an operating device 14 in the form of a circuit. This operating device can be actuated by electrical signals to adjust a gear ratio between a crank assembly of the bicycle 10 or a drive unit and the rear wheel 10b. In the present embodiment, the operating device 14, designed as a circuit, is connected to the control device 13 in such a way that the control device 13 can actuate the operating device 14 of the bicycle, which is designed as a circuit.

[0026] The following refers to the in Fig.The diagram shown in Figure 3 explains the procedure in more detail. To carry out the procedure, the output signal of the accelerometer 12 is continuously monitored in step S1 of the control unit 13. The signal from the accelerometer 12 contains information relating to the vibration state of the bicycle 10. In a subsequent step S2, the sensor information is evaluated to determine the step state. For this purpose, a vibration spectrum represented by the output signal of the accelerometer 12 is filtered in a substep S2b. The filtering of the sensor signal is based on empirically predefined data, so that the vibration information contained in the sensor signal can be assigned to specific states of the bicycle 10 during operation.In particular, the sensor information is filtered in substep S2b in such a way that sensor information attributable to the rolling of at least one of the wheels 10a, 10b on the surface U can be detected. Specifically, the operation of the bicycle 10 generates particular vibrations caused by unevenness in the surface U or by the tire tread of the wheels 10a and 10b. Conversely, the operation of the bicycle 10 also produces vibrations not caused by the rolling of the wheels 10a, 10b on the surface U, such as those resulting from the operation of the bicycle's crank mechanism or the rotation of the wheels 10a, 10b at their respective hubs.

[0027] Thus, in step S2, to determine the jump state, the sensor information is first filtered to determine whether it contains information resulting from at least one of the wheels 10a, 10b of bicycle 10 rolling on the surface U. If it is determined that the sensor information does not contain any information resulting from at least one of the wheels 10a, 10b rolling on the surface U, it is recognized that bicycle 10 has lifted off the surface.

[0028] In this case, a further sub-step S2a records the time since the bicycle 10 lifted off the ground. This time is then compared to a predetermined time. The predetermined time can be determined empirically and, for example, set to a period of a few seconds, during which a jump state can be assumed, rather than just a brief lifting of the wheels 10a and 10b of bicycle 10.

[0029] If the duration of substep S2a reaches or exceeds the predetermined duration, step S2 determines that a jump state exists. As soon as it is determined that the sensor information contains information resulting from at least one wheel 10a, 10b of bicycle 10 rolling, it is concluded that the jump state has ended and bicycle 10 is again moving on the surface U.

[0030] In one embodiment, the information that the bicycle 10 is in a jumping state is used for the operational control of the bicycle 10. In the present embodiment, an operating device 14 of the bicycle, designed as a circuit, is controlled by the control unit 13 to appropriately adjust the gear ratio of the bicycle 10's drive. Due to an automated adjustment of the gear ratio, situations can arise in which high loads can occur on the bicycle and its components when the bicycle 10 impacts the ground U after the jumping state has ended.To prevent the operating device 14, designed as a circuit, from being actuated in this case, which could lead to damage to components of the bicycle 10, the actuation of the operating device 14, designed as a circuit, is prevented in the present embodiment when the jumping state is detected. This prevention continues until it is determined that the jumping state has ended and thus the bicycle 10 has already impacted the surface U.

[0031] In another embodiment, information indicating that the bicycle 10 is in a jump state is stored in a memory and used for statistical purposes. For example, this can provide information on the usage pattern of the bicycle 10 during its lifetime and, if necessary, be used to determine maintenance intervals.

[0032] In a further embodiment, the bicycle 10 is designed as an e-bike or pedelec and has a drive unit that can assist the rider's muscle power using an electric motor. Such a drive unit also includes operating devices 14 in the form of switchable gear arrangements, to which the aforementioned method is equally applicable. Reference sign 10 bicycles 10a, 10b wheel; front wheel, rear wheel) 11 Flight path 12 Accelerometer 13 Control unit 14 Operating device A1, A2, A3, A4 points of the movement curve Underground S1 Receiving sensor information S2 Determining a jump state S2a Recording a time period S2b Filtering sensor information

Claims

[1] Method for detecting a jump state for a bicycle (10) comprising the following steps: (S1) Receiving sensor information relating to vibration of the bicycle (10) while the bicycle (10) is in motion; (S2) Determining the jump state of the bicycle (10) by evaluating the sensor information, wherein the evaluation of the sensor information determines whether the bicycle (10) is riding on the ground or has lifted off the ground, characterized by (S2a) Recording a time period since the determination that the bicycle (10) has lifted off the ground, wherein the jumping state of the bicycle (10) is determined if the time period is at least a predetermined time period. [2] Method according to claim 1, characterized by, that it is determined that the bicycle (10) is moving on the surface if, during evaluation, it is determined that the sensor information contains information about a vibration of the bicycle (10) relating to a rolling of at least one wheel of the bicycle (10) on the surface. [3] Method according to claim 1 or 2, characterized by , that it is determined that the bicycle (10) is lifted off the ground if, during evaluation, it is determined that the sensor information does not contain information about a vibration of the bicycle (10) relating to the rolling of at least one wheel of the bicycle (10) on the ground. [4] Method according to any one of the preceding claims, characterized by, that in the evaluation of the sensor information in the step (S2) of determining a jump state, a filtering (S3a) of the sensor information is carried out in order to detect the vibrations of the bicycle (10) resulting from the rolling of at least one wheel of the bicycle (10) on the ground, based on the sensor information. [5] Method according to any one of the preceding claims, characterized by , that the sensor information is obtained from a signal from an accelerometer (12) which is provided on the bicycle (10). [6] Method according to any one of the preceding claims, characterized by , that the detection of the jump state is taken into account when controlling at least one operating device for controlling the operation of the bicycle (10). [7] Method according to claim 6, characterized by, that the at least one operating device of the bicycle (10) is designed as a switching device for changing transmission ratios in a drive device of the bicycle (10). [8] Method according to claim 7, characterized by , that a change in the transmission ratio of the switching device is prevented when the presence of the jump state of the bicycle (10) is detected. [9] Control device (13) for a bicycle (10) with an input interface for receiving a signal from an accelerometer (12) and an output interface for outputting information relating to the detection of the jump state of the bicycle (10), wherein the control device (13) is configured to perform the method according to one of the preceding claims. [10] Bicycle (10) with an acceleration sensor (12) and a control device according to claim 9.

Images