Automatic transmissions and methods therefor

[0001] The invention relates generally to mechanical transmissions, more specifically to automatic transmissions and methods for controlling these transmissions.

Related technology:

[0002] Automatic gearboxes are located in a variety of machines. However, manual transmission operation still prevails in some areas. For example, in the bicycle industry, most bikes are configured to manually operate the transmission, which generally involves manually actuating levers, cables and tie rods to cause the chain to move from one sprocket to another. However, the needs for systems and ways to facilitate the automatic control of the bicycle transmission have been identified.

[0003] The inventive examples disclosed herein address this need, inter alia, by providing systems and methods for automatic transmission control, which systems and methods are particularly suitable for muscle-powered vehicles human , such as bicycles. Document US-5,356,348-A discloses a bicycle transmission and a method of controlling it, in which the method has features initially characterizing part of claim 1 and the transmission exhibits characteristics initially characterizing part of claim 10. US2002 / 042322-A1 discloses a steplessly changed transmission.

Summary of the Invention [0004] In one aspect, the invention provides a method of automatically controlling a bicycle transmission, the method comprising the steps of: receiving an input associated with a user target pedaling speed; determining bike speed; determining a target gear ratio based at least in part on a user's target pedaling speed and a specific bicycle speed; and adjusting the gear ratio to be substantially equal to the target gear ratio is characterized by the fact that: the gear is a continuously variable ball and planetary gear, and the gear ratio is adjusted by rotating the gear shifting lever using a reversing engine.

[0005] In one embodiment, the method further includes the step of determining the encoder position associated with the user target pedaling speed. In another embodiment, adjusting the gear ratio includes instructing the reversing motor to move to a specific encoder position.

[0006] In one embodiment, the method further includes adjusting the bicycle speed ratio to maintain the user's pedaling speed within the user's target pedaling speed based on the user's user's pedaling target and the specified bicycle speed. In some examples

- 2 versions, the range is the target pedaling speed of the user plus or minus 10 revolutions per minute (rpm). In other embodiments, the range is a target user pedaling speed in the range +/- 2 RPM to about +/- 5 RPM. In one embodiment, adjusting the bicycle speed ratio includes the step of determining the encoder position associated with the user's target pedaling speed and the specified bicycle speed. In some embodiments, adjusting the bicycle speed ratio comprises the step of giving the reversing motor a command to move to a specific encoder position. In other embodiments, adjusting the bicycle speed ratio includes the step of adjusting the gear shifting rod.

[0007] In another aspect, the invention provides a bicycle transmission automatic switching system, the system comprising: a speed sensor configured to detect the bicycle speed; a control unit configured to receive an input signal from a speed sensor; a data input interface configured to provide cadence data (pedaling speed) to the control unit, where the cadence data indicates the desired fixed pedaling input speed; and a memory connected to the control unit having in it one or more data structures correlating the speed of the bike with the speed ratios; where the control unit is configured to determine from these data structures the target speed ratio based on the bicycle speed and cadence data is characterized in that the transmission has a tilted power transmission ball and the system further comprises: a reversing engine connected to the control unit; a rotary switch rod operably coupled to a reversing motor and a transmission power ball, where the switch rod is rotated to adjust the ratio of the speed of the gears so that it is substantially equal to the specified target speed ratio.

[0008] The memory may have one or more maps stored in it correlating the speed of the bicycle with the speed ratios. In one embodiment, the system includes a logic module connected to the control unit (processor), wherein the logic module is configured to interact with the processor to determine the target speed ratio from these maps.

[0009] In one embodiment, the control unit comprises at least one of a processor, integrated circuit for specific applications, or a programmable logic matrix. The data entry interface includes a display and at least one button. The system may include a position sensor configured to provide an indication of the position of the reverse motor (actuator). Data structures may include a speed ratio data structure and a bicycle speed data structure. The system may have a power source configured to power the actuator. In one embodiment, the power source is a dynamo. In some embodiments, the data entry interface is mounted on the handlebar of the bicycle.

[0010] In some embodiments, the memory has at least one table correlating the position of the actuator with the gear ratio. interface

- 3 users are configured to receive a command from the operator, where the command indicates the desired level of cadence. The system may also include an encoder connected to the processor and configured to indicate the position of the switching stick. In one embodiment, the table contains data that correlates the position of the shift rod with the gear ratio. In another embodiment, the table contains data that correlates the position of the switching stick with the level of cadence.

[0011] These and other improvements will become apparent to those skilled in the art as they read the following detailed description and view of the attached figures relating to preferred, non-limiting embodiments.

Brief Description of the Drawings [0012] Figure 1 is a block diagram of a transmission control system that uses the embodiments of the invention described in this document.

[0013] Figure 2 is a block diagram of yet another transmission control system incorporating the embodiments of the invention described in this document.

[0014] Figure 3 is a block diagram of an automatic bicycle transmission switching system in accordance with the embodiments of the invention described in this document.

[0015] Figure 4 is a flowchart of a method that can be used to generate data structures that can be used with the embodiments of the transmission control methods and systems described in this document.

[0016] Figure 5A is an exemplary data structure that can be used with the inventive embodiments of the transmission control methods and systems described in this document.

[0017] Figure 5B is yet another exemplary data structure that can be used with the inventive embodiments of the transmission control methods and systems described in this document.

[0018] Figure 6 is a block diagram of a method of controlling an automatic transmission according to the inventive embodiments of the invention described in this document. Detailed Description of Preferred Embodiments [0019] Preferred embodiments of the invention will be described with reference to the accompanying figures, in which like reference numerals refer to similar components throughout the description. The inventive systems and methods described herein may be generally used in the gears and variators disclosed in US Patent 6,241,636; 6,419,608; 6,689,012; and 7,011,600. Similarly, the inventive systems and methods disclosed relate to transmissions, controllers, user interfaces and vehicles or the applications of the technology described in US Patent Application 11 / 243,484; 11 / 543.311; 60 / 887.767; 60 / 895.713; and 60 / 914.633. All disclosure of each of these patents and patent applications is used herein by reference.

[0020] With reference to Figure 1, a transmission control system 100 for maintaining a constant input speed is described. In one embodiment, the system 100

- 4 includes an input shaft 102 and an output shaft 104 coupled to a transmission 106 that is coupled to a transmission controller 108. The input shaft 102 has an input speed of_andand output shaft 106 has an output speed of_about. The ratio of transmission speed (SR) is defined as the output speed w_about divided by the input speed in_and (or equivalent, in_and= in_about/ SR). While the control system 100 is operating, in some embodiments as the output speed changes in_about, gear controller 108 adjusts SR to maintain input speed in_and at a substantially constant value or within a pre-set input speed range in_and. Thus, in one embodiment, at the desired constant input speed at_and and detected output speed in_about in operation, the controller 108 adjusts the transmission 104 to operate with a predetermined SR associated with the detected output speed w_about.

[0021] The transmission 106 is a planetary ball gear. The gear controller 108 may include various integrated circuits, computer processors, logic modules, input and output interfaces, data structures, digital memory, power sources, actuators, sensors, encoders, servos, etc. Preferably, in one embodiment, the gear controller 108 contains a data structure that correlates the vehicle's output speed with_about with the data associated with the gearbox SR 106.

[0022] Turning to Figure 2, the automatic transmission control system 200 includes a speed sensor 202 coupled to the digital processor 204. The digital memory 206 is connected to the digital processor 204. Digital memory 206 has one or more arrays or tables or maps (hereinafter referred to as "Tables 208") stored in it that output speed_about correlated with SR. In some cases, the logic module 209 is connected to the digital processor 204; logic module 209 is equipped with appropriate software and / or algorithms to interact with digital processor 204 in processing input signals and providing output signals, such as determining SR based on the detected output speed in_about and input data associated with the desired constant input speed in_and. In one embodiment, the system 200 includes an input device 210 coupled to the digital processor 204 to provide the digital processor 204 with the input data associated with the desired fixed input speed at_c. In some embodiments of the system 200, the actuator 212 (or ratio controller mechanism) is coupled to the digital processor 204, so that the digital processor 204 can control the actuator 212 for adjusting the SR of the transmission 107, which in one embodiment may be a continuously variable transmission ( CVT, Continuously variable transmission).

In operation, the speed sensor 202 provides the digital processor 204 with an indication of the output speed w_about. Input device 210 supplies digital processor 204 with the target input speed at_c. The digital processor 204 cooperating with the logic module 209 and / or tables 208, determines the SR associated with the indicated output speed in_about and target input speed at_c. Then, the digital processor 204 instructs actuator 212 to adjust its operation

- 5 ratio of transmission speed 107 to specified SR. In some embodiments, the target input speed w_c can be substantially constant in the output speed range in_about, causing pedaling with a substantially fixed cadence. In one embodiment, the input device 210 provides a map or indicates the selection of such a map of predefined input speed values ​​w_c associated with the output speed values ​​in_about .

[0024] In Figure 3, the automatic bicycle switching system 300 is configured to maintain the rider's cadence within a narrow cadence level range selected by the rider. As used herein, the term "cadence" refers to the pedaling speed of a rider (which is equivalent to the rotational speed of a bicycle crank). In one embodiment, the bicycle system 300 includes a control unit 302 coupled to a speed sensor 304, encoder position sensor 306, user interface 308, power source 310 and reversing motor 312. In some cases, the gear reduction kit 314 is coupled between reversing motor 312 and gear 316 The bicycle wheel 318 and the input driver 320 are functionally coupled to the 316 transmission. In some embodiments, the encoder position sensor 306 is coupled to a gear reduction set 314 and the speed sensor 304 operably couples to the bicycle wheel 318 or any rotatable element associated therewith. The input driver 320 can be or is functionally coupled to the rear wheel sprocket, chain, front sprocket, backstop, free speed mechanism, etc. Power source 310 may be coupled or integrated with any of the control unit 302, user interface 308 and motor 312. Power source 310 may, for example, be a battery, dynamo, or any other device for generating or storing electricity.

[0025] In some embodiments, the control unit 302 includes a digital processor 322 that is connected to memory 324 and a logic module 326. The control unit 302 may further include a motor controller 328 that is connected to the digital processor 322. It should be noted that the digital processor 322, memory 324, logic module 326 and motor controller 328 need not be all integrated in one device, nor fit in a common housing. Thus, in some embodiments, any device among the digital processor 322, memory 324, logic module 326, and motor controller 328 may be located away from others; communication between or among them can be wired or wireless. Memory 324 is preferably equipped with one or more tables 330 containing data that correlate the output speed values ​​w_about relative to the SR value. In one embodiment, as shown in Figure 3, SR values ​​are represented by values ​​associated with the encoder positions; that is, the encoder position is representative of at least one SR state of the 316 transmission. As used herein, the term "encoder position" refers to a state of the detector and / or sensor that is representative of the position of a 316 gear element or an internal or external element coupled to such a 316 gear element. For example, in one case the encoder position is indicative of angular position of the gear transmission coupled with

- 6 a shift rod of the 316 transmission so that the encoder position is indicative of the angular or axial position of the shift rod.

[0026] In one embodiment, the user interface 308 includes a display 332 and one or more push button operation switches 334. The display 332 may be any suitable screen or similar device for displaying a variety of graphic and / or alphanumeric information. Operation switches 334 may include one or more buttons or manipulators configured to allow an operator, for example, to enter data, make selections, or change values. In some embodiments, the operating switches 334 allow the rider to choose from operating modes (e.g., automatic continuous gear adjustment, automatic stepwise gear adjustment, manual, etc.). The service switches 334 can be configured to allow the rider to set different levels of cadence in automatic mode or a request to regulate SR when operating in manual mode.

[0027] Referring still to Figure 3, while the automatic bicycle switching system 300 is operating, the user may use the user interface 308 to set the desired cadence level during use of the bicycle for normal riding. The control unit 302 receives the cadence input data, polls the memory 324, and in cooperation with the logic module 326 selects the corresponding table 330 associated with the cadence input signal. Therefore, during normal use of the bicycle, the user can choose from predefined cadence level maps (i.e. table 330) by indicating the desired cadence value. The speed sensor 304 detects the speed of the bicycle wheel 318, which in some cases involves detecting the speed of some other rotating components (such as the spokes of the bicycle wheel 318) that rotate at a speed that indicates the rotation speed of the bicycle wheel 318. Based on the indicated cadence value and the detected wheel speed 318 of the bicycle, the control unit 302 identifies SR from tables 330 or encoder position associated with the detected wheel speed of the 318 bicycle. The control unit 302, in cooperation with the engine controller 328, starts the reversing motor 312 to adjust the transmission 316 to obtain a speed ratio that essentially corresponds to the SR identified in table 330. As the control unit 302 SR regulates in response to changes in vehicle wheel speed 318, the cadence of the rider is controlled to keep within the cadence level desired by the rider. For example, in some cases, the actual cadence level of a rider during a set rhythm can be maintained at the desired cadence level plus or minus 10 revolutions per minute (rpm) or +/- 5 rpm. or less than +/- 2 rpm In some embodiments, the automatic bicycle switching system 300 may be configured in a plurality of automatic modes. Modes can be pre-set to control the cadence of the rider in any desired way within the output speed range. For example, in one such mode, table 330 can include cadence values, output speed values ​​and SR values ​​associated so that in the first output speed range the cadence is controlled to a certain cadence value or a specified range of cadence values, while in the second

- 7 output speed range cadence is controlled according to yet another cadence value or yet another range of cadence values.

[0028] Referring to Figure 4, a process 400 for generating data structures that can be used in Table 330 is described. In one embodiment, an exemplary transmission 316 is a stepless planetary gear (CVP) or a CVT type planetary ball traction gear. An example of such devices is the NuVinci ™ transmission. In such a transmission 316, the ratio of the speed between the speed of the input traction ring and the speed of the output traction ring is determined, at least in part, by the position of the shift rod. Therefore, the servo encoder position can be correlated with the switch rod position, which effectively means that the encoder position is correlated with the 316 gear ratio. Process 400 starts in state 402 after the servo having the encoder has been coupled to the 316 gear. In state 404, the position of the encoder is recorded (and preferably stored in the data structure, which will be, for example, part of Table 330). Moving to state 406, the input speed of the 316 gearbox is recorded, and in state 408, the output speed of the 316 gearbox is recorded. Moving to the state 410, SR is calculated by dividing the output speed by_about by input speed in_and. In state 412, SR is recorded (and preferably stored in the data structure that will form part of Table 330).

[0029] Process 400 then proceeds to decision state 414, in which it is determined whether the end of the 316 gear range has been reached. For current purposes, it is assumed that the encoder position range may have an equal range with the range of 316 gear speeds. When the 316 transmission is a continuously variable transmission, there is an infinite number of transmission speed ratios in a given range; from a practical point of view, however, both the encoder positions and the 316 transmission speed ratios will be a complete set. If the end of the 316 gear range is reached, process 400 proceeds to state 416, in which the encoder is moved to the next encoder position. Process 400 then returns to state 404 and registers the new encoder position. The process 400 then repeats the operation until it is determined in decision state 414 that the end of the transmission range 316 has been reached, in which case the process 400 ends in state 418.

[0030] Thus, the result of process 400 is data structures that correlate encoder positions with empirically determined ratio ratios of 316 gears. For a certain class of steplessly changed gears, the data of speed ratio and encoder position can be fitted to the curve generally described by the equation SR = A * exp (B * p), where A and B are constants or characteristic parameters of individual devices, ap is the encoder position. For example, for an example CVP transmission, A = 0.4844 and B = 0.0026. Data tables 330 can use encoder position and speed ratio data generated by process 400.

[0031] Turning to Figure 5A, an exemplary table 330 is provided which will be discussed. Table 330 may contain a structure 502 of vehicle speed data with data associated with the vehicle speed. Table 330 may additionally contain

- structure 504 of the encoder position data with the data associated with the encoder position. The structure 502 of the vehicle speed data and the structure 504 of the encoder position data match to form columns and rows of table 330. Having given the target constant input speed, the corresponding SR can be determined and tabulated as the desired structure of the 506 SR data. However, in some cases, the requested SR is not available because, for example, such SR is lower than the lowest SR that the 316 gear can provide. In such cases, the requested SR data structure 506 is used to create a possible SR 508 structure of data. In the example illustrated in Figure 5, the lowest possible SR available from transmission 316 is 0.5; consequently, all values ​​of the desired SR data structure 506 below 0.5 are represented in the possible SR 508 structure of data as 0.5. It follows that the corresponding lowest encoder position is then associated with the lowest possible SR value in table 330. Similarly, in some cases, the desired SR is higher than the highest possible SR of the 316 transmission; hence the inputs in the requested SR data structure 506 that are higher than the highest possible SR of the 316 gear, are represented by the highest SR of the 316 gear (which in the illustrative example is 1.615).

[0032] Of course, those values ​​in the desired SR data structure 506 that fall within the possible range of transmission speed ratios 316 correspond to identical inputs in the possible SR data structure 508. It should be noted that, unlike values ​​below and above the possible range of transmission 316, Table 330 has a unique encoder position value in the data structure 505 that corresponds to the unique SR value in the possible structure 508 of SR data. However, it is rather the speed range (rather than the unique speed) that corresponds to the given encoder position. So for a wheel speed of 58 rpm and less than 60 rpm in the 502 vehicle speed data structure, only one encoder position value (i.e. 24) and one value of the possible speed ratio (i.e. 0 , 52). Illustrative table 330 contains a structure of 510 cadence data having data associated with the calculated cadence (using the expression w_andin =₀/ SR). The 510 term structure does not have to be part of Table 330; however, the inclusion of cadence structure 510 in the illustrative table 330 makes it easier to show how cadence stability (as shown by a fixed value of 50 in cadence structure data 510) can be maintained within the possible range of 316 gear ratios.

[0033] Figure 5B shows yet another example of a map or table 331 of output speeds to SR that give a predetermined cadence of a commuter. In one embodiment, table 331 includes a structure 503 of vehicle speed data associated with output speed or vehicle speed. Table 331 additionally contains a structure 505 of the encoder position data with the data associated with the encoder position. The structure 503 of the vehicle speed data and the structure 505 of the encoder position data match as columns and rows of table 331. Having the desired, predefined map of target input speeds, a possible structure of SR 509 data is created. The cadence data structure 511, which need not be part of Table 331, shows how cadence is controlled in the vehicle speed range associated with the 503 vehicle speed data structure. As can be seen in Figure 5B,

- 9 is allowed to increase the cadence to the first level (i.e. 74.7 rpm), SR is adjusted to 0.9 from 0.6 as the output speed varies from 0 to 100 rpm. The cadence drops to 51.1 rpm and is allowed to rise again to 74.7 rpm before at an output speed of 153 rpm, the SR is adjusted from 0.9 to 1.4, when the term of office will drop to 48.8. As the output speed increases to 200 rpm, the cadence increases to 64 rpm and SR maintains a constant value of 1.4. This is an example of automatic gear control, such that the cadence is controlled relative to the switching pattern of the three speed ratios. Of course, similar maps can be provided for other automatic modes, such as for example 4-, 5-, 6-, 8-, or 9 speeds. In addition, cadence ranges can be adjusted by moving switching events by mapping, such as the 65 RPM to 90 RPM range instead of 50 RPM to 75 RPM, for example for a given vehicle speed or vehicle speed range. In some embodiments, the maps may have any desired relationship between output speed and cadence (e.g., linear, exponential, inverse,^itp.⁾.

[0034] With reference to Figure 6, a process 600 will be described for controlling the transmission 316 so that the cadence of the rider is controlled while maintaining it within the range of the cadence level selected by the moving. Process 600 begins at state 602, for example after turning on and initiating the automatic bicycle switching system 300. Process 600 proceeds to state 604 and receives the indication of the target fixed cadence level. In one embodiment, the commuter uses the user interface 308 to provide a target fixed level of cadence. Process 600 then goes to state 606, where the bicycle speed is determined. In one embodiment, the speed sensor 304 detects the speed of the bicycle wheel 318. However, in other embodiments, the bicycle speed may be determined by measuring and / or detecting other characteristics or components of the bicycle, such as detecting voltage, resistance or current level on dynamics (not shown) coupled to the vehicle wheel 318. The process 600 then proceeds to a state 608 in which the encoder position associated with the bicycle speed and target cadence is determined or identified. In one embodiment, the digital processor 322 interacts with memory 324 and logic module 326 to query table 330 and thus select an encoder position that is correlated with bike speed and target cadence. At state 610 of process 600, the actuator receives the command to move to the position associated with the selected encoder position at state 608. In some embodiments, in decision state 612 of process 600, it is determined whether process 600 should exit and terminate at state 614 or perform a feedback loop to state 604 to obtain an input target cadence. At state 604, process 600 may ask if the commander has given a new cadence level command; if not, process 600 uses the initially introduced term level. In one embodiment, the commuter does not initially set the cadence level, but the control unit 302 is configured to use a default cadence level, such as for example 70 rpm. In yet other embodiments, a cadence map of W may be provided in process 604

- 10 depending on the output speed (instead of the specified cadence value). As discussed previously, such a map may contain any type of mapping associating cadence, output speed and corresponding SR. At process state 614 600, the exit decision may be based on a power off state, mode change command, or the like. For example, if a commuter changes from automatic to manual mode, the process 600 detects new conditions and exits at state 614.

[0035] Those skilled in the art will recognize that various illustrative logic blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein, including a reference to an automatic bicycle switching system 300, can be performed as electronic equipment, software stored on read media computer and executed by a processor or a combination of both. To clearly illustrate this interchangeability of hardware and software, various illustrative elements, blocks, modules, circuits and stages are described above in terms of their functionality. Whether such functionality is performed as hardware or as software depends on the specific application and design restrictions imposed on the entire system. Qualified contractors may perform the described functionality in a variety of ways for each particular application, but such performance decisions should not be interpreted as reasons for departing from the scope of the invention. For example, the various illustrative logic blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or implemented by means of a universal processor, digital signal processor (DSP), integrated circuit for specific applications (ASIC), user-programmable gate matrix system (FPGA) or other programmable logic device, discrete gate or transistor based logic, discrete hardware components or any combination thereof designed to perform the functions described herein. The universal processor may be a microprocessor, but alternatively the processor may be any conventional processor, controller, microcontroller or fixing device. The processor can also be implemented as a combination of counting devices, e.g. a combination of DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core or any such configuration. The software associated with such modules may be located in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read or write information from the storage medium. Alternatively, the storage medium may be integrated into the processor. The processor and storage media may be embedded in the ASIC. For example, in one embodiment, the control unit 302 includes a processor (not shown). The processor of the control unit 302 may also be configured to perform the functions described herein with respect to one or both of the motor controllers 328 and the user interface 308.

[0036] The above description describes in detail some preferred embodiments of the invention and describes the best mode considered. It should be understood, however, that regardless of the degree of detail appearing in the above text, the invention can be implemented in virtually many ways. The scope of the invention can therefore be understood only in accordance with the appended claims and any equivalents thereof.

Prepared and verified

Anna Stenzel Patent Attorney