Arrangement, in particular for a human-powered and / or motor-powered vehicle
A wireless communication-based arrangement using Bluetooth Low Energy connection determines the relative position and orientation of vehicle devices, addressing the need for additional sensors in existing configurations by providing a simple and cost-effective solution.
Patent Information
- Application Number
- PCT/EP2025/070314
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-08-09
- Filing Date
- 2025-07-16
- Publication Date
- 2026-02-12
AI Technical Summary
Existing vehicle configurations require additional hardware sensors to determine the relative arrangement of devices, which is costly and complex.
A wireless communication-based arrangement using a first and second device, mounted on a vehicle, that can move relative to each other, and a control unit to determine their relative position and orientation via Bluetooth Low Energy connection, eliminating the need for additional hardware sensors.
Enables precise and cost-effective determination of the relative position and orientation of vehicle components without additional sensors, simplifying the design and reducing mechanical complexity.
Smart Images
Figure EP2025070314_12022026_PF_FP_ABST
Abstract
Description
[0001] R.414084
[0002] - 1 -
[0003] Description
[0004] title
[0005] Arrangement, in particular for a vehicle that can be operated by muscle power and / or motor power
[0006] State of the art
[0007] The present invention relates to an arrangement, in particular for a vehicle that can be operated by muscle power and / or motor power, a vehicle that can be operated by muscle power and / or motor power, and a method for determining a relative arrangement of a first device and a second device to each other.
[0008] Vehicle configurations are known that include multiple devices, which can be located at different positions within the vehicle. It is also known that these devices can communicate with each other wirelessly. Various sensors are frequently used to determine the vehicle's operating parameters.
[0009] Disclosure of the invention
[0010] In contrast, the arrangement according to the invention with the features of claim 1 is characterized by the fact that a particularly simple and cost-effective construction can be provided, which, in particular, can supply information about the current properties of the vehicle without additional hardware sensors. This is achieved according to the invention by an arrangement, in particular for a vehicle powered by muscle power and / or motor power, preferably for a bicycle, and especially preferably for an e-bike, comprising a first device, a second device, and a control unit. The first device and the second device can each be attached to the vehicle. The first device and the second device are such that R.414084
[0011] - 2 - can be attached to the vehicle in such a way that they are arranged so that they can move relative to each other. The first device and the second device are configured to communicate with each other via a wireless connection. The control unit is configured to determine a relative arrangement of the first device and the second device to each other based on the wireless connection.
[0012] In particular, a device is defined as an electronic device. Specifically, such a device may be configured to process electronic data.
[0013] Preferably, the first device and the second device can exchange information, especially data, with each other via the wireless connection.
[0014] Preferably, the control unit can analyze current properties of the wireless connection in order to determine the relative arrangement of the first device and the second device to each other.
[0015] In other words, an arrangement is provided comprising at least two devices that can communicate with each other wirelessly, and in particular, are connectable to each other. The two devices can be mounted on a vehicle in such a way that they can move relative to each other. Based on the wireless connection between the two devices, the control unit can determine their current relative arrangement, in particular their relative position and / or orientation.
[0016] This arrangement offers the advantage that, with a simple and cost-effective design using few components, and especially based on the inherent properties of the arrangement, the relative position of the first and second devices can be determined. For example, this eliminates the need for hardware sensors capable of capturing such an arrangement and / or related data. Advantageously, further vehicle properties and information can be determined based on the established relative arrangement of the two devices. A particular advantage is that the relative position and / or orientation of vehicle components, to which R.414084
[0017] - 3 - each of the devices is arranged so that they can be determined in a simple and efficient way.
[0018] The dependent claims contain preferred further developments of the invention.
[0019] Preferably, the first and second devices are mounted on the vehicle so that they can be moved relative to each other by exactly one predetermined degree of freedom. Particularly preferably, the first and second devices are mounted on the vehicle so that they can be rotated relative to each other about exactly one predetermined axis of rotation. For example, vehicle components to which one of the two devices is attached can be designed and arranged to be rotatable relative to each other about the predetermined axis of rotation. In other words, the mounting of the first and second devices on the vehicle is designed such that only exactly one degree of freedom of relative movement is permitted, namely, in particular, rotation with respect to the axis of rotation. This allows the relative arrangement of the first and second devices to be determined with particular precision in a particularly simple and efficient manner.
[0020] The control unit is particularly preferably configured to determine the distance between the first and second devices based on the wireless connection. Alternatively or additionally preferably, the control unit is configured to determine the relative orientation of the first and second devices to each other based on the wireless connection. This allows the determination of the relative arrangement to be carried out particularly easily and cost-effectively. Furthermore, based on the distance and / or relative orientation of the two devices, other properties of parts of the vehicle, such as their relative distance and / or relative orientation, can be determined particularly easily, precisely, and efficiently.
[0021] A Bluetooth connection, especially a Bluetooth Low Energy connection, is preferred as a wireless connection. This allows for a particularly simple, cost-effective, and energy-efficient deployment of the system.
[0022] Preferably, the control unit is configured to determine the relative arrangement of the first device and the second device to each other based on a channel R.414084
[0023] - 4 -
[0024] To determine the channel sounding function of the Bluetooth connection. In particular, such a channel sounding function can be an inherent component of a Bluetooth Low Energy connection, preferably from version 5.4 onwards. The channel sounding function, as an inherent component of the wireless connection between the two devices, can provide information about the current distance between them when they are paired via Bluetooth. This allows the distance between the two devices to be determined precisely using particularly simple and cost-effective means.
[0025] Preferably, instead of determining the distance based on the Bluetooth Low Energy connection and the Channel Sounding function, another method for measuring the distance of a wireless connection, such as Ultra-Wide-Band, can be used.
[0026] Preferably, the control unit is configured to determine the relative arrangement of the first and second devices based on an angle-of-arrival function and / or an angle-of-departure function of the Bluetooth connection. The angle-of-arrival function can be considered, in particular, an angle-of-arrival function. The angle-of-arrival function and / or angle-of-departure function can be an inherent component of a Bluetooth Low Energy connection, preferably version 5.1 or later. This allows, in particular, an angle measurement between the two devices. This enables a particularly precise determination of the relative orientation of the two devices.
[0027] Preferably, the control unit is integrated into either the first or the second device. In other words, the control unit is an integral part of the first or second device. This means that the determination of the relative arrangement of the two devices can be carried out by either device itself. This allows for a particularly simple and cost-effective design of the arrangement.
[0028] Preferably, the control unit is configured to control the first device and / or the second device and / or the vehicle based on the determined relative R.414084
[0029] - 5 -
[0030] The arrangement of the first and second devices can be controlled. For example, depending on the determined relative arrangement, operating parameters of at least one of the devices and / or the vehicle can be influenced. Alternatively, or preferably, information based on the determined relative arrangement can be displayed, for example, by means of at least one of the devices.
[0031] Furthermore, the invention leads to a vehicle, in particular a bicycle, preferably an electric bicycle, which can be operated by muscle power and / or motor power, comprising the described arrangement. Preferably, the first device is assigned to a first bicycle component and the second device to a second bicycle component. The first bicycle component is movably arranged on the bicycle relative to the second bicycle component.
[0032] Preferably, the vehicle, which can be propelled by muscle power and / or motor power, is a bicycle, in particular an electric bicycle, comprising handlebars and a bicycle frame. The first device is attached to the handlebars, and the second device is attached to the bicycle frame, in particular to a top tube of the bicycle frame. By determining the relative arrangement of the two devices, a relative arrangement and alignment of the handlebars and bicycle frame can thus be determined.
[0033] The first device is preferably mounted off-center on the handlebars. In other words, the first device is located off-center with respect to the longitudinal axis of the bicycle. This results in different distances between the two devices when the handlebars are turned left or right. Based on the determined relative position of the two devices, the current position of the handlebars relative to the bicycle frame can then be easily and precisely determined.
[0034] The control unit is particularly preferably configured to determine an instantaneous steering angle based on the determined relative arrangement of the first and second devices to each other. The steering angle is specifically considered to be a relative angle between the handlebars and a reference system fixed to the bicycle frame. For example, the steering angle can be an angle between a longitudinal direction of the handlebars and an angle perpendicular to the direction of travel.
[0035] - 6 - of the bicycle's orthogonal transverse axis. Using the arrangement with the two devices, a particularly simple and cost-effective determination of the steering angle can be achieved without the need for additional hardware sensors.
[0036] Preferably, the control unit is further configured to validate the determined steering angle based on the vehicle's speed, acceleration, and / or yaw rate measured by an additional sensor. Preferably, this sensor can be a speed sensor, an acceleration sensor, and / or a yaw rate sensor. The validation of the determined steering angle is preferably performed using sensor data fusion. This allows the determined steering angle to be verified and thus provides particularly reliable results.
[0037] Preferably, the first device and / or the second device includes an input and / or output unit. The input and / or output unit can be configured, in particular, to receive input from a user of the bicycle and / or to output to a user of the bicycle. For example, the input and / or output unit can have a display and / or a touchscreen and / or buttons and / or output elements for acoustic and / or visual and / or haptic output.
[0038] The invention further relates to a method for determining the relative arrangement of a first device and a second device to each other. The method is carried out using the described arrangement or the described vehicle. In particular, the method uses a control unit to determine the relative arrangement of a first device and a second device to each other, based on the wireless connection by which the two devices can communicate with each other.
[0039] Brief description of the drawings
[0040] An embodiment of the invention is described in detail below with reference to the accompanying drawings. The drawing shows: R.414084
[0041] - 7 -
[0042] Figure 1 shows a simplified schematic view of an electric bicycle with an arrangement according to a first embodiment of the invention.
[0043] Figure 2 is a perspective detail view of the electric bicycle of Figure 1.
[0044] Figures 3 to 5 are highly simplified schematic views of the electric bicycle of Figure 1 with different steering angles, and
[0045] Figure 6 shows a simplified schematic view of an electric bicycle with an arrangement according to a second embodiment of the invention.
[0046] Embodiments of the invention
[0047] Preferably, all identical components, elements and / or units in all figures are provided with the same reference numerals.
[0048] Figure 1 shows a simplified schematic view of a vehicle 100 that can be operated by muscle power and / or motor power with an arrangement 10 according to a first embodiment of the invention.
[0049] Vehicle 100 is an electric bicycle 100, which has a drive unit 110 that can be located, for example, in the area of the bottom bracket of the electric bicycle 100. The drive unit 110 includes a motor. The motor torque generated by the motor provides motor assistance to the pedaling force generated by the rider of the electric bicycle 100. The motor of the drive unit 110 can be supplied with electrical energy by means of an electrical energy storage device 109 of the electric bicycle 100.
[0050] The arrangement 10 of the electric bicycle 100 according to the invention comprises a first device 1 and a second device 2. The arrangement 10 also includes a control unit 3, which in the illustrated first embodiment is an integral part of the first device 1. R.414084
[0051] - 8 -
[0052] The first device 1 is attached to a handlebar 101 of the electric bicycle 100, for example by means of a clamp (see also Figure 2).
[0053] The second device 2 is attached to a bicycle frame 102 of the electric bicycle 100. In detail, the second device is integrated into a top tube 103 of the bicycle frame 102 (compare figure 2).
[0054] The two devices 1 and 2 can each, for example, comprise input and / or output units 11. For example, the first device 1 can include a push button, such as a switch, as its input unit 11. The second device 2 can, for example, have display elements and / or control elements, such as push buttons or the like.
[0055] Alternatively, preferably, the first device 1 ' can also be a display, which preferably includes a touchscreen, by means of which information can be displayed and, in particular, additionally entered.
[0056] The two devices 1 and 2 are configured to communicate with each other via a wireless connection 4. The wireless connection 4 is a Bluetooth Low Energy connection.
[0057] The control unit 3 is configured to determine a relative arrangement of the first device 1 and the second device 2 to each other based on the wireless connection 4 between the two devices 1, 2.
[0058] The determination of the relative arrangement is based on the properties of the wireless connection 4. In detail, the channel sounding function of the Bluetooth Low Energy connection is used to determine an instantaneous distance 20 between the first device 1 and the second device 2.
[0059] Alternatively or additionally, preferably, an incidence angle function and / or a reflection angle function of the Bluetooth Low Energy connection can be used to determine the instantaneous relative orientation of the first device 1 and the second device 2 to each other. R.414084
[0060] - 9 -
[0061] By arranging the devices 1, 2 on the electric bicycle 100 accordingly, a steering angle 25 can be determined based on the determined distance, as described below with reference to Figures 2 to 5.
[0062] The handlebar 101 of the electric bicycle 100 is rotatable relative to the bicycle frame 102 only about a single axis of rotation 15, which can also be referred to as the steering axis (see in particular Figure 2). Because the first device is fixed to the handlebar 101 and the second device 102 is fixed to the top tube 103, any relative movement of the two devices 1, 2 to each other is also only possible in the form of a rotation about the axis of rotation 15. Given the known geometry of the electric bicycle 100 and its components, the instantaneous steering angle 25 can therefore always be directly calculated using the determined distance 20 between the two devices 1, 2.
[0063] The steering angle 25 can preferably be considered an angle between a transverse axis 116 and a longitudinal axis 115 of the electric bicycle 100. The longitudinal axis 115 extends, in particular, along the bicycle frame 102 and, when the electric bicycle 100 is traveling straight ahead, is parallel to a direction of travel A of the electric bicycle 100. The transverse direction 116 is orthogonal to the longitudinal direction 115 (see Figures 3 to 5).
[0064] With a suitable arrangement of the devices 1, 2 on the electric bicycle 100, particularly if the first device 1 is arranged off-center on the handlebars 101, the instantaneous steering angle 25 can be determined in a particularly simple manner based on the measured distance 20 between the two devices 1, 2. In the illustrated first embodiment, the first device is arranged on the left side of the handlebars 101 with respect to the direction of travel. Figure 3 shows the electric bicycle 100 with the handlebars 101 in a straight position. That is, the handlebars 101 are parallel to the transverse axis 116.
[0065] If a greater distance 20 is measured between the first and second device 1, 2 compared to the straight position, this corresponds to a steering angle 25, which characterizes a steering input to the right (see Figure 3). R.414084
[0066] - 10 -
[0067] If a smaller distance 20 is determined between the first device and the second device 1 , 2 compared to the straight position, this accordingly means a steering angle 25 that characterizes a steering angle to the left (see Figure 5).
[0068] The calculation of the exact instantaneous value of the steering angle 5 can be carried out by the control unit 3, preferably based on geometric parameters of the electric bicycle 100 with the arrangement 10 stored in a table.
[0069] The values stored in the table can, for example, be manually determined and defined during the assembly of arrangement 10.
[0070] Alternatively, the values in the table can preferably be determined based on automatic system training. For example, the arrangement 10 can be calibrated by manually setting the handlebar 101 to predetermined steering angles 25 using a suitable calibration procedure, at which the corresponding properties of the wireless connection 4 can be stored.
[0071] The electric bicycle 100 may preferably include additional sensors 9, which, in the illustrated first embodiment, may be integrated, for example, into the drive unit 110, by means of which a plausibility check of the determined steering angle can be made possible. The sensors 9 may preferably detect the speed and / or acceleration and / or rotation rate of the electric bicycle 100. Based on the detected values, sensor data fusion can preferably be performed, by means of which the plausibility of the steering angle 25 determined by means of the arrangement 10 can be verified.
[0072] Arrangement 10 thus offers the advantage that the instantaneous steering angle 25 of the electric bicycle 100 can be determined using a particularly simple and cost-effective design. In particular, sensors and cables can be omitted. This reduces the mechanical complexity of the electric bicycle 100. R.414084
[0073] - 11 -
[0074] Figure 6 shows a simplified schematic view of an electric bicycle 100 with an arrangement 10 according to a second embodiment of the invention. The second embodiment corresponds essentially to the first embodiment of Figures 1 to 5, with the difference being an alternative arrangement of the devices. In the second embodiment, the first
[0075] Device 1 is arranged on a seat post 104 of the electric bicycle 100.
[0076] The seat post 104 is displaceable relative to the bicycle frame 102 along a longitudinal direction 16. That is, the degree of freedom of the relative movement between the first device 1 and the second device 2 lies in the second.
[0077] Exemplary embodiment of a translational movement of the first device 1 along the longitudinal direction 102.
[0078] By determining the relative arrangement of first device 1 and second device 2 to each other, in the second embodiment, for example, an instantaneous height of the seat post 104 can be determined.
Claims
R.414084 - 12 - Claims 1. Arrangement, in particular for a vehicle (100) that can be operated by muscle power and / or motor power, comprising: - a first device (1), - a second device (2), and - a control unit (3), - wherein the first device (1) and the second device (2) can be attached to the vehicle (100) so as to be movable relative to each other, - wherein the first device (1) and the second device (2) are set up to communicate with each other via a wireless connection (4), and - wherein the control unit (3) is configured to determine a relative arrangement of the first device (1) and the second device (2) to each other based on the wireless connection (4).
2. Arrangement according to claim 1, wherein the first device (1) and the second device (2) are movable relative to each other by exactly one degree of freedom and can be attached to the vehicle (100), in particular wherein the exactly one degree of freedom comprises a rotation about exactly one axis of rotation (15).
3. Arrangement according to one of the preceding claims, wherein the control unit (3) is configured to determine a distance (20) between the first device (1) and the second device (2) and / or a relative orientation of the first device (1) and the second device (2) based on the wireless connection (4).
4. Arrangement according to one of the preceding claims, wherein the wireless connection (4) is a Bluetooth connection, in particular a Bluetooth Low Energy connection.
5. Arrangement according to claim 4, wherein the control unit (3) is configured to control the relative arrangement of the first device (1) and the second device (2) R.414084 - 13 - to determine each other based on a channel sounding function of the Bluetooth connection.
6. Arrangement according to one of claims 4 or 5, wherein the control unit (3) is configured to determine the relative arrangement of first device (1) and second device (2) to each other based on an angle of incidence function and / or an angle of emission function of the Bluetooth connection.
7. Arrangement according to one of the preceding claims, wherein the control unit (3) is integrated into the first device (1) or into the second device (2).
8. Arrangement according to one of the preceding claims, wherein the control unit (3) is configured to control the first device (1) and / or the second device (2) and / or the vehicle (100) based on the determined relative arrangement of first device (1) and second device (2).
9. Vehicle operable by muscle power and / or motor power, comprising an arrangement (10) according to one of the preceding claims, wherein the first device (1) is associated with a first bicycle component and the second device (2) is associated with a second bicycle component, wherein the first bicycle component is movably arranged relative to the second bicycle component.
10. Vehicle propelled by muscle power and / or motor power, wherein the vehicle (100) is a bicycle, in particular an electric bicycle, and comprises a handlebar (101) and a bicycle frame (102), wherein the first device (1) is attached to the handlebar (101), and wherein the second device (2) is attached to the bicycle frame (102), in particular to a top tube (103).
11. Vehicle propelled by muscle power and / or motor power according to claim 10, wherein the first device (1) is attached off-center to the handlebar (101). R.414084 - 14 - 12. A vehicle propelled by muscle power and / or motor power according to one of claims 10 to 11, wherein the control unit (3) is configured to determine a steering angle (25) based on the determined relative arrangement of first device (1) and second device (2).
13. Vehicle propelled by muscle power and / or motor power according to claim 12, wherein the control unit (3) is further equipped to validate the determined steering angle based on a speed and / or acceleration and / or rotation rate detected by means of a sensor (9).
14. A vehicle propelled by muscle power and / or motor power according to any one of claims 9 to 13, wherein the first device (1) and / or the second device (2) comprises an input and / or output unit (11).
15. Method for determining a relative arrangement of a first device (1) and a second device (2) to each other, wherein the method is carried out by means of an arrangement according to one of claims 1 to 8 or a vehicle (100) according to one of claims 9 to 14.