Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
  • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
  • B62M6/40—Rider propelled cycles with auxiliary electric motor
  • B62M6/45—Control or actuating devices therefor
  • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof

Definitions

• the present invention relates to the field of hybrid bicycles, and in particular a system for controlling the engine of such a hybrid bicycle.
• a hybrid bicycle is a pedal bicycle further provided with an auxiliary motor, typically an electric motor, which can be operated by the user or automatically to assist and assist the user. user when pedaling.
• an auxiliary motor typically an electric motor
• the provision of such pedaling assistance results in greater comfort in use, including for people with more limited physical capacities, but also in the possibility of traveling more easily and more comfortably on a physical level, much longer distances, on routes with an accentuated topography if necessary, such as in the mountains.
• a hybrid bicycle in addition to the electric motor, typically comprises an electronic control unit connected to the electric motor, also known under the name data processing unit.
• a control unit serves as an interface for the user of the bicycle to configure the desired level of pedaling assistance. It is most often in the form of a control interface mounted on the handlebars of the bicycle.
• the user can manually define the level of assistance desired by the motor, in the form of a percentage of pedaling assistance from which he wishes to benefit, according to a predefined graduation.
• Hybrid bicycles as known today have the disadvantage of only being controlled according to predefined settings, necessarily stopped, by the manufacturer or the user. However, depending on the route taken by the latter, the level of pedaling assistance may need to be modified, as well as certain other parameters likely to contribute to the comfort of use during the pedaling and / or movement phases.
• the present invention aims to design and provide a system for controlling a hybrid bicycle capable of at least partially overcoming the drawbacks indicated above with reference to the known prior art.
• the invention relates to a control system for a hybrid bicycle comprising at least one rechargeable battery and an electric motor, said system comprising at least one data processing unit.
• the system further comprises a volatile memory and at least one sensor connected to said volatile memory connected via said data processing unit 106 for measuring and storing in real time instantaneous topographic variations of the displacement surface of said hybrid bicycle during pedaling, said processing unit being configured to automatically control said motor on the basis of an analysis at time interval less than or equal to one millisecond of each variation a of topography to deliver an instantaneous control signal of said motor, said instantaneous control signal being:
• an adaptive and progressive braking control signal creating a magnetic resistance intended to slow down or stop said hybrid bicycle, when said topographical variation is representative of a descent relative to the direction of movement.
• said processing unit also takes account of at least one item of information representative of the weight of the cyclist using said bicycle to adapt said instantaneous control signal.
• assistance takes into account two essential characteristics for comfort and safety, namely the slope and the weight of the user. If the bicycle is on a climb, the assistance is increased. If the bicycle is on a descent, assistance is reduced, and the engine can act by ensuring "engine” braking (also allowing the battery to be recharged). For this assistance to be effective and comfortable, the adaptation of the assistance is immediate or almost immediate, and updated if necessary 1000 times per second or more.
• assistance takes into account an essential aspect, namely the weight of the cyclist, or user. Indeed, the weight of the cyclist can vary over a range of the order of 20 to 120 kg, while the weight of the bicycle is of the order of 20 to 25 kg. The weight of the cyclist is therefore an essential element in determining the behavior of the bicycle and the assistance required, both uphill and downhill.
• said instantaneous control signal can be in the form of an electric current intensity value.
• Braking is thus optimized: assistance can make action on the levers more efficient and adapt the braking power to obtain the desired braking.
• the electric current value of said instantaneous braking control signal can be included in a range of amperage values from 5 to 50 amperes.
• the instantaneous brake control signal can take account of at least one previous value of electric current corresponding to at least one other brake control signal already applied to said hybrid bicycle at least one previous time interval, so as to generate a signal
• said instantaneous braking control signal is translated into an electric intensity value of 10A;
• Said power increase control signal can also take account of at least one previous electric current value corresponding to at least one other braking or acceleration control signal already applied to said hybrid bicycle to at least one previous time interval, so as to produce a control signal for increasing the power of said adaptive and progressive motor.
• the processing unit can also take into account at least one physical data item representative of said user calculated and / or previously fixed, to produce said instantaneous control signal, said form data item belonging to the group comprising:
• the nature of the displacement surface can include at least two of the categories belonging to the group comprising the states corresponding to:
• the processing unit can also determine a situation
• SUBSTITUTE SHEET (RULE 26) common bicycle, among at least two of the situations belonging to the group comprising: a normal traffic situation,
• control signal being adapted according to the detected situation.
• the processing unit can, according to at least one embodiment, analyze the measurement signal (s) delivered by the said sensor (s), to determine an estimate of the speed and the slope, as well as an estimate of at least one of the pieces of information belonging to the group including:
• the measurement signals delivered by accelerometers and / or gyroscope can allow, by specific processing such as mathematical transformations (FFT for example), filtering, analysis in different situations (at stop or at start-up for example, for determining the weight), comparisons, correlations ... to determine information representative of these characteristics, which allow the assistance to be adapted.
• FFT mathematical transformations
• filtering analysis in different situations (at stop or at start-up for example, for determining the weight), comparisons, correlations ... to determine information representative of these characteristics, which allow the assistance to be adapted.
• the system according to this aspect of the invention may further comprise a crank pedal and at least one rotary sensor fixed on a crank wheel of said pedal and connected to said processing unit, said sensor being able to generate at least one cadence value pedaling / coaster pedal transmitted to the data processing unit to automatically control said hybrid bicycle by automatically adapting the power of said electric motor from said at least one pedaling / coaster pedaling value.
• the system further comprises at least one rotary sensor fixed on a crank wheel of said crankset and connected to said processing unit, said sensor being able to generate at
• SUBSTITUTE SHEET (RULE 26) at least one pedaling / coaster pedaling value transmitted to said data processing unit for automatically controlling said hybrid bicycle by automatically adapting the power of said electric motor from said at least one pedaling / coaster pedaling value.
• the processing unit can take account of information representative of the weight of the cyclist using said bicycle to adapt the power delivered by said engine.
• the system may be able to generate from said pedaling / coaster pedaling value a power control signal transmitted to said said electric motor, said control signal being in the form of a value of intensity of electric current.
• the control signal can also be proportional to an instantaneous power value generated by said electric motor measured continuously during pedaling / coaster pedaling by said processing unit from said pedaling / coaster pedaling rate information received from said rotary sensor.
• the rotary sensor may include at least two readers fixed to a fixed part of the frame of said hybrid bicycle and at least twelve magnets fixed equidistant from each other on said crank wheel of said crankset, said magnets being capable of generating at least twenty four pulse signals per revolution of said crank wheel, said pulse signals being transmitted continuously during pedaling / coaster pedaling to said processing unit by said at least two readers, said processing unit measuring variations in pedaling cadence / back pedaling from said received pulse signals and continuously producing a plurality of control signals of said hybrid bicycle adapted to said measured pedaling / back pedaling cadence variations.
• said processing unit when said processing unit measures an increase / decrease in pedaling / coaster pedaling frequency, it automatically transmits to said electric motor a signal for controlling the increase / decrease in power proportional to said increase / decrease in pedaling / coaster pedaling rate measured.
• the rotary sensor may be able to detect variations in the coaster rate of said crank wheel, to transmit them continuously to said processing unit to continuously produce a plurality of brake control signals of said adapted hybrid bicycle. to said variations in coaster rate.
• said coaster variations increase / decrease, the more the intensity of the engine braking increases / decreases.
• said brake control signal is translated into an electric intensity value of 10A transmitted to said electric motor
• said brake control signal is translated into an electric intensity value transmitted to said electric motor, according to a Gauss curve.
• the processing unit and at least some of said sensors can be grouped in a removable device of the smart phone or tablet type, implementing a dedicated application.
• the invention also relates to a method for controlling a hybrid bicycle comprising at least one rechargeable battery and an electric motor, said system comprising at least one data processing unit, comprising the following steps:
• said instantaneous control signal can be:
• an adaptive and progressive braking control signal creating a magnetic resistance intended to slow down or stop said hybrid bicycle 101, when said topographic variation is representative of a descent relative to the direction of movement.
• SUBSTITUTE SHEET (RULE 26) touch interface and a microprocessor, characterized in that it implements the method for controlling a hybrid bicycle mentioned above.
• such a control system further comprises at least one rotary sensor fixed to the crank wheel of said crankset and connected to said processing unit, said sensor being able to generate at least one pedaling / coaster pedaling value transmitted to said data processing unit for automatically controlling said hybrid bicycle by automatically adapting the power of said electric motor from said to minus a pedaling / back pedaling cadence value.
• a control system for a hybrid bicycle makes it possible to provide greater comfort of use and to offer a higher level of security to its user.
• the rotary sensor transmits continuously to the processing unit, the cadence of pedaling or coaster pedaling measured at the crank wheel of the crankset also known as the large crankset - mobile part of the crankset connected to the frame and on which the crank arms receiving the pedals are fixed.
• SUBSTITUTE SHEET (RULE 26) for the user, pedaling assistance by transmitting a signal to increase the servo power to the electric motor.
• control system according to the invention, the user of such a hybrid bicycle will experience a completely new experience of use, for the benefit of more comfort, safety and pleasure of use.
• said processing unit is able to generate from said pedaling / coaster pedaling value a power control signal transmitted to said said electric motor, said control signal being in the form of an electric current intensity value.
• Such regenerative braking offers a double technical advantage on the one hand that the electric motor of the bicycle can also serve as a braking system, which can be supplemented by a second braking. It also makes it possible to electrically recharge the battery during the braking phases, by recovering the kinetic energy of braking.
• control system it is also possible in a variant of the control system according to the invention to equip the hybrid bicycle with a set of hydraulic brakes with an electronic switch on the brake levers, such an assembly being capable of generating an additional braking signal once interpreted by the processing unit.
• the processing unit measures six negative pulses (1/4 of a turn behind the cranks during the coaster pedal of the user) transmitted by the two readers of said rotary sensor, then the unit treatment will detect a light brake request and transmit a
• SUBSTITUTE SHEET (RULE 26) value of electric intensity of regeneration to said electric motor of intensity ten amps 10A.
• the parameters can be adjusted to read the pedaling or coaster pedaling cycles every 0.3 seconds.
• said processing unit when said processing unit measures an increase / decrease in pedaling / coaster pedaling frequency, it automatically transmits to said electric motor a control signal for increase / decrease in power proportional to said increase / decrease in pedaling frequency. / measured coaster.
• said rotary sensor is capable of detecting variations in the coaster rate of said crank wheel, in order to transmit them continuously to said processing unit to continuously produce a plurality of brake control signals of said bicycle hybrid adapted to said variations in coaster cadence.
• said processing unit receives from said two readers six negative pulse signals representative of an average coaster pedaling rate, said brake control signal is translated in an electric intensity value of 10A transmitted to said electric motor;
• said processing unit receives from said two readers twelve negative pulse signals representative of a strong rate of coaster pedaling, said brake control signal is translated into an electric intensity value of 20A transmitted to said electric motor;
• said brake control signal is translated into an electric intensity value transmitted to said electric motor, according to a Gauss curve.
• the hybrid bicycle is indeed equipped with at least one rotary sensor on the crank wheel of the crankset (pedal assistance sensor).
• the sensor is equipped with two readers and at least twelve magnets which generate twenty-four pulse signals at each turn of the crank wheel (pedal rotation 360 degrees).
• the braking force is therefore linked to the cadence of the coaster.
• the invention also relates to an electrically assisted bicycle equipped with a control system as described above.
• the invention also relates to a method for controlling a hybrid bicycle comprising at least one crankset crankset, at least one rechargeable battery and an electric motor which can be actuated to assist a user in pedaling, and at least one data processing unit .
• Such a method according to the invention notably comprises the following steps of:
• controlling said hybrid bicycle by automatically adapting the power of said electric motor from said at least one pedaling / back pedaling cadence value measured by said processing unit.
• the invention also relates, in a particularly advantageous manner, to a computer program product intended to be executed on a mobile terminal capable of controlling a hybrid bicycle, said mobile terminal having at least one interface and a microprocessor, said program product computer implementing a method for controlling a hybrid bicycle as described above.
• control system further comprises a volatile memory, the sensor being connected to said volatile memory via said data processing unit for measuring and storing in real time instantaneous topographic variations of the surface. for moving said hybrid bicycle during pedaling, said processing unit being configured to automatically control said hybrid bicycle on the basis of a comparison of said topographic variations measured and stored in said volatile memory, with at least one reference topographic value.
• the term “automatically controlling the hybrid bicycle” means automatically influencing the level of servo / assistance provided by the electric motor to the user during the pedaling phases, or else the automatic braking assistance of said bicycle. .
• Such an invention thus allows the user of the hybrid bicycle to benefit from increased comfort and more safety while riding.
• the system according to the invention makes it possible to automatically and gradually control - therefore with maximum safety for the user - the behavior of the hybrid bicycle, while riding and according to the topography of the route taken.
• the system when the system detects while riding that the hybrid bicycle is on a climb (a> 0) relative to its direction of travel, it will automatically increase the pedaling assistance, in a perfectly adaptive manner, without necessary user action.
• the system according to the invention detects while riding that the hybrid bicycle is on a descent (a ⁇ 0) relative to its direction of movement, it will automatically control progressive and adaptive braking according to the value a of the descent, in a perfectly adaptive way, and always without necessary action of the user.
• said at least one sensor is of the type belonging to the list comprising: a gyroscope;
• gyroscope and / or the accelerometer controlled by an Android operating system (registered trademark) executed on a mobile terminal of smartphone type, said gyroscope and / or accelerometer being on board. inside said smartphone.
• Android operating system registered trademark
• the integrated accelerometer and gyroscope will continuously read the different inclination changes a to automatically detect the rise or fall of the travel surface, to progressively and adaptively control the servo of the motor or automatic and progressive braking of the hybrid bicycle according to the different topographical variations encountered during the journey.
• Said data processing unit can be adapted to translate at a lower regular time interval, for example every one millisecond, each variation in topography stored in said volatile memory into an instantaneous control signal from said hybrid bicycle, said instantaneous control signal in the form of an electric current intensity value transmitted to said electric motor.
• the volatile memory makes it possible to store the topographic variations while driving, then the processing unit to generate different control signals by emulating a change of setting in real time, either of the power of the electric motor to produce an acceleration in climb by increase of power of the electric motor, or to act on the motor brake by signal of rupture and recovery of energy, to control a braking progressive and adaptive in case of detection of a descent while driving.
• the control system updates and calculates the electric charges from each topographic variation data stored in the volatile memory, every milliseconds (1000 times per second).
• the on-board computer for example of the “smartphone” type, is connected to the control controller, that is to say to the data processing unit. It is capable of producing the regeneration parameters in real time necessary for progressive and automatic braking of the hybrid bicycle while riding.
• said hybrid bicycle is equipped with a set of hydraulic brakes with an electronic brake switch connected to at least two brake levers.
• the instantaneous control signal generated is an adaptive and progressive braking control signal transmitted by said processing unit to said electronic switch to create a magnetic resistance intended to slow down or stop said hybrid bicycle, when said topographical variation is representative of a descent from the direction of travel.
• This embodiment is advantageous in that it makes it possible to transform the kinetic energy produced while driving into an electrical signal for controlling a hydraulic braking system much more efficient and more comfortable for the user, while recovering in part. this kinetic energy to reinject it in the form of electrical energy into the battery.
• a hydraulic braking system with electric switch offers the advantage of being able to be directly controlled, in a perfectly adaptive, progressive and automatic manner, by the processing unit of the system.
• the brake control signal can be generated according to a predefined braking value scale as a function of predefined values of variations in topography (positive angle value (a> 0) representative of climbs or negative (a ⁇ 0) representative of descents
• This control signal can also be generated according to a portion of the Gauss curve, or according to any other braking curve associating such braking values with values of topographical variations, for even more progressiveness in the braking commands of the hybrid bicycle. , to the benefit of even more comfort of use for the user.
• the value of electric current of said instantaneous braking command signal is included in a range of amperage values from 5 to 50 amperes.
• the control system is therefore highly configurable.
• the user can configure any motor parameters as desired, for example and without limitation, the maximum speed, the power output, the ratio of pedal assistance and even the amount of regenerative braking.
• Breakage by regeneration of the braking system is similar to the KERS formula (kinetic energy recovery system).
• the processing unit calculates the exact inverse of the use of the accelerator by creating a magnetic resistance generating energy using the kinetic energy of the bicycle at high speed.
• the processing unit can automatically and gradually and adaptively configure the choice of the amount of resistance as a function of a predetermined amount of energy to be recovered to transform it into electrical energy which will be stored in the battery, for the benefit of greater autonomy.
• the lowest setting can be 5 Amps which recover little energy (5A) and provide light braking.
• the Max setting can be set to 50A, which allows you to recover an energy of 50 Amps (10 times more than the AC / DC charger supplied with the bike).
• the friction required to recover 50A is so great that it will provide a very strong break by stopping the bicycle very quickly, while recovering a maximum of kinetic energy transformed into a maximum of electrical energy returning to the battery.
• said instantaneous braking control signal takes account of at least one previous electrical intensity value corresponding to at least one other braking control signal already applied to said hybrid bicycle at at least one interval of previous time, so as to produce an adaptive and progressive brake control signal.
• said instantaneous braking control signal is translated into an electrical intensity value of 10A. If said topographic variation is between 0 and -6 degrees, said instantaneous braking control signal is translated into an electrical intensity value of 20A. If said topographic variation a is between -6 and -12 degrees, said instantaneous braking control signal is translated into an electrical intensity value of 30A.
• the interface for example of the Android type, can allow the user to choose either a set of factory parameters or to personalize his angle values and his adaptive braking values according to his preferences for use of the hybrid bicycle equipped with such a control system, for example its weight and the conditions of environment and use.
• said instantaneous control signal is a control signal for increasing the adaptive and progressive power of said motor of said bicycle, said signal being transmitted by said processing unit to said motor to increase the assistance to the user during pedaling.
• the processing unit when it detects a rise during movement, it generates an electric motor control signal, so as to automatically and gradually increase the pedaling assistance, so that the user will not have to pedal harder uphill.
• Said motor power increase control signal can take account of at least one previous electric current value corresponding to at least one other braking or acceleration control signal already applied to said hybrid bicycle at at least one interval. time, so as to produce an adaptive and progressive acceleration control signal.
• the processing unit can automatically detect an accentuation of the value a of an initially small slope to gradually increase the control signal sent to the electric motor and thus automatically and gradually increase the pedaling assistance, to greater comfort for the user who has absolutely no action to perform.
• said processing unit takes into account at least one datum of physical form proper to said user calculated and / or previously fixed, to produce said instantaneous control signal, said datum of form belonging to the group comprising in a nonlimiting manner:
• said processing unit takes into account at least one physical datum representative of said rolling surface of said hybrid bicycle, said physical datum belonging to the group comprising:
• the pedaling assistance can be increased if the hybrid bicycle is riding on sand or gravel, or else suitable braking in the event of a wet road to avoid, for example, too sudden braking likely to cause the bicycle to slip while rolling and drop the user.
• This embodiment is therefore particularly advantageous since it further increases the level of security of the user of the hybrid bicycle according to the invention, while further improving the experience of use.
• the invention also relates to a hybrid bicycle comprising at least one rechargeable battery and an electric motor which can be actuated to assist a user in pedaling, such a bicycle comprising a control system (100) according to the invention, as described above. .
• the invention also relates to a method for controlling a hybrid bicycle comprising at least one rechargeable battery and an electric motor which can be actuated to help a user to pedal and at least one data processing unit.
• Such a method notably comprises the following steps of:
• SUBSTITUTE SHEET (RULE 26) temporary storage in a volatile memory of said topographical variations a in a volatile memory connected to said data processing unit;
• the invention also relates to a computer program product intended to be executed on a terminal capable of controlling a hybrid bicycle, said mobile terminal having at least one interface and a microprocessor.
• a computer program product implements a method for controlling a hybrid bicycle as described above.
• FIG. 1 represents a complete control system for a hybrid bicycle according to an embodiment of the present invention
• FIG. 2 shows, by means of a block diagram, the operation of a hybrid bicycle according to an embodiment of the invention, during the pedaling phases;
• FIG. 3 represents, shows, by means of a block diagram, the operation of a hybrid bicycle according to an embodiment of the invention, during the coaster phases;
• FIG. 4 shows, by means of a block diagram, the operation of a hybrid bicycle according to one embodiment, during a movement on a climb;
• FIG. 5 represents, shows, by means of a block diagram, the operation of a hybrid bicycle according to one embodiment, during a movement on a descent;
• FIG. 6 represents a synthetic view of the break switch brake system making it possible to recharge the battery of a hybrid bicycle according to the invention.
• FIG. 7 shows in a simplified manner the treatments implemented according to the invention.
• the objective of the invention is to propose an adaptive and progressive control system for the behavior of a hybrid bicycle, which is automatic, without obligation for the user to interact while riding with a control interface, so as to propose a new user experience focusing on efficiency; the quality, comfort and / or safety of use for the user.
• the control system can take into account a plurality of factors, and in particular the slope of the surface on which the bicycle circulates, the cyclist's pedaling rate, the weight of the latter and / or the situation in which he is placed the hybrid bicycle.
• a system 100 for controlling a hybrid bicycle 101 makes it possible to provide greater comfort of use and to offer a higher level of security to its user.
• control system 100 Conversely, the more the control system 100 detects an increase in the user's pedaling rate 108, the more the control system 100 will automatically and gradually increase for the user the pedaling assistance by transmitting a signal. 110 to increase the servo power to the electric motor 105.
• the higher the coaster rate 109 measured by the processing unit 106 will be high from the data received from the sensor 1071; 1072 rotary, plus the command signal 111 transmitted to the electric motor 105 will be translated into an electrical signal 111 for regenerative braking control.
• Such regenerative braking offers a double technical advantage on the one hand that the electric motor 105 of the bicycle 101 can also serve as a braking system, which can be supplemented by a second braking. It also makes it possible to electrically recharge the battery 104 during the braking phases, by recovering the kinetic braking energy.
• control signal 110 or 111 is proportional to an instantaneous power value generated by said electric motor 105 measured continuously during pedaling 108 / coaster 99 by said processing unit 106.
• the processing unit 106 measures twelve negative pulses (1/2 of a turn behind the crank arms 103 of the bottom bracket 102, 103 during the coaster 109 of the user) transmitted by the two readers 1072 of said sensor 1071; 1072 rotary, then the processing unit 106 will detect a more pronounced braking request and will transmit a value of electrical regeneration intensity to said electric motor 105 of intensity 20 amps 20A.
• said processing unit 106 when said processing unit 106 measures an increase / decrease in pedaling frequency 108 / coaster pedal 109, it automatically transmits to said electric motor 105 a signal 110, 111 for controlling the increase / decrease in power proportional to said increase / decrease in pedaling frequency 108 / coaster 109 measured.
• said rotary sensor 1071, 1072 is capable of detecting variations in the rate of coaster 109 of said wheel 102 with cranks 103, to transmit them continuously to said processing unit 106 to continuously produce a plurality of signals 111 for braking control of said hybrid bicycle 101 adapted to said variations in coaster rate 109.
• the user can change all the engine parameters at maximum speed , power output, pedal assistance ratio and even the amount of regenerative braking.
• said brake control signal 111 is translated into an electric intensity value of 20A transmitted to said motor 105 electric;
• said processing unit 106 receives from said two readers 1072 twelve negative pulse signals representative of an intermediate coaster pedaling rate 109, said brake control signal 111 is translated into an electric intensity value transmitted to said electric motor 111, according to a Gaussian curve.
• the hybrid bicycle 101 is in fact equipped with at least one sensor 107; 1071; 1072 rotatable on the crank wheel 102 of the crankset 102, 103 (pedal assistance sensor).
• the sensor 1071; 1072 is equipped with two readers 1072 and at least twelve magnets 1071 making it possible to generate, at each revolution of the wheel 102 with cranks 103, twenty-four pulse signals (pedal rotation 360 degrees).
• SUBSTITUTE SHEET (RULE 26) These pulse signals are used to calculate the pedaling cadence 108 in order to give the proportional power output to the motor 105: slow pedaling 108 / coaster pedaling 109 will result in a low power for pedaling / braking assistance. A rapid pedaling 108 / coaster pedaling 109 will result in greater power for pedaling or braking assistance by the electric motor 105.
• the motor 105 will provide braking by recharging the battery 104.
• the coaster phases 109 of the user the braking force is therefore linked to the cadence of coaster.
• the invention also relates to an electrically assisted bicycle 101 equipped with a control system 100 as described above.
• the invention also relates to a method for controlling a hybrid bicycle 101 comprising at least one crankset 102, 103 with cranks 103, at least one rechargeable battery 104 and an electric motor 105 which can be actuated to assist a user in pedaling, and at at least one data processing unit 106.
• the invention also relates, in a particularly advantageous manner, to a computer program product intended to be executed on a mobile terminal 113 capable of controlling a hybrid bicycle 101, said mobile terminal 113 having at least a touch interface and a microprocessor , said computer program product implementing a method for controlling a hybrid bicycle 101 as described above.
• Android operating system registered trademark
• the integrated accelerometer and the gyroscope will continuously read the different changes in inclination a to automatically detect the ascent 201 or descent 202 of the displacement surface, to control 203; 204 progressively and adaptively the servo 203 of the motor 105 or the automatic and progressive braking 204 of the hybrid bicycle 101 as a function of the different topographical variations encountered during movement 205; 206.
• said data processing unit 106 is adapted to translate at a lower regular time interval, for example every one millisecond, each variation with topography stored in said volatile memory into a control signal 203; 204 snapshot of said hybrid bicycle 101, said signal 203; 204 of instantaneous control in the form of an electric current intensity value transmitted to said electric motor.
• the on-board Android computer of Smartphone type is connected to the command controller, that is to say to the data processing unit 106. It is capable of producing the regeneration parameters in real time necessary for progressive and automatic braking 204; 403 of the hybrid bicycle 101 while riding.
• the braking control signal 203 can be generated according to a predefined braking value scale as a function of predefined values of variations in topography (positive angle value (a> 0) representative of ascents 201 or negative (a ⁇ 0) representative of descents 202 relative to the direction of movement 205; 206).
• the value of electric current of said signal 203; 403 for instantaneous braking control is included in a range of amperage values from 5 to 50 amperes.
• control system 100 is thus fully configurable.
• Breakage by regeneration 403 of the braking system is similar to the KERS formula (kinetic energy recovery system).
• the processing unit 106 calculates the exact inverse of the use of the accelerator by creating a magnetic resistor 204; 403 generating energy using the kinetic energy of bicycle 101 at high speed.
• the processing unit 106 can automatically and gradually and adaptively configure the choice of the amount of resistance 204; 403 as a function of a predetermined amount of energy to be recovered 404 to transform it into electrical energy which will be stored in the battery 104, for the benefit of greater autonomy.
• the lowest setting is 5 amps which recover little energy (5A) and provide light braking.
• the Max setting is set to 50A, which allows energy recovery of 50 amps (10 times more than the AC / DC charger supplied with the bike).
• the friction required to recover 50A is so great that it will provide a very strong break by stopping the bicycle 101 very quickly, while recovering a maximum of kinetic energy transformed into a maximum of electrical energy returning to the battery.
• the signal 204; 403 for instantaneous braking control takes account of at least one previous electrical intensity value corresponding to at least one other braking control signal already applied to said hybrid bicycle 101 at at least one previous time interval, so as to produce an adaptive brake control signal
• said control signal 204; 403 instantaneous braking is translated into an electrical intensity value of 10A. If said topographic variation is between 0 and -6 degrees, said control signal 204; 403 instant braking is translated into an electric current value of 20A. If said topographic variation a is between -6 and -12 degrees, said instantaneous braking command signal 204; 403 is translated into an electrical intensity value of 30A.
• said signal 203; 403 for instantaneous control is a control signal for increasing the adaptive and progressive power of said motor 105 of said bicycle 101, said signal being transmitted by said processing unit 106 to said electronic motor 105 to increase the assistance provided to the user while pedaling.
• the processing unit 106 detects a rise 201 during movement 205, it generates a signal 203; 403 electric motor control 105, so as to automatically and gradually increase the pedaling assistance, so that the user will not have to pedal harder uphill.
• the signal 203; 403 for controlling the increase in engine power 105 takes account of at least one previous electric current value corresponding to at least one other brake or acceleration control signal already applied to said hybrid bicycle 101 at at least one interval previous time, so as to produce a signal 203 of adaptive and progressive acceleration control.
• the processing unit 106 can automatically detect an accentuation of the value a of an initially low slope 201 in order to gradually increase the signal 203; 403 command sent to the electric motor 105 and thus automatically and gradually increase the pedaling assistance, for greater comfort for the user who has absolutely no action to perform.
• said processing unit 106 takes into account at least one datum of physical form proper to said user calculated and / or previously fixed, to produce said instantaneous control signal, said datum of form belonging to the group comprising in a nonlimiting manner:
• said processing unit 106 takes into account at least one physical datum representative of said surface 201; 202
• the invention also relates in a particularly advantageous manner to a method for controlling a hybrid bicycle 101 comprising at least one rechargeable battery 104 and an electric motor 105 which can be actuated to assist a user in pedaling and at least one unit 106 for processing data.
• the invention could also be applied to a control system of a hybrid vehicle type automobile comprising at least one rechargeable battery and an electric motor, said system comprising at least one data processing unit.
• said at least one sensor is of the type belonging to the list comprising:
• it can be adapted to detect and measure in real time any topographic variations a of the displacement surface of said vehicle during the displacement of said hybrid vehicle.
• the processing unit can determine a current situation among at least two distinct types of situation, namely in particular a normal traffic situation and an emergency situation, corresponding to a variation greater than a predetermined threshold within a predetermined period of time of said current speed information and / or of said direction change information.
• an emergency situation corresponding to a variation in speed, acceleration, direction, slope and / or inclination greater than predetermined thresholds.
• the control signal is adapted according to the detected situation so that the assistance provided is also adapted to the situation, for example braking or acceleration.
• the processing unit 106 determines the current situation of the hybrid bicycle 101, the processing unit 106 'takes into account, in this embodiment, at least one physical datum representative of the surface 201; 202 of the 101 hybrid bicycle.
• This physical datum can be, in this embodiment, one of:
• the nature of the displacement surface is a physical datum of the displacement surface which comprises at least two of the categories belonging to the group comprising the states corresponding to:
• the dry or wet nature comprises, in this embodiment, at least two of the categories belonging to the group comprising the states corresponding to:
• the processing unit 106 ′ also takes into account at least one physical datum representative of the current situation of said bicycle, said physical datum belonging to the group comprising:
• this may for example include the possibility of having information if the cyclist is seated in his saddle, as a dancer, or even in a profiled position for gaining speed. Indeed, depending on the position, the weight distribution on the wheels varies, the risk of falling are different, the expectations of the cyclist are different (he needs higher assistance if he is a dancer).
• the processing unit 106 ′ analyzes the measurement signal (s) delivered by the said sensor (s), to determine an estimate of the speed and of the slope, as well as an estimate of at least one of the information belonging to the group including:
• the processing unit 106 ′ can also receive, in addition to the data coming from the sensors already mentioned in the other embodiments, data coming from the user.
• the system comprises means for entering information, in the form of buttons and / or a touch screen, conventionally available on a smart phone.
• this allows the user to be able to provide at least information relating to the cyclist and / or the conditions of use of the bicycle.
• pedaling and braking assistance is determined by said processing unit at least 1000 times per second, so as to provide immediate or almost immediate decisions.
• the pedaling and braking assistance are determined at least every millisecond by the processing unit 106 '.
• control of the hybrid bicycle 101 according to this aspect can take place according to the control method comprising the following steps:
• command 203; 204 of the motor 105 on the basis of an analysis at a time interval less than or equal to a millisecond of each variation a of topography to deliver a signal 203; 204 for instantaneous control of said motor, taking account of said information representative of the weight of the cyclist.
• the instantaneous control signal can for example be:
• an adaptive and progressive braking control signal 403 creating a magnetic resistance 204, 403 intended to slow down or stop the hybrid bicycle 101, when the variation in topography is representative of a descent 202 relative to the direction of movement 206.
• processing unit 106 ′ can be, according to one embodiment, grouped in a removable device of the smart phone or tablet type, implementing a dedicated application.
• the invention in its various aspects makes it possible to improve the comfort and safety of the cyclist, and the efficiency of assistance, braking and / or recharging of the battery.
• sensors of the accelerometer and gyroscope type present in a smart phone or similar device can be used, to determine the speed and the acceleration, as well as the slope, and more generally, according to the signal processing, the direction, the orientation of the handlebars, the inclination, the weight, the position of the cyclist, the surface condition ...
• Other sensors can be provided, communicating for example in Bluetooth, for the cadence of pedaling, the load of the battery, the weight of the cyclist ...
• FIG. 7 schematically illustrates an example of implementation of the invention, in the form of a block diagram illustrating the different operations implemented.
• a data processing unit 71 is used to perform various calculations. It is for example the micro-processor of a smart phone, operating for example under Android. A dedicated application is embedded in the smartphone, to perform these operations, as well as others described below.
• Sensors 72 in particular one or more accelerometers 721, for example piezoelectric, capable of detecting accelerations in one or more directions, and a gyroscope 722.
• accelerometers 721 for example piezoelectric
• gyroscope 722 capable of detecting accelerations in one or more directions
• a processing 73 is carried out, to determine useful information. Some of these treatments may be available directly in the device (speed, slope, incline, etc.). Others may require specific treatment, provided for in the application. For example :
• the cyclist's weight can be estimated at the time of starting, by moving the handlebars down, which varies depending on the force applied to the handlebars (it is not necessary to have precise information, but for example weight category);
• the condition of the surface can be determined by taking note of the movements of the moving handlebars (to detect for example the presence of holes and bumps), the amplitude of these movements (which can indicate whether they are large holes or small movements, which may correspond to gravel), the frequency of these displacements, for example by applying an FFT on the signal detected: a high frequency may be representative of a gravel road;
• SUBSTITUTE SHEET (RULE 26) can be supported by the signal processing module 73.
• Other information can be provided by the user, via the HMI interface of the smartphone, in particular its touch screen 76, such as data relating to the cyclist (weight, physical condition, etc.) or to the context (meteorology , condition of the roadway ).
• the data processing module 71 performs the calculations enabling it to deliver the useful assistance and braking commands to the electric motor 77 This is powered by a battery 78, which it recharges if necessary in the event of braking.
• the calculations carried out by the data processing module include in particular comparisons with predetermined thresholds and with previously recorded states (the commands depend of course on the current state and preferably on a series of previous states, to smooth and optimize assistance comfort), correlations, statistical analyzes, modulations according to secondary criteria ...
• the processing comprises two successive stages:
• a step 711 of determining a situation normal situation, emergency situation, pre-emergency situation, change of direction situation, slip situation ...
• Informative data can also be transmitted to the screen 79 of the smartphone.

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• Engineering & Computer Science (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Electric Propulsion And Braking For Vehicles (AREA)

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• 2019
  • 2019-07-05 WO PCT/EP2019/068090 patent/WO2020008027A1/fr unknown
  • 2019-07-05 EP EP19735570.4A patent/EP3817972A1/de not_active Withdrawn

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