GB2546186A - Device and method for generating a gradient value - Google Patents

Device and method for generating a gradient value Download PDF

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Publication number
GB2546186A
GB2546186A GB1703066.9A GB201703066A GB2546186A GB 2546186 A GB2546186 A GB 2546186A GB 201703066 A GB201703066 A GB 201703066A GB 2546186 A GB2546186 A GB 2546186A
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GB
United Kingdom
Prior art keywords
gradient
function
value
bicycle
gradient value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB1703066.9A
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GB201703066D0 (en
Inventor
Dasbach Gregor
Baumgaertner Daniel
Jordan Jan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of GB201703066D0 publication Critical patent/GB201703066D0/en
Publication of GB2546186A publication Critical patent/GB2546186A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K2025/044—Suspensions with automatic adjustment

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Axle Suspensions And Sidecars For Cycles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Vehicle Body Suspensions (AREA)
  • Measuring Fluid Pressure (AREA)

Abstract

The invention relates to a method for generating a gradient value, comprising the following steps: At least two pressure variables are detected by means of a pressure sensor (DS) and at least one acceleration variable is detected by means of an acceleration sensor (BS) and a first gradient value is generated in accordance with the at least two pressure variables and a second gradient value is generated in accordance with the at least one acceleration variable. The method also comprises the additional step of outputting the first or second gradient value in accordance with the amount of the quotients of both gradient values.

Description

Description
Title
Device and method for generating a gradient value Field of the invention
The present invention relates to a method and a device for generating a gradient value.
Prior art
Methods for determining gradient values, for example for gradient values relating to the gradient of a plane beneath a bicycle, are known from the prior art. In addition, devices for processing measured signals are known, wherein the gradient of a plane beneath a bicycle can be concluded from an evaluation of the measured signals generated on a bicycle .
Thus, for example, DE 40 11 560 A1 deals with a device which records and displays the differences in altitude travelled by a vehicle and the inclination of the vehicle by a combination of an electronic kilometre meter with a pendulum.
Disclosure of the invention
The invention relates to a method and a device for generating a gradient value. At least two pressure variables and at least one acceleration variable are thereby recorded independently of one another. A first gradient value is then generated as a function of the at least two pressure variables and a second gradient value is generated as a function of the at least one acceleration variable. The gradient value can be taken as the base value for further data processing. The device has a processing unit for performing the method, wherein the processing unit produces a gradient variable as a signal that represents the first or second gradient value, as a function of the sum of the quotient of the two gradient values. The at least two pressure variables can be recorded by means of a barometric sensor. The at least one acceleration variable can be recorded by means of an acceleration sensor, preferably by means of an MEMS sensor.
The invention further relates to a bicycle, in particular an electric bicycle. The bicycle thereby contains a device suitable for generating a gradient value. The device is preferably suitable for performing the method according to the invention. In particular, the device is the device according to the invention. The bicycle further contains a system having a device according to the invention, wherein the system has an adjustment device and wherein the adjustment device changes at least one spring parameter of a mechanical spring suspension of the bicycle as a function of the calculated degree of hardness value.
The core of the invention is that the first or second gradient value is produced as a function of the sum of the quotient of the two gradient values. Particularly where the quotient is greater than 1, the first gradient value is thereby produced as an output value, and where the quotient is less than 1, the second gradient value is produced as the output value. Alternatively, the first or second gradient value can be produced as a function of the difference between the two gradient values. Alternatively, the first or second gradient value can further be produced as a function of the first and second gradient value and of a plurality of vehicle parameters. The vehicle parameters can be a speed of the bicycle and/or a composition of the road. Alternatively, the first or second gradient value can be produced as a function of a weighting function. In addition to the gradient values, the weighting function takes into consideration other variables such as the speed of the bicycle or information on the mechanical spring suspension.
The background of the invention is that a gradient value can be determined by means of an acceleration sensor independently of the speed and also when the bicycle is stationary, because the inclination of the bicycle is measured against the direction of gravitational acceleration. The background of this possibility of measuring the gradient when stationary is that the gravitational acceleration is also continuously measured with the acceleration sensor and the value of the gravitational acceleration is calculated on further examination. A vertical spatial axis can also be established by the acceleration sensor by means of the direction of a vector of the gravitational acceleration. If the position of the acceleration sensor changes, for example due to the sensor turning, combined with a tilting of the spatial axis derived from the gravitational acceleration compared with the direction of the vector of the gravitational acceleration, the tilt angle of the sensor can be determined from the change in the measured acceleration. The gradient value produced can be used to control a motor, wherein the motor can serve to operate an electric bicycle. The greater the gradient, the greater the support of the electric bicycle by the motor becomes. Furthermore, the gradient value produced can be used as part of a sport display in order to, for example, determine the expenditure of energy when the bicycle is ridden. The background of the determination of the expenditure of energy when the bicycle is ridden is that with a higher gradient, the rider of the bicycle must apply a greater force to drive the bicycle. The higher the force that the rider must apply, the higher also is its expenditure of energy.
According to an embodiment of the invention, a signal which represents a degree of hardness value of a mechanical spring suspension of a bicycle component is produced as a function of the quotient of the two gradient values. Alternatively, this signal can also be produced as a function of a difference in the two gradient values. With the mechanical spring suspension, this can be a front axle spring suspension, a rear axle spring suspension or a saddle spring suspension.
According to an embodiment of the invention, at least one spring parameter of the mechanical spring suspension is adjusted as a function of the degree of hardness value calculated from the model. The spring parameter can be the damping of the mechanical spring suspension. An adjusting device in particular is provided to adjust the spring parameter. The adjusting device can thereby be a motor, in particular an electric motor, or a device for changing a physical state of a liquid. For example, a pressure, a temperature or a viscosity of the liquid can be changed to change the physical state. The adjusting device is for example arranged on a front axle spring of the bicycle and/or on a rear axle spring and/or on a saddle spring suspension of the bicycle.
According to a further embodiment of the invention, a pressure sensor is arranged on the handlebars of the bicycle to record the at least two pressure variables.
According to a further embodiment of the invention, an acceleration sensor is arranged in a drive unit of the bicycle and/or in a motor of the bicycle to record the at least one acceleration variable. In particular, the motor is a mid-motor of the electric bicycle.
Further advantageous embodiments of the invention are the subject matter of the dependent claims.
Brief description of the figures The figures show:
Figure 1 the schematic representation of a connection between a gradient variable determined by means of an acceleration sensor and a second gradient variable determined by means of at least two pressure sensors;
Figure 2 the schematic representation of a bicycle according to the invention;
Figure 3 the schematic representation of a device according to the invention;
Figure 4 the schematic representation of a method according to the invention.
Exemplary embodiments of the invention
The invention is explained below with embodiments in which further inventive features can be revealed. Some exemplary embodiments are shown in the figures.
Figure 1 shows schematically a connection between a sensor signal SG which represents a gradient of a plane beneath a bicycle from sensor information, and the actual gradient ST of the plane. 101 shows the course of the gradient variable which has been recorded as a function of an acceleration sensor. 102 shows the course of the gradient variable which has been recorded as a function of at least two pressure sensors. The gradient variables are signals which represent gradient values. The two gradient variables match the actual gradient as far as possible up to a certain gradient value dependent on the type of acceleration sensor. From this gradient value onwards, the gradient variable determined as a function of an acceleration sensor is above the actual gradient. The gradient variable determined as a function of the pressure sensor furthermore corresponds to the actual gradient. The difference between courses 101 and 102 of the gradient variables results primarily from the fact that with a bicycle, especially when travelling uphill, the load distribution shifts towards the rear axle. As a result, during travel, a greater gradient is determined as a function of the acceleration sensor than as a function of the pressure sensor. The background is that by increasing the load on the rear axle, a spring suspension applied on the front axle divides, resulting in the bicycle tilting with regard to its base and with regard to the direction of the gravitational acceleration. As a result, the acceleration sensor measures greater gradients when the load on the rear axle is increased due to travelling uphill. The pressure sensor, on the other hand, only measures the difference in pressure at at least two places which is scarcely affected by the tilting of the bicycle. The gradient measurement by means of the pressure sensor therefore corresponds more to the actual gradient. During normal travel, the two gradient variables can be compared with one another. The differences or quotients of the two gradient variables can be recorded via a look-up table. A major difference in the two determined gradient variables can indicate that either there is a very soft adjustment of the spring suspension of the bicycle because the spring suspension easily diverges, or on the other hand that the bicycle is fully sprung because the tilting of the bicycle is further intensified by too soft a front axle spring suspension and by a rear axle spring suspension.
The information on the too soft mechanical spring suspension can be delivered to the rider or used as information for an automatically adjustable mechanical spring suspension. In the case of an automatically adjustable mechanical spring suspension, the information can be used to adjust the mechanical spring suspension. If the difference between the gradient variables regularly changes, this can mean that different riders use the same bicycle. This information can, for example, be stored and used primarily in maintenance for analyses because the information can help to determine possible wear of the bicycle dependent on the weight of the rider.
In addition, the information on the mechanical spring suspension and analysis of the two gradient variables in different travel situations can be used to generate a gradient value which can be used to display or control the motor. Overall, a function can generally be set up for this:
(1) wherein oc represents the gradient produced, abaro the gradient which is calculated by a barometric pressure sensor, aacc the gradient which is represented by the acceleration sensor, v the vehicle speed, ksprlng the spring stiffness and p other bicycle and road parameters such as the condition of the road. In a preferred case, the function can be :
(2) where A and B are the weight factors which in total give the value 1. C represents a correction term which corrects the value of the acceleration sensor and is determined in accordance with the previously determined look-up table.
If it is established that no differences between determined gradients of the barometric pressure sensor and acceleration sensor occur over the entire gradient range, the spring suspension is probably set at hard or possibly there is none. As a result, the value of the acceleration sensor mainly can be used during the journey as the gradient reference which is used for regulation and display. This gives A = 0 and B = 1 for the weight factors in equation (2). The same weighting is also undertaken when stationary, v = 0 km/h because the value abaro is not available.
In another case in which differences between the acceleration sensor and the barometric pressure sensor over the entire range constantly occur, only the value for the pressure sensor is used because this is largely independent
of variables in the spring fork. This then gives A = 1 and B = 0 for the weight factors in equation (2).
In certain cases, it may be that, depending on the situation, the barometric pressure sensor or the acceleration sensor produces the more reliable signal. If, for example, a cross-country journey is undertaken or if strong acceleration is applied, the acceleration sensor may be affected and the signal from the barometric pressure sensor is more reliable. In other cases, such as preferably on a level road and with a low gradient, the acceleration sensor normally delivers a more reliable signal in comparison to the barometric sensor.
Figure 2 is a schematic representation of the bicycle according to the invention according to a first embodiment. A bicycle is designated F. A pressure sensor is designated DS. A spring fork is designated FG. A motor is designated M. A drive unit is designated AE, wherein an acceleration sensor BS can be arranged in the drive unit AE. A device for generating a gradient value is designated V. The device V contains a processing unit designated VA. The processing unit VA is for example fitted on the handlebars of the bicycle F and is suitable for performing the method according to the invention.
Figure 3 is a schematic representation of a device V for generating a gradient value. The device V has a processing unit VA for performing the method according to the invention. The processing unit VA records sensorially determined signals. The signals can be recorded by means of a sensor BS and a sensor DS and transferred to the processing unit VA. The sensor BS can be an acceleration sensor. The sensor DS can be a pressure sensor. The processing unit VA generates gradient variables as signals, wherein the gradient variables represent gradient values.
The gradient variables can be produced from the processing unit VA and be transferred to a display A and be displayed there as gradient values. A motor control can be placed inside or outside the processing unit VA to generate control signals. The control signals can be transferred to a motor M. The motor M can be used to operate an electric bicycle; in particular, the motor M can be used to operate the electric bicycle during start-up from a stationary state. Other control signals generated can be transferred to an adjusting device E; an adjustment control can be located inside or outside the processing unit VA to generate these other signals. The adjusting device E can be used to adjust a mechanical spring suspension of a bicycle. The gradient values can in addition be transferred to a storage device S and stored there. The gradient values stored in the storage device S can be used for analysis purposes.
Figure 4 is a schematic representation of the method according to the invention. The method is introduced automatically. In recording step 1, at least two pressure variables and at least one acceleration variable are recorded. In the subsequent generation step 2, a gradient value is generated as a function of the at least two pressure variables and another gradient value is generated as a function of the at least one acceleration variable. In the subsequent checking step 3, it is checked which of the two gradient values should be produced. A quotient of the second gradient value to the first gradient value is formed for this purpose. In output step 4, the first or second gradient value is produced or stored as a function of the sum of this quotient. The output is produced preferably on a display device A of a tachometer. The method is terminated in the final step 5. The method can be repeated after the final step 6.

Claims (8)

Claims
1. Method for generating a gradient value with the following steps: recording at least two pressure variables by means of a pressure sensor (DS) and at least one acceleration variable by means of an acceleration sensor (BS) and generating a first gradient value as a function of the at least two pressure variables and a second gradient value as a function of the at least one acceleration variable, characterised by the following step: producing the first or second gradient value as a function of the sum of the quotient of the two gradient values .
2. Method according to claim 1, characterised by the further step: producing a calculated degree of hardness value of a mechanical spring suspension (FG) as a function of the quotient of the two gradient values.
3. Method containing the method steps according to claim 2 for controlling an adjusting device (E), characterised by the step: changing at least one spring parameter of the mechanical spring suspension (FG) as a function of the calculated degree of hardness value.
4. Device (V) for generating a gradient value, having a processing unit (VA) which is suitable in particular for performing a method according to claim 1 to 3, and wherein the processing unit (VA) records at least two sensorially determined pressure variables and at least one sensorially determined acceleration variable and generates a first gradient value as a function of the at least two pressure variables and a second gradient value as a function of the at least one acceleration variable, characterised in that the processing unit (VA) produces a signal which represents the first or second gradient value as a function of the sum of the quotient of the two gradient values .
5. Device (V) according to claim 4, characterised in that the processing unit (VA) produces a signal which represents a degree of hardness value of a mechanical spring suspension (FG), as a function of the sum of the quotient of the two gradient values.
6. System containing a device according to claim 4 or 5, characterised in that the system has an adjusting device (E) and wherein the adjusting device (E) changes at least one spring parameter of the mechanical spring suspension (FG) as a function of the calculated degree of hardness value.
7. Bicycle (F), preferably electric bicycle, containing a device (V) according to one of claims 4 to 5.
8. Bicycle (F) according to claim 7, having a system according to claim 6.
GB1703066.9A 2014-07-30 2015-05-12 Device and method for generating a gradient value Withdrawn GB2546186A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014214965.7A DE102014214965B4 (en) 2014-07-30 2014-07-30 Device and method for generating a slope value
PCT/EP2015/060504 WO2016015890A1 (en) 2014-07-30 2015-05-12 Device and method for generating a gradient value

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Publication Number Publication Date
GB201703066D0 GB201703066D0 (en) 2017-04-12
GB2546186A true GB2546186A (en) 2017-07-12

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GB1703066.9A Withdrawn GB2546186A (en) 2014-07-30 2015-05-12 Device and method for generating a gradient value

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JP (1) JP6355822B2 (en)
CN (1) CN106660606B (en)
AU (1) AU2015295832B2 (en)
DE (1) DE102014214965B4 (en)
GB (1) GB2546186A (en)
WO (1) WO2016015890A1 (en)

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DE102017128843A1 (en) * 2017-12-05 2019-06-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for controlling a system of a motor vehicle
CN113008266B (en) * 2021-02-07 2022-03-15 武汉齐物科技有限公司 Riding gradient identification and calculation method

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EP1241087A1 (en) * 2001-03-13 2002-09-18 Shimano Inc. Bicycle suspension
EP2085657A1 (en) * 2008-02-01 2009-08-05 Fiat Group Automobiles S.p.A. Method and apparatus for controlling pickup on uphill for a motor-vehicle provided with an automatic or robotized gearbox
JP2012032277A (en) * 2010-07-30 2012-02-16 Sanyo Electric Co Ltd Slope detection device, slope detection method and current position display device

Also Published As

Publication number Publication date
DE102014214965A1 (en) 2016-02-04
AU2015295832B2 (en) 2017-09-07
CN106660606A (en) 2017-05-10
GB201703066D0 (en) 2017-04-12
JP6355822B2 (en) 2018-07-11
JP2017524940A (en) 2017-08-31
WO2016015890A1 (en) 2016-02-04
CN106660606B (en) 2019-03-29
DE102014214965B4 (en) 2017-02-02
AU2015295832A1 (en) 2016-11-24

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