WO2016015890A1 - Dispositif et procédé de génération d'une valeur de pente - Google Patents

Dispositif et procédé de génération d'une valeur de pente Download PDF

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Publication number
WO2016015890A1
WO2016015890A1 PCT/EP2015/060504 EP2015060504W WO2016015890A1 WO 2016015890 A1 WO2016015890 A1 WO 2016015890A1 EP 2015060504 W EP2015060504 W EP 2015060504W WO 2016015890 A1 WO2016015890 A1 WO 2016015890A1
Authority
WO
WIPO (PCT)
Prior art keywords
slope
value
bicycle
function
acceleration
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.)
Ceased
Application number
PCT/EP2015/060504
Other languages
German (de)
English (en)
Inventor
Gregor Dasbach
Daniel Baumgaertner
Jan Jordan
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
Priority to JP2017505172A priority Critical patent/JP6355822B2/ja
Priority to AU2015295832A priority patent/AU2015295832B2/en
Priority to GB1703066.9A priority patent/GB2546186A/en
Priority to CN201580041272.9A priority patent/CN106660606B/zh
Publication of WO2016015890A1 publication Critical patent/WO2016015890A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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 SIDECARS, 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
    • 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
    • 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 SIDECARS, 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

Definitions

  • the present invention relates to a method and apparatus for generating a slope value.
  • a device is treated, which detects and indicates the traversed by a vehicle height differences and the inclination of the vehicle by a combination of an electronic odometer with a pendulum.
  • the invention relates to a method and a device for generating a slope value.
  • at least two pressure variables and at least one acceleration variable are detected independently of each other.
  • a first slope value as a function of the at least two pressure variables and generates a second slope value as a function of the at least one acceleration variable.
  • the slope value can be taken as the base value for further data processing.
  • the device has a processing unit, wherein the processing unit outputs a slope variable as a signal, which represents the first or the second slope value, as a function of the magnitude of the quotient of both slope values.
  • the at least two pressure variables can be detected by means of a barometric sensor.
  • the at least one acceleration variable can be detected by means of an acceleration sensor, preferably by means of a MEMS sensor.
  • the invention further relates to a bicycle, in particular an electric bicycle.
  • the bicycle contains a device suitable for generating a slope value.
  • the device is preferably suitable for carrying out the method according to the invention.
  • it is the device according to the invention.
  • the bicycle further includes a system comprising a device according to the invention, wherein the system has an adjusting device, and wherein the adjusting device changes at least one spring parameter of a mechanical suspension of the bicycle depending on the calculated hardness value.
  • the essence of the invention is that the first or second slope value is output as a function of the magnitude of the quotient of both slope values.
  • the first slope value is output as the output value, and in the case that the
  • the first or second slope value may be output as a function of the difference between the two slope values.
  • the first or second gradient value can be output as a function of the first and the second gradient value as well as of a plurality of vehicle parameters.
  • the vehicle parameters may be a speed of the bicycle and / or a road surface.
  • the first or second slope value can be output as a function of a weighting function.
  • the weighting function takes into account not only the slope Evaluate other variables such as speed of the bicycle or information about the mechanical suspension.
  • Background of the invention is that by means of an acceleration sensor regardless of speed and also at standstill of the bicycle, a slope value can be determined, since the inclination of the bicycle is measured against the direction of gravitational acceleration. Background of this possibility to measure the slope at a standstill, is that with the acceleration sensor always measured the acceleration of gravity and the value of the gravitational acceleration is excluded in the further consideration.
  • a vertical spatial axis can also be determined by the acceleration sensor. If the position of the acceleration sensor changes, for example as a result of turning the sensor, with tilting of the space axis derived from the acceleration of gravity with respect to the direction of the vector of gravitational acceleration, the tilt angle of the sensor can be determined from the change in the measured acceleration.
  • the output slope value can be used to control an engine, with the engine being able to operate an electric bicycle.
  • the output slope value can be used in the context of a sports display, for example, to determine the energy consumption during operation of the bicycle.
  • the background of the determination of the energy expenditure in the operation of the bicycle is that with a higher gradient the driver of the bicycle has to apply a higher force in order to drive the bicycle. The higher the force that the driver has to apply, the higher his energy consumption.
  • a signal representing a hardness value of a mechanical suspension of a bicycle component is output as a function of the quotient of both gradient values. Alternatively, this signal can also be output as a function of a difference between the two slope values.
  • the mechanical suspension can be a front axle suspension, a rear axle suspension or a saddle suspension.
  • at least one spring parameter of the mechanical suspension is set as a function of the hardness degree value calculated on the basis of the model.
  • the spring parameter may be the damping of the mechanical suspension.
  • an adjusting device is provided.
  • the adjusting device can be a motor, in particular an electric motor, or a device for changing a physical state of a fluid.
  • the adjusting device is arranged, for example, on a front axle spring of the bicycle and / or on a rear axle spring and / or on a saddle suspension of the bicycle.
  • a pressure sensor is arranged on a handlebar of the bicycle for detecting the at least two pressure variables.
  • an acceleration sensor is arranged in a transmission unit of the bicycle and / or in an engine of the bicycle for detecting the at least one acceleration variable.
  • the engine is a center motor of the electric bicycle.
  • FIG. 1 shows a relationship between a sensor signal SG, which is a
  • the difference between the gradients 101 and 102 of the pitch sizes is due, in particular, to the fact that in a bicycle, especially in the case of a hill climb, the load distribution shifts in the direction of the rear axle.
  • a greater gradient is determined during driving as a function of the acceleration sensor, as a function of the pressure sensor.
  • the background is that by increasing the load on the rear axle, a suspension attached to the front axle diverge, which leads to a tilting of the bicycle against its ground and against the direction of gravity acceleration.
  • the acceleration sensor measures larger gradients in the case of an increase in load on the rear axle caused by uphill driving.
  • the pressure sensor on the other hand, only measures the pressure difference at at least two places, which is barely affected by the tilting of the bicycle.
  • both pitch sizes can be compared.
  • the differences or quotients of the two gradient sizes can be recorded via a look-up table.
  • a large difference in the two ascertained pitch sizes may indicate that either a very soft adjustment of the suspension of the bicycle is present, because the suspension is slightly diverging, or on the other hand, that a full suspension bike is present, because the tilting of the bike by too soft Vorderachsfederung and is further reinforced by a rear axle suspension.
  • the information about the too soft mechanical suspension can be provided to the driver or be used as information in an automatically adjustable mechanical suspension.
  • the information for adjusting the mechanical suspension can be used. If the difference between the slope sizes changes regularly, this may indicate that different riders are using the same bike. This information can beispielswiese stored and used especially for maintenance for analysis, as based on the information of a possible, depending on the weight of the driver wear of the bicycle can be determined.
  • ⁇ is the slope output
  • a b aro is the slope calculated by a barometric pressure sensor
  • a ac c the slope, which is represented by the acceleration sensor
  • v is the vehicle speed
  • k represent the Fe
  • the spring stiffness and p more bicycle and road parameters such as the road conditions.
  • C represents a correction term that corrects the value of the acceleration sensor and is determined according to the previously determined look-up table.
  • the suspension is probably hard-set or may not be present.
  • the value of the acceleration sensor may be used as the grade reference used for control and display.
  • the barometric pressure sensor or the acceleration sensor may output the more reliable signal. If, for example, an off-road drive is being carried out or is being accelerated to a great extent, the acceleration sensor may be disturbed and the signal of the barometric pressure sensor will be more reliable. In other cases, such as preferably on a level track and at a low grade, the acceleration sensor typically provides the more reliable signal compared to the barometric sensor.
  • FIG 2 the bicycle according to the invention according to a first embodiment is shown schematically.
  • F denotes a bicycle.
  • DS refers to a pressure sensor.
  • FG a suspension fork is called.
  • M becomes one
  • AE denotes a drive unit, wherein an acceleration sensor BS can be arranged in the drive unit AE.
  • V denotes a device for generating a slope value.
  • the device V contains a processing unit VA.
  • the processing unit VA is attached, for example, to the handlebars of the bicycle F and to
  • FIG. 3 schematically shows a device V for generating a slope value.
  • the device V has a processing unit VA
  • the processing unit VA detects sensory detected signals.
  • the signals can be detected by means of a sensor BS and a sensor DS and transmitted to the processing unit VA.
  • the sensor BS may be an acceleration sensor.
  • the sensor DS may be a pressure sensor.
  • the processing unit VA generates slope magnitudes as signals, the slope magnitudes representing slope values.
  • the gradient variables can be output from the processing unit VA and transmitted to a display A and displayed there as slope values become.
  • a motor controller may be located inside or outside the processing unit VA.
  • the control signals can be transmitted 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 startup from a standstill out.
  • Other generated control signals may be transmitted to an adjuster E;
  • an adjustment controller may be located inside or outside the processing unit VA.
  • the adjusting device E can be used for setting a mechanical suspension of a bicycle.
  • the slope values can also be transmitted to a storage device S and stored there. The slope values stored in the memory device S can be used for analysis purposes.
  • FIG. 4 schematically shows a method according to the invention.
  • the procedure is initiated automatically.
  • detection step 1 at least two pressure variables and at least one acceleration variable are detected.
  • a slope value is generated as a function of the at least two pressure variables and another gradient value as a function of the at least one acceleration variable.
  • test step 3 it is checked which of the two slope values is to be output. For this purpose, a quotient of the second slope value to the first slope value is formed. Depending on the amount of this quotient, the first or second slope value is output or stored in output step 4.
  • the output preferably takes place on a display device A of a tachometer.
  • final step 5 the process is completed. The process can be repeated after completion step 6.

Landscapes

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

Abstract

L'invention concerne un procédé de génération d'une valeur de pente comprenant les étapes consistant à - détecter au moins deux grandeurs de pression au moyen d'un capteur de pression (DS) et au moins une grandeur d'accélération au moyen d'un capteur d'accélération (BS) et - générer une première valeur de pente en fonction des deux grandeurs de pression ou plus, et une seconde valeur de pente en fonction de la ou des grandeurs d'accélération. L'étape supplémentaire consiste à délivrer en sortie la première ou seconde valeur de pente en fonction de la valeur du quotient des deux valeurs de pente.
PCT/EP2015/060504 2014-07-30 2015-05-12 Dispositif et procédé de génération d'une valeur de pente Ceased WO2016015890A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017505172A JP6355822B2 (ja) 2014-07-30 2015-05-12 勾配値を生成する方法及び装置
AU2015295832A AU2015295832B2 (en) 2014-07-30 2015-05-12 Device and method for generating a gradient value
GB1703066.9A GB2546186A (en) 2014-07-30 2015-05-12 Device and method for generating a gradient value
CN201580041272.9A CN106660606B (zh) 2014-07-30 2015-05-12 用于产生坡度值的设备和方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014214965.7 2014-07-30
DE102014214965.7A DE102014214965B4 (de) 2014-07-30 2014-07-30 Vorrichtung und Verfahren zur Erzeugung eines Steigungswertes

Publications (1)

Publication Number Publication Date
WO2016015890A1 true WO2016015890A1 (fr) 2016-02-04

Family

ID=53199967

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/060504 Ceased WO2016015890A1 (fr) 2014-07-30 2015-05-12 Dispositif et procédé de génération d'une valeur de pente

Country Status (6)

Country Link
JP (1) JP6355822B2 (fr)
CN (1) CN106660606B (fr)
AU (1) AU2015295832B2 (fr)
DE (1) DE102014214965B4 (fr)
GB (1) GB2546186A (fr)
WO (1) WO2016015890A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017128843A1 (de) * 2017-12-05 2019-06-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Steuern eines Systems eines Kraftfahrzeugs
JP7391602B2 (ja) * 2019-10-15 2023-12-05 株式会社シマノ 制御装置
CN113008266B (zh) * 2021-02-07 2022-03-15 武汉齐物科技有限公司 一种骑行坡度鉴别及计算方法

Citations (4)

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DE4011560A1 (de) 1990-04-10 1991-10-17 Conrads Johannes P F Kombinierter hoehendifferenz-, neigungsmesser und kilometerzaehler fuer fahrzeuge
EP1241087A1 (fr) * 2001-03-13 2002-09-18 Shimano Inc. Suspension de bicyclette
EP2085657A1 (fr) * 2008-02-01 2009-08-05 Fiat Group Automobiles S.p.A. Procédé et appareil pour le contrôle de la reprise dans une montée d'un véhicule motorisé doté d'une boîte de vitesse automatique ou robotisée
JP2012032277A (ja) * 2010-07-30 2012-02-16 Sanyo Electric Co Ltd 坂道検出装置、坂道検出方法、及び現在位置表示装置

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US5351540A (en) * 1992-09-30 1994-10-04 Eaton Corporation Grade angle and acceleration sensor
JP2001108580A (ja) * 1999-10-13 2001-04-20 Horiba Ltd シャシダイナモメータを用いた路上走行シミュレーション試験方法で用いる路面の勾配データの採取方法およびシャシダイナモメータの制御方法
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DE10040549A1 (de) * 2000-08-15 2002-03-07 Voith Turbo Kg Verfahren zur Erfassung der Fahrbahnneigung und Vorrichtung zur Neigungserfassung, insbesondere Neigungssensor
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EP2208965A3 (fr) * 2009-01-15 2010-07-28 Delta Systems, Inc Appareil et procédé de détection de l'inclinaison et/ou de l'accélération
CN201583271U (zh) * 2009-09-18 2010-09-15 上海通用汽车有限公司 用于连续测量道路的坡度值的设备
TWI484207B (zh) * 2009-11-24 2015-05-11 Inst Information Industry 用於一移動設備之定位裝置、定位方法及其電腦程式產品
JP5582864B2 (ja) * 2010-05-11 2014-09-03 矢崎エナジーシステム株式会社 坂道検出方法、及び、坂道検出装置
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4011560A1 (de) 1990-04-10 1991-10-17 Conrads Johannes P F Kombinierter hoehendifferenz-, neigungsmesser und kilometerzaehler fuer fahrzeuge
EP1241087A1 (fr) * 2001-03-13 2002-09-18 Shimano Inc. Suspension de bicyclette
EP2085657A1 (fr) * 2008-02-01 2009-08-05 Fiat Group Automobiles S.p.A. Procédé et appareil pour le contrôle de la reprise dans une montée d'un véhicule motorisé doté d'une boîte de vitesse automatique ou robotisée
JP2012032277A (ja) * 2010-07-30 2012-02-16 Sanyo Electric Co Ltd 坂道検出装置、坂道検出方法、及び現在位置表示装置

Also Published As

Publication number Publication date
CN106660606A (zh) 2017-05-10
AU2015295832B2 (en) 2017-09-07
JP6355822B2 (ja) 2018-07-11
JP2017524940A (ja) 2017-08-31
CN106660606B (zh) 2019-03-29
DE102014214965A1 (de) 2016-02-04
GB2546186A (en) 2017-07-12
DE102014214965B4 (de) 2017-02-02
AU2015295832A1 (en) 2016-11-24
GB201703066D0 (en) 2017-04-12

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