Bicycle control system

bicycle control system

BICYCLE CONTROL SYSTEM

priority

This application claims the benefit of filed US Provisional Patent Application No. 62/806,306, which is hereby incorporated by reference in its entirety. <br/>Bright field

The present invention relates generally to electric bicycles, and more particularly to control of electric bicycles.

Background of the invention

Bicycles (eg, electric bicycles or ebikes) with pedal assist electric motors may include wheel speed and crank speed sensors that may be used as input to an automatic shifting algorithm for the bicycle's gear changer. One of the limitations of automatic shifting algorithms for bicycle gear changers is that shifting can only occur when the drivetrain is moving (eg, when the rider is pedaling).

The pedal assist motor turns the drive chain ring independently of the bicycle's crank. This aspect exists so that when the assist motor is active, if the rider slows down the pedaling rate faster than the assist motor can react, the rider will not feel the motor torque in the rider's leg. In some e-bike systems, this feature is exploited where the rider may be walking next to the e-bike and can press a button to enable the motor to assist the ride at low speeds so that the crank and pedals do not spin unsafely Push the electric bike up a steep slope.

Summary of the invention

In one example, a method for controlling one or more electric components of a bicycle includes identifying sensor data by a processor in communication with one of the one or more electric components. The sensor data identifies a state of the bicycle. The method also includes: determining, by the processor, a rider engagement state based on the identified sensor data; and stopping or preventing, by the processor, movement of the motorized component based on the determined rider engagement state.

In one example, identifying the sensor data includes receiving, by the processor, orientation data from one or more orientation sensors of the bicycle. The method further includes determining, by the processor, an orientation of the bicycle based on the received orientation data. Determining the rider engagement status includes determining whether a user is riding the bicycle based on the determined orientation of the bicycle. Stopping or preventing movement of the electrical component based on the rider engagement status includes stopping or preventing movement of the electrical component when the determined rider engagement status indicates that the user is not riding the bicycle.

In one example, receiving orientation data based on the one or more orientation sensors of the bicycle includes receiving orientation data from at least one accelerometer at a predetermined interval. Determining the orientation of the bicycle includes: averaging a portion of the received orientation data; and determining the orientation of the bicycle based on the averaged portion of the identified orientation data.

In one example, determining the rider engagement status based on the identified sensor data includes determining whether the bicycle is experiencing a predetermined deceleration based on the identified sensor data.

In one example, the electric component is an auxiliary motor. Stopping or preventing movement of the electric component includes stopping or preventing movement of the auxiliary motor when the determined rider engagement condition indicates that the user is experiencing a predetermined deceleration.

In one example, the electric component is a first electric component, and the one or more electric components include a second electric component. The first electric component is an auxiliary motor, and the second electric component is a derailleur motor. The method further includes stopping or preventing, by the processor, movement of the second motorized component based on the determined rider engagement status.

In one example, identifying the sensor data includes: receiving bicycle orientation data from one or more orientation sensors of the bicycle; receiving wheel speed data from one or more wheel speed sensors of the bicycle; receiving crank speed data from one or more cadence sensors; receiving strain data from one or more strain gauges of the bicycle; receiving acceleration data from one or more accelerometers, one or more gyroscopes, or a combination thereof, or combination.

In one example, the wheel speed data includes first wheel speed data and second wheel speed data. Identifying the sensor data includes receiving the first wheel speed data from a first wheel speed sensor. The received first wheel speed data represents a first wheel speed. The first wheel speed is a wheel speed of a first wheel of the bicycle. Identifying the sensor data also includes receiving the second wheel speed data from a second wheel speed sensor. The received second wheel speed data represents a second wheel speed. The second wheel speed is a wheel speed of a second wheel of the bicycle. Determining the rider engagement status includes comparing the first wheel speed profile to the second wheel speed profile, and determining the rider engagement status based on the comparison.

In one example, comparing the first wheel speed profile to the second wheel speed profile includes calculating a difference between the first wheel speed and the second wheel speed. Determining the rider engagement status based on the comparison includes determining the rider engagement status based on the calculated difference.

In one example, determining the rider participation status based on the calculated difference includes: comparing the calculated difference to a predetermined difference; and when the calculated difference is greater than the predetermined difference, determining that the bicycle is supported on a surface that can support the bicycle . Stopping or preventing movement of the electric component based on the determined state of rider engagement includes stopping or preventing movement of the electric component when it is determined that the bicycle is supported on a surface.

In one example, a method for controlling an electric bicycle includes: receiving, by a processor, first sensor data from a first sensor of the electric bicycle; A second sensor receives second sensor data. The method also includes identifying, by the processor, whether the electric bicycle is supported based on the first sensor data and the second sensor data such that a wheel of the electric bicycle can be driven without translating the electric bicycle. The method includes preventing, by the processor, movement of an electric component of the electric bicycle based on the identification.

In one example, receiving the first sensor data from the first sensor includes receiving first wheel speed data from a first wheel speed sensor. The first wheel speed data represents a wheel speed of a first wheel of the electric bicycle. Receiving the second sensor data from the second sensor includes receiving the second wheel speed data from a second wheel speed sensor. The second wheel speed data represents a wheel speed of a second wheel of the electric bicycle. The identifying includes comparing the first wheel speed to the second wheel speed. Preventing movement of the electrically powered component includes preventing movement of the electrically powered component based on the comparison of the first wheel speed and the second wheel speed.

In one example, comparing the first wheel speed to the second wheel speed includes determining a difference between the first wheel speed and the second wheel speed. The identifying further includes comparing the determined difference to a predetermined difference. Preventing movement of the powered component includes preventing movement of the powered component based on a comparison of the determined difference to a predetermined difference.

In one example, the method further includes receiving, by the processor, a user input after preventing movement of the electric component of the electric bicycle; and allowing movement of the electric component of the electric bicycle based on the received user input.

In one example, receiving the first sensor data from the first sensor includes one of the following: receiving bicycle orientation data from an orientation sensor of the electric bicycle; The wheel speed sensor receives first wheel speed data; receives second wheel speed data from a second wheel speed sensor of the electric bicycle; receives crank speed data from a cadence sensor of the electric bicycle; A strain gauge of the electric bicycle receives strain data; and receives acceleration data from an accelerometer, a gyroscope, or a combination thereof. Receiving the second sensor data from the second sensor includes the other of: receiving bicycle orientation data from an orientation sensor of the electric bicycle; receiving bicycle orientation data from a first wheel speed sensor of the electric bicycle; Receive first wheel speed data from a sensor; receive second wheel speed data from a second wheel speed sensor of the electric bicycle; receive crank speed data from a cadence sensor of the electric bicycle; receive crank speed data from a second wheel speed sensor of the electric bicycle; A strain gauge receives strain data; and receives acceleration data from an accelerometer, a gyroscope, or a combination thereof.

In one example, receiving the first sensor data from the first sensor includes receiving strain data from a strain gauge of a crank arm, a frame, a handlebar, or a saddle of the electric bicycle.

In one example, a method for controlling electronic shifting of a bicycle includes determining, by a processor, whether the bicycle is moving based on first sensor data received from a first sensor of the bicycle. When it is determined that the bicycle is moving, the method further includes determining, by the processor, a rider engagement state. The determination of the rider's participation status includes: identifying the second sensor data from the second sensor of the bicycle by the processor; identifying the third sensor data from the third sensor of the bicycle by the processor; The data of the second sensor and the data of the third sensor determine the rider's participation status. When the determined rider engagement status indicates that the bicycle is being ridden, the method includes enabling electronic shifting of the bicycle using the auxiliary motor.

In one example, the method further includes identifying the first sensor profile. Identifying the first sensor data includes receiving wheel speed data from a wheel speed sensor of the bicycle. Identifying the second sensor data includes receiving crank strain data from a strain gauge at the crank of the bicycle. Identifying the third sensor data includes receiving crank speed data from a crank speed sensor of the bicycle. Determining the rider's engagement status includes: calculating, by the processor, input power based on the received crank strain data and the received crank speed data; comparing the calculated input power to a predetermined threshold power; and comparing the calculated input power to a predetermined threshold power; The comparison of the power limit is used to determine the rider's participation status.

In one example, when it is determined that the bicycle is not moving, the method includes disabling use of the auxiliary motor to enable electronic shifting of the bicycle.

In one example, the method further includes identifying, by the processor, a motor current of the auxiliary motor. The method further includes: comparing, by the processor, the identified motor current of the auxiliary motor to a predetermined maximum motor current; and based on the comparison, disabling use of the auxiliary motor when the identified motor current of the auxiliary motor is greater than the predetermined maximum motor current In order to realize the electronic speed change of the bicycle.

In one example, a method for controlling electronic shifting of a bicycle includes determining, by a processor, whether the bicycle is moving. When it is determined that the bicycle is moving, the method further includes determining, by the processor, whether the bicycle is being pedaled. When it is determined that the bicycle is not pedaled, the method includes making an auxiliary motor of the bicycle provide power for a transmission system of the bicycle to realize electronic shifting of the bicycle.

In one example, determining whether the bicycle is moving includes: receiving, by the processor, wheel speed data from a wheel speed sensor of the bicycle; and determining whether the bicycle is moving based on the received wheel speed data.

In one example, determining whether the bicycle is being pedaled includes: receiving, by the processor, crank data from one or more crank sensors of the bicycle; and determining whether the bicycle is being pedaled based on the received crank data.

In one example, receiving crank data from one or more crank sensors includes: receiving crank data from the one or more crank sensors includes: receiving crank cadence data from a cadence sensor of the bicycle, Crank angle position data is received from an angular position sensor of the bicycle, crank angular velocity data is received from an angular velocity sensor of the bicycle, or any combination thereof.

In one example, when it is determined that the bicycle is being pedaled, the method further includes: estimating, by the processor, an angular position of a crank arm continuously or at a predetermined interval based on the received crank data; When the estimated angular position matches a predetermined angular position of the crank arm, the auxiliary motor of the bicycle is made to provide power for the transmission system of the bicycle, so as to realize the electronic shifting of the bicycle.

In one example, the predetermined angular position of the crank arm corresponds to a vertical position of the crank arm.

In one example, causing the auxiliary motor of the bicycle to power the drivetrain of the bicycle to achieve the electronic shifting of the bicycle includes causing the auxiliary motor of the bicycle to power the drivetrain of the bicycle for a period of time such that a single One of the time periods for gear shifting.

In one example, determining whether the bicycle is moving, determining whether the bicycle is being pedaled and enabling the auxiliary motor of the bicycle to provide power to the transmission system of the bicycle to achieve the electronic shifting of the bicycle for the bicycle part of one of the modes of operation. The method further includes initiating, by the processor, the operating mode of the bicycle.

In one example, the method further includes receiving a user input. Initiating the mode of operation of the bicycle includes initiating the mode of operation of the bicycle based on the received user input.

In one example, initiating the operating mode of the bicycle includes automatically initiating the operating mode of the bicycle when it is determined that the bicycle is moving and it is determined that the bicycle is not being pedaled.

In one example, the method further includes receiving, by the processor, wheel speed data from a wheel speed sensor of the bicycle continuously or at a predetermined interval. After initiating an operating mode of the bicycle, the method includes controlling the auxiliary motor to effectuate the electronic shifting of the bicycle based on the received wheel speed data.

In one example, a controller for a bicycle includes a processor configured to determine whether the bicycle is moving. The processor is further configured to determine whether the bicycle is being pedaled when it is determined that the bicycle is moving. The processor is configured to enable an auxiliary motor of the bicycle to provide power to a transmission system of the bicycle to realize electronic shifting of the rear derailleur when it is determined that the bicycle is not being pedaled.

In one example, determining whether the bicycle is moving includes: receiving, by the processor, wheel speed data from a wheel speed sensor of the bicycle; and determining whether the bicycle is moving based on the received wheel speed data.

In one example, determining whether the bicycle is being pedaled includes: receiving, by the processor, crank data from one or more crank sensors of the bicycle; and determining whether the bicycle is being pedaled based on the received crank data. The crank data represents a crank speed, a crank cadence or the crank speed and the crank cadence of a crank arm of the bicycle.

In one example, the processor is further configured to estimate an angular position of the crank arm based on the received crank data continuously or at a predetermined interval. The causing the auxiliary motor of the bicycle to provide power to the transmission system of the bicycle to effect the electronic shifting of the rear derailleur includes, when the estimated angular position of the crank arm matches a predetermined angular position of the crank arm, causing the The auxiliary motor of the bicycle provides power for the transmission system of the bicycle to realize the electronic shifting of the rear derailleur.

In one example, the predetermined angular position of the crank arm corresponds to a vertical position of the crank arm.

In one example, a method for controlling electronic shifting of a bicycle includes: receiving, by a processor, wheel speed data from a wheel speed sensor of the bicycle; and, by the processor, based on the received wheel speed data Determine if the bike is moving. When it is determined that the bicycle is moving, the method further includes: identifying, by the processor, crank data representing a crank speed, a curvature cadence, or the crank speed and the crank cadence of a crank arm of the bicycle; and based on the The identified crank data determines whether the bicycle is being pedaled. When it is determined that the bicycle is not pedaled, the method includes making an auxiliary motor of the bicycle provide power for a transmission system of the bicycle to realize the electronic shifting of the bicycle.

In one example, identifying the crank profile includes receiving, by the processor, the crank profile from one or more crank sensors of the bicycle.

In one example, the method further includes: when it is determined that the bicycle is being pedaled, estimating, by the processor, an angular position of the crank arm continuously or at a predetermined interval based on the received crank data; and when the crank arm When the estimated angular position matches a predetermined angular position of the crank arm, the auxiliary motor of the bicycle is provided with power for the transmission system of the bicycle to realize the electronic shifting of the bicycle.

In one example, receiving wheel speed data from the wheel speed sensor of the bicycle includes receiving wheel speed data from the wheel speed sensor of the bicycle continuously or at a predetermined interval. The method further includes: after causing the auxiliary motor of the bicycle to provide power to the transmission system of the bicycle to achieve the electronic shifting of the bicycle, controlling the auxiliary motor based on the received wheel speed data to achieve the electronic shifting of the bicycle Electronic shifting.

In one example, a method for controlling electronic shifting of a bicycle includes identifying, by a processor, first sensor data. The first sensor data represents a state of the bicycle or an environment of riding the bicycle. The method further includes initiating automatic control of the electronic shifting of the bicycle based on the identified sensor data or user input. The automatic control of the electronic shifting of the bicycle includes: identifying by the processor the cadence of a crank arm of the bicycle from the second sensor data; comparing the identified cadence with a predetermined target cadence by the processor ; and initiating, by the processor, electronic shifting of the bicycle based on the comparison. The initial electronic shifting of the bicycle includes actuating the motor of the bicycle to realize the electronic shifting of the bicycle when the recognized cadence is lower than the threshold cadence.

In one example, identifying the first sensor data includes receiving, by the processor, orientation data from one or more orientation sensors of the bicycle. The orientation data represents the orientation of the bicycle. Identifying the first sensor data further includes receiving, by the processor, wheel speed data from the wheel speed sensor.

In one example, the second sensor data includes crankshaft speed data. Identifying the cadence of the crank arm of the bicycle from the second sensor data includes receiving, by the processor, crank speed data from one or more cadence sensors of the bicycle.

In one example, comparing the identified cadence to a predetermined target cadence includes determining a difference between the identified cadence and the predetermined target cadence. Initiating electronic shifting of the bicycle based on the comparison includes initiating electronic shifting of the bicycle when the determined difference is greater than a predetermined difference. The method further includes identifying, by the processor, the target gear based on the determined difference and the predetermined gear ratio table. Electronic shifting of the initial bicycle involves shifting the derailleur of the bicycle to the identified target gear.

In one example, the method further includes receiving, by the processor, a signal generated in response to the user input, and discontinuing automatic control of the electronic shifting of the bicycle based on the received signal.

In one example, the method further includes receiving, by the processor, the signal generated in response to the user input. The received signal indicates that the derailleur of the bicycle is about to change gears. The method further includes shifting the derailleur based on the received signal.

In one example, the method further includes ending or suspending automatic control of the electronic shift in response to receiving the signal.

In one example, a method for controlling electronic shifting of a bicycle includes initiating, by a processor, automatic control of the electronic shifting of the bicycle. The method further includes: identifying, by the processor, the smallest gear beyond which the derailleur cannot be shifted during automatic control of electronic shifting when the bicycle is in a particular state; Receive cadence data. After initiating automatic control of the electronic shifting, the method includes: identifying, by the processor, a target gear based on the received cadence data; and comparing, by the processor, the identified target gear with the identified smallest gear. The method further includes preventing or allowing the processor to shift a derailleur of the bicycle to the identified target gear based on the comparison.

In one example, the method further includes determining, by the processor, whether the bicycle is being pedaled based on the received cadence data. Based on the determination of whether the bicycle is being pedaled, the derailleur of the bicycle is prevented or allowed to shift to the identified target gear.

In one example, preventing or allowing a derailleur of the bicycle to shift to an identified target gear based on the determination of whether the bicycle is being pedaled includes allowing a derailleur of the bicycle to shift when it is determined that the bicycle is to be pedaled to the identified target gear.

In one example, allowing a derailleur of the bicycle to shift to an identified target gear when it is determined that the bicycle is to be pedaled includes: actuating a motor of the bicycle to achieve a derailleur of the bicycle when the identified cadence is less than a threshold cadence Electronic shifting.

In one example, the method further includes: receiving, by the processor, strain data from a strain gauge of the bicycle; and determining, by the processor, torque on the bicycle based on the received strain data. The method further includes comparing the determined torque to a predetermined threshold torque. Based on a comparison of the determined torque to a predetermined threshold torque, a derailleur of the bicycle is prevented or allowed from shifting to the identified target gear.

In one example, the method further includes receiving, by the processor, the signal generated in response to the user input. The received signal includes a shift command. The method further includes discontinuing automatic control of the electronic shifting of the bicycle in response to the received signal, and shifting a derailleur of the bicycle based on the received shift command.

In one example, the method further includes receiving, by the processor, orientation data from an orientation sensor of the bicycle. The orientation data represents the orientation of the bicycle. The method further includes determining, by the processor, whether the bicycle is being ridden up the slope based on the received orientation data. Preventing or allowing the bicycle's derailleur to shift to the identified target gear based on the comparison includes: when the identified target gear exceeds the identified minimum gear, allowing the bicycle to derailleur when it is determined that the bicycle will be ridden up an incline shift to the identified target gear.

In one example, the method further includes adjusting, by the processor, the smallest gear.

In one example, a method for controlling electronic shifting of a bicycle includes initiating, by a processor, automatic control of the electronic shifting of the bicycle. The automatic control of the electronic speed change of the bicycle includes: identifying the first cadence of the crank arm of the bicycle by the processor from the cadence data; and comparing the identified first cadence with the target cadence by the processor. The method further includes: initiating, by the processor, electronic shifting of the bicycle based on a comparison of the identified first cadence to a target cadence; receiving, by the processor, a signal generated in response to a user input; and, by the processor, based on the determined Receive signals to adjust target cadence. The method includes: identifying, by a processor, a second cadence of the crank arm from cadence data; comparing, by the processor, the identified second cadence with an adjusted target cadence; and, by the processor, based on the identified first cadence, 2. Comparing the cadence with the adjusted target cadence to start the electronic speed change of the bicycle.

In one example, initiating electronic shifting of the bicycle based on a comparison of the identified first cadence to a target cadence includes: identifying a target gear based on a comparison of the identified first cadence to the target cadence and a gear ratio table .

In one example, the target gear is the first target gear. The automatic control of the electronic shifting of the bicycle further includes adjusting the gear ratio table based on the adjusted target cadence. Initiating electronic shifting of the bicycle based on the comparison of the identified second cadence to the adjusted target cadence includes based on the comparison of the identified second cadence to the adjusted target cadence and the adjusted gear ratio table. Identify the second target gear.

In one example, the received signal is a first received signal, the user input is a first user input, and the adjusted target cadence is a first adjusted target cadence. The method further includes receiving, by the processor, generating a second signal in response to a second user input. The second signal represents a request to adjust the first adjusted target cadence to a second adjusted target cadence. The method further includes: comparing, by the processor, the second adjusted target cadence with a predetermined cadence range; and based on the comparison between the second adjusted target cadence and the predetermined cadence range, when the second adjusted target cadence When the cadence is outside the predetermined cadence range, the first adjusted target cadence is maintained as the target cadence.

In one example, the signal is a first signal and the user input is a first user input. The method further includes receiving, by the processor, generating a second signal in response to a second user input. The second signal identifies a shift request. The method also includes: disabling automatic control of the electronic shifting of the bicycle for a predetermined amount of time based on receipt of the second signal; and shifting the derailleur based on the received second signal.

Detailed Description of the Preferred Embodiment

A bicycle is provided with an electric pedal assist motor capable of driving a chainring independently of the crank. The bicycle includes a wheel speed sensor and a crank cadence sensor. The wheel speed sensor and the crank cadence sensor respectively measure the wheel speed and crank cadence, and provide the measured wheel speed and crank cadence to the electric rear derailleur or controller of the bicycle. The electric rear derailleur, for example, is configured to instruct the electric bicycle controller to activate the motor overdrive based on the measured wheel speed and/or the measured crank cadence.

For example, the rear derailleur, and more specifically, the shifting by the rear derailleur, can be configured based on the selected riding mode. A ride mode can be selected from a number of different ride modes, and the bicycle's controller or another controller can switch between two or more different ride modes. Within each of the different riding modes, shift characteristics may be adjusted, such as gear lag, minimum gear to shift to without pedaling, and/or other characteristics.

Turning now to the drawings, FIG. 1 shows an example bicycle 100 (eg, an electric bicycle) that may be used to implement a connection to a gear changer 102 using an intermediate power connector 104 . In the illustrated embodiment, the bicycle 100 includes a frame 106 , a handlebar 108 and a saddle 110 . The bicycle 100 also includes a first or front wheel 112 and a second or rear wheel 114 . Front brakes 116 and/or rear brakes 118 are included to brake the front wheels 112 and rear wheels 114, respectively. Front brakes 116 and/or rear brakes 118 are controlled by at least one brake actuator 120 . The bicycle 100 includes a drivetrain 122 . The transmission system 122 of FIG. 1 includes a crank assembly 124 operatively coupled to a rear case 126 via a chain 128 . The crank assembly includes a crank arm 130 and a pedal 132, and at least one link 134 configured to be operatively coupled with the chain 128 to transmit force and/or power applied to the crank assembly 124 to the chain 128 . This force and/or power is transferred to rear box 126 via chain 128 , thereby transferring propulsion 136 and/or power from rear box 126 to rear wheel 114 . Although drivetrain 122 includes a gear changer (e.g., rear derailleur 102 in the illustrated embodiment), other gear changers, such as internally geared hubs, gearboxes, and/or continuously variable gear changers, may be applied to bicycles. 100.

The transmission system 122 may also include an electric auxiliary device 140 . Pedal torque is applied to crank assembly 124 by the rider using pedals 132 and crank arm 130 . The electric assist device 140 is configured to assist the rotation of the rear wheel 114 . In the illustrated embodiment, the power assist device 140 is configured to assist rotation of the rear wheel 114 via a coupled connection with the crank assembly 124 . The power assist device 140 includes a power assist motor 141 powered by a remote power source 142 .

As shown in FIG. 1 , a gear changer such as rear derailleur 102 may be used to move chain 128 between individual sprockets of rear cassette 126 . The rear derailleur 102 is, for example, an electric gear changer that is controlled by a signal that indicates to the bicycle operator or rider that a shift command has been actuated. The electric rear derailleur 102 may alternatively be powered by an integrated or remote power supply 142 using a conductive connector or cable 144 . Power is provided from the remote power supply 142 via a cable 144 to the middle power connector 104 coupled to the rear derailleur 102 . Shift commands are implemented using an electric actuator 148 that is manually operable by the rider. The signal indicative of the shift command may be communicated to the electric rear derailleur 102 using wired and/or wireless communication techniques.

Referring to FIG. 2 , the rear derailleur 102 is attached to the bicycle frame 106 and is positioned near the rear box 126 . The chain 128 is only shown schematically in dashed lines. The electric or electromechanical rear derailleur 102 includes a base member 150 (eg, "b knuckle), an outer link 152 and an inner link 154 . The base member 150 may be attached to the bicycle frame 106 in a known manner. Inner link 154 is pivotally attached to base member 150 , eg, by a link pin. A movable member or assembly 156 (e.g., a "p-knuckle) is pivotally connected to outer link 152 and inner link 154 at an end opposite base member 150 to permit relatively movable assembly 156 The base member 150 is displaced.

The rear derailleur 102 can also be configured to work with an integrated power source 158 such as a removable battery. In the example shown in FIGS. 1 and 2 , an integrated power supply or battery 158 is attached to the rear derailleur 102 . The integrated power supply 158 may provide power to a motor of the rear derailleur 102 , for example, for shifting the rear derailleur 102 . The intermediate power connector 104 may include an interface with the rear derailleur 102 including interface features similar to the removable battery 158 for electrical connection to the derailleur 102 . This interface may have a portion that is removably connected to the rear derailleur 102 . The intermediate power connector 104 , or at least a connecting portion thereof, may also be smaller than the removable battery 158 . When the intermediate power connector 104 transmits power from the remote battery or power source 142 , the intermediate power connector 104 may include circuitry for converting the electrical energy provided by the remote battery 142 into a form usable by the derailleur 102 . For example, the intermediate power connector 104 may include circuits for voltage reduction, voltage rectification, and other power conversion circuits and/or devices or combinations thereof. In one embodiment, the intermediate power connector 104 may also include communication circuits and/or other devices. For example, the intermediate power connector 104 may include a wireless transmitter and/or receiver, a CAN bus to a wireless converter, a wired data connector, a CAN bus to a derailleur protocol converter, and/or other devices or circuits and combinations thereof.

As shown, the bicycle 100 also has a handlebar mounted user interface via a shift actuator or electric actuator 148 . All of these components can be connected to a remote power source or remote battery 142 . Additionally, all communication between the electric bicycle central control system or controller and each component is via wired or wireless communication. There may be discrete control of individual wires from a central controller to each component, or the system may use a Controller Area Network ("CAN") bus designed to allow microcontrollers and devices to interact with each other in an application communication.

Although the illustrated bicycle 100 is a mountain bike and may include suspension components such as a shock fork, embodiments disclosed herein may be implemented with other types of bicycles, such as road bicycles. The forward and/or forward orientation of bicycle 100 is indicated by the orientation of arrow "A" in FIG. 1 . Thus, the forward orientation of the bicycle is indicated by the orientation of arrow A.

The electric bicycle central control system or controller can be supported by the same housing as the remote power supply 142 . The electric bicycle controller may control power from the remote power source 142 to components on the bicycle 100 , such as the power assist device 140 . The electric bicycle controller may control power to other and/or different components on the bicycle 100 . The electric bicycle controller may send signals (e.g., commands) to and/or receive data (e.g., commands and/or senses) from components on the bicycle 100 (e.g., derailleur 102, suspension system, and/or seatpost assembly). sensor data) to actuate and/or control components of the bicycle 100.

In other embodiments, the e-bike controller may be located elsewhere on the bicycle 100 (e.g., mounted on the handlebars), or alternatively, may be distributed among the various components of the bicycle 100, with routing of communication links. To accommodate the necessary signal and power paths. The electric bicycle controller may also not be located on the bicycle 100, such as on the rider's wrist or in a jersey pocket. The communication link may comprise wires, may be wireless, or may be a combination thereof. In one example, an electric bicycle controller can be integrated with the rear derailleur 102 to communicate control commands between the components. An electric bicycle controller may include a processor, a communication device (eg, a wireless communication device), memory, and one or more communication interfaces.

In one example, the controller of the derailleur and/or the electric bicycle controller wirelessly actuates the motor module and/or auxiliary motor of the derailleur 102 and operates the derailleur 102 to perform gear changes and gear selections. Additionally or alternatively, the derailleur's controller and/or the electric bicycle controller may be configured to control the shifting of the front gear changer.

FIG. 3 shows an example of a control system 300 (eg, an electromechanical control system), such as for bicycle 100 . The control system 300 includes an electric bicycle controller 302, the power assist device 140, the rear derailleur 102, and one or more sensors. The electric auxiliary device 140 is, for example, an auxiliary motor.

The one or more sensors include, for example, pedal speed sensor 304 , wheel speed sensor 306 , and torque sensor 308 . For example, the pedal speed sensor 304 measures the rotational speed of at least one of the crank arms 130, the wheel speed sensor 306 measures the rotational speed of at least one of the wheels 114, 112, and the torque sensor 308 measures The torque on the crank assembly 124 and/or the torque on the output shaft of the auxiliary motor 140 is measured. Control system 300 may include more, fewer and/or different sensors. For example, the one or more sensors may include more than one wheel speed sensor 306 , one for the front wheel 112 and one for the rear wheel 114 .

Pedal speed sensor 304, wheel speed sensor 306, and torque sensor 308 may be any number of different types of sensors. For example, the pedal speed sensor 304 and the wheel speed sensor 306 may be combined speed and cadence sensors. The speed and cadence sensors may include spoke magnets attached to the spokes of the front wheel 112 or the rear wheel 114 and/or cadence magnets attached to one of the crank arms 130, and to the bicycle 100. Sensors (eg, Hall Effect sensors) of rack 106 . The sensors attached to the frame 106 of the bicycle are configured to identify and count a crank arm 130 and/or front end based on the cadence magnet and/or the spoke magnet respectively passing through the sensor attached to the frame 106. Rotation of wheel 112 or rear wheel 114 . Other types of sensors may be provided (eg, a combination of gyroscopes and accelerometers for wheel speed sensor 306). Torque sensors 308 may include, for example, magnetoelastic torque sensors, strain gauges, SAW devices, and/or other types of torque sensors. In one embodiment, the torque sensor 308 is a current sensor that measures the current through the auxiliary motor 140 . The amount of current drawn by the assist motor 140 is proportional to the torque that the assist motor 140 applies to the driveline of the bicycle 100 .

As shown in the embodiment of FIG. ) can communicate directly with the electric bicycle controller 302. Alternatively or additionally, at least some components of the control system 300 may communicate indirectly with the electric bicycle controller 302 . For example, the wheel speed sensor 306 and/or the pedal speed sensor 304 may be in direct communication with the rear derailleur 102 and may be in indirect communication with the electric bicycle controller 302 through the rear derailleur 102 . In one embodiment, at least each of the rear derailleur 102 and the electric bicycle controller 302 and all of the sensors such as the pedal speed sensor 304, the wheel speed sensor 306, and the torque sensor 308 direct communication. Other and/or different components of control system 300 may communicate directly with all of the one or more sensors (eg, power auxiliary device 140 ). The communication between the components of the control system 300 can be wired communication and/or wireless communication.

Each communication link 310 between components of the control system 300 can be in both directions. In other words, in direct communication, data flow between components of the control system 300 can be in two directions. For example, the wheel speed sensor 306 may receive signals from the electric bicycle controller 302 or the rear derailleur 102 (eg, as to when the rotational speed is measured) and transmit the measured rotational speed back to the electric bicycle controller 302 Or rear derailleur 102.

FIG. 4 is a block diagram of an operating component 400 . The operating assembly 400 may be one or more of the aforementioned components or may be part thereof, such as the rear derailleur 102, the electric bicycle controller 302, and the front gear changer. The operating assembly 400 can also be another assembly, such as the power assist device 140, an internal transmission assembly, a suspension or an adjustable suspension assembly or an adjustable seat assembly. A plurality of operating components 400 may be provided.

The operating assembly 400 is provided with an operating unit 402, which can be a circuit board or an alternative assembly. The operation unit 402 includes an operation processor 404 , an operation memory 406 , an operation user interface 408 , an operation power supply 410 , an operation communication interface 412 and an operation device interface 414 . In one embodiment, the operator communication interface 412 is in communication with the operator communication device 416 , and the operator device interface 414 is in communication with the operator device 418 . Additional, different or fewer components may be provided. For example, the operation user interface 408 may be omitted.

The structure, connections and functions of the operation processor 404 may represent the structure, connections and functions of the rear derailleur 102, the front derailleur, the electric pedal controller 302, or other components. Operational processor 404 may include a general purpose processor, digital signal processor, ASIC, FPGA, analog circuitry, digital circuitry, combinations thereof, or other now known or later developed processors. The operating processor 404 can be a single device or a combination of devices, such as by shared or parallel processing.

The operating memory 406 can be a volatile memory or a non-volatile memory. Operating memory 406 may include one or more of ROM, RAM, flash memory, EEPROM, or other types of memory. The operating memory 406 is removable from the operating unit 400 such as an SD memory card. In a specific non-limiting exemplary embodiment, a computer-readable medium may include solid-state memory, such as a memory card or other package housing one or more non-volatile read-only memories. In addition, the computer readable medium can be random access memory or other electrically rewritable memory. Additionally, computer readable media may include magneto-optical or optical media such as magnetic disks or tapes or other storage devices. Accordingly, the invention should be considered to include any one or more of a computer-readable medium and other equivalent and descendant media in which data or instructions can be stored.

Operating memory 406 is a non-transitory computer-readable medium and is described as a single medium. However, the term "computer-readable medium" includes a single medium or multiple media, such as a centralized or distributed memory structure, and/or associated cache memory, operable to store one or more sets of instructions and other data . The term "computer-readable medium" shall also include any medium capable of storing, encoding, or carrying a set of instructions for execution by a processor or causing a computer system to perform any one or more of the methods or operations disclosed herein.

The operating power source 410 is a portable power source, which can be stored inside the operating component 400 or outside the operating component 400 , and communicates with the operating component via a conductive cable. Operating the power source 410 may involve, for example, the generation of electricity using mechanical generators, fuel cell devices, photovoltaic cells, piezoelectric or other power generating devices. Operating power source 410 may include a battery, such as a device consisting of two or more electrochemical cells that convert stored chemical energy into electrical energy. The operating power source 410 may include a combination of multiple batteries or other power supply devices. Specially adapted or assembled battery types may be used, as well as standard battery types.

In an example where the operating component 400 is the rear derailleur 102 , the operating power source 410 can be stored inside the operating component 400 . In an example where the operating component 400 is the electric bicycle controller 302 , the operating power source 410 can be stored inside or outside the operating component 400 . For example, the electric bicycle controller 302 can be supported in the housing of the remote power supply 142 in FIG. 1 .

The operating device interface 414 provides for the operation of the components of the bicycle 100 . For example, the manipulation device interface 414 may transmit power from the manipulation power source 410 to effect movement in the manipulation device 418 . In various embodiments, the operating device interface 414 sends power to control movement of the assist motor 140, the motor of the rear derailleur 102, the motor of the front derailleur, or any combination thereof. In one embodiment, the operating component 400 is the electric bicycle controller 302 , and the operating device interface 414 sends power to control the movement of the electric auxiliary device 140 . The operating device interface 414 includes wired conductive signal and/or data communication circuitry operable to control the operating device 418 .

The operating user interface 408 may be one or more buttons, keypad, keyboard, mouse, stylus, trackball, rocker switch, touch pad, voice recognition circuit, or for communication between the user and the operating component 400 Other devices or components that communicate information. The operating user interface 408 can be a touch screen, which can be capacitive or resistive. The operational user interface 408 may include an LCD panel, LED, LED screen, TFT screen, or another type of display. The operational user interface 408 may also include an audio function or a speaker.

Operational communication interface 412 is configured to, together with operational communication device 416, bicycle components (e.g., pedal speed sensor 304, wheel speed sensor 306, and/or torque sensor 308; electric bicycle controller 302) receive quantities such as measured data (eg, rotational crank speed, rotational wheel speed and/or torque), expected signals, operational signals and/or other signals. In one embodiment, the operational component 400 includes more than one operational communication interface 412 in communication with one or more operational communication devices 416, respectively. The operational communication interface 412 may also be configured to send data such as status signals (eg, temperature sensor signals) for receipt by the electric bicycle controller 302, for example. Operational communication interface 412 communicates data using any operable connection. An operable connection is one in which signals, physical communication and/or logical communication can be sent and/or received. An operable connection may include a physical interface, an electrical interface, and/or a data interface. One or more operational communication interfaces may provide wireless communication through operational communication device 416 in any now known or later developed format. Although this specification describes components and functions that can be implemented in a particular embodiment with reference to certain standards and protocols, the invention is not limited to such standards and protocols. For example, standards for Internet and other packet-switched network transmissions (eg, TCP/IP, UDP/IP, HTML, HTTP, HTTPS) represent examples of prior art. Such standards are periodically superseded by faster or more efficient equivalents that perform essentially the same function. Accordingly, alternative standards and protocols having the same or similar functionality as disclosed herein are considered equivalent.

According to various embodiments of the invention, the methods described herein may be implemented using software programs executable by a computer system, such as components of control system 300 (e.g., electric bicycle controller 302 and rear derailleur 102), and/or other components on the bicycle 100 and/or components worn by the user. Furthermore, in an illustrative, non-limiting embodiment, implementations may include distributed processing, component/object distributed processing, and parallel processing. Alternatively, a virtual computer system process can be constructed to implement one or more of the methods or functions described herein.

Computer programs (also known as programs, software, software applications, scripts, or code) may be written in any form of programming language, including compiled or interpreted languages, and computer programs may be in any form, including stand-alone programs or module, component, subroutine, or other unit used in a computing environment) deployment. A computer program does not necessarily correspond to a file in a file system. A program may be stored in a portion of a file that holds other programs or data (for example, one or more scripts stored in a markup language file), in a single file dedicated to related programs, or in multiple coordinated files ( For example, a file that stores one or more modules, subroutines, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

The processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatuses can also be implemented as, special purpose logic circuitry (eg, an FPGA or ASIC).

As used in this application, the term "circuitry" or "circuit" refers to all of the following: (a) circuit implementations in hardware only (such as implementations in analog and/or digital circuits only), and (b ) combined circuits and software (and/or firmware) such as (as applicable): (i) a combination of processors or (ii) parts of processors/software (including digital signal processors), software and memories, which work together to enable devices such as mobile phones or servers to perform various functions), and (c) circuits, such as microprocessors or parts of microprocessors, which require software or firmware to operate, even if the software Or the firmware does not physically exist.

This definition of "circuitry" applies to all uses of this term in this application, including in any claims. As another example, as used in this application, the term "circuitry" will also only cover a processor (or multiple processors) or portion of a processor and its (or their) accompanying software and/or firmware and implementation of other electronic components. The term "circuitry" shall also cover, for example and if applicable, specific claim elements, baseband integrated circuits or Application Processor Integrated Circuits.

Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor receives instructions and data from read only memory or random access memory or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer further includes one or more mass storage devices (eg, magnetic, magneto-optical, or optical disks) for storing data, or is operatively coupled to receive data from or transmit data to, or both By. However, a computer need not have such a device. In addition, computers can be embedded in other devices such as mobile phones, personal digital assistants ("PDAs"), mobile audio players, global positioning system ("GPS") receivers, control units, rear derailleurs or front gear changers , to name a few. Computer-readable media suitable for storing computer program instructions and data include all forms of non-electric memory, media and storage devices, including, for example, semiconductor storage devices (e.g., EPROM, EEPROM and flash memory devices); magnetic disks (for example, internal hard disks or removable disks); magneto-optical disks; and CD-ROM and DVDROM disks. The processor and memory can be supplemented by, or incorporated in, special purpose logic circuitry.

The operational communication device 416 provides data and/or signal communication from the operational component 400 to another component of the bicycle 100 or to an external device such as a cell phone or other computing device. Operate a communication device to communicate data using any operable connection. An operable connection is one in which signals, physical communication and/or logical communication can be sent and/or received. An operable connection may include a physical interface, an electrical interface, and/or a data interface. The control communication device may be configured to communicate wirelessly, and thus include one or more antennas. The control communication means provides wireless communication in any now known or later developed format.

Control antennas are also available. The control antenna can be a plurality of control antennas. The operating component 400 may include an antenna with circuitry of the PCB of the operating component 400 . However, additional antennas may also be included in the circuit. The control antenna may be integrated with another component of the bicycle 100, or may be a separate component. For example, the control antenna can be integrated as part of the electric bicycle controller 300 and/or as part of the rear derailleur 102 .

The derailleur 102 can allow multiple riding modes to be combined, which can be switched by a control unit (eg, the electric bicycle controller 302 or another controller on or off the bicycle 100 ). The control unit may automatically switch riding modes based on user input (eg, via the electrical actuator 148 or another interface) or based on sensed conditions. In each mode, various characteristics of the ride mode can be adjusted. For example, gear lag, the smallest gear to shift to without pedaling, and/or other characteristics may be adjusted.

FIG. 5 is a flowchart of an embodiment of a method, such as for electromechanical control of components of bicycle 100 . The flowchart also illustrates the method for sending and receiving wireless signals on the bicycle 100 . As presented in the following sections, actions may be performed using any combination of components indicated in the previous figures. For example, the following actions may be performed by at least some components of control system 300 as well as additional or other components. In one embodiment, such actions may be performed by, for example, the rear derailleur 102, the electric bicycle controller 302, the power assist device 140, one or more sensors, or any combination thereof. Additional, different or fewer actions may be provided. The actions are performed in the order shown or in another order. These actions can be repeated.

In act 500, the processor initiates a mode of the bicycle (eg, fully automatic mode). In fully automatic mode, a derailleur (eg, derailleur 102 ) is shifted without user input to maintain a gear that brings the rider's cadence closer to a defined target based on current wheel speed. The processor may automatically initiate the fully automatic mode based on user input or based on sensed riding conditions. In one embodiment, the processor is the processor of the derailleur and initiates the fully automatic mode based on instructions from another processor that receives user input or identifies a sensed riding condition (eg, electric bicycle controller 302).

In act 502, the processor receives data indicative of wheel speed from a sensor (eg, a wheel speed sensor; wheel speed sensor 306). The wheel speed sensor measures the rotational speed of the wheel continuously or at predetermined intervals. The received data representing wheel speed may be data for the front wheel of the bicycle and/or the rear wheel of the bicycle. The data indicative of wheel speed may be a rotational speed value (eg, in revolutions per minute).

In act 504, the processor receives data indicative of cadence speed from a sensor (eg, a pedal speed sensor or a crank cadence sensor; pedal speed sensor 304). The pedal speed sensor measures the rotation speed of the crank arm attached to the pedals of the bicycle continuously or at predetermined intervals. The data representing the cadence speed may be a rotational speed value (for example, revolutions per minute).

Some wheel speed and crank cadence sensors that can be used as input to this method use a single magnet mounted on the wheel or crank respectively, and a single reed switch or hall effect sensor mounted on the frame. As the wheel or crank rotates, the magnet passes a Hall Effect sensor or reed switch each revolution, producing a signal that is read by the processor. These sensor systems use the time between reed switch or Hall effect sensor activations to measure crank or wheel angular velocity. As the wheel or crank decelerates, the time period between Hall or reed events increases. The speed calculated by the microprocessor is only updated when a sensor event occurs. The automatic shifting performance of the methods described above increases faster with accurate updates of the current wheel or current crank speed. When the wheel or crank comes to a complete stop, the magnet is no longer passed by the Hall effect sensor or reed switch, so the time to update the speed becomes infinite. To avoid this, the processor has a maximum time between activations beyond which the crank speed or wheel speed is assumed to be 0 (eg, greater than 2 seconds, effectively stopped). If the rider decelerates from 60 RPM to 0 RPM within 1 revolution of the wheel, the processor will have to wait two seconds to make this determination.

If the method makes a critical decision after the wheel speed drops below 50 RPM, the processor can estimate when this happened by tracking how much time has passed since the last sensor event. It can be assumed that the bicycle is ridden at a speed not exceeding <img file="TWI810100B_D0001.tif" />(RPM). Using this calculation allows the bicycle (eg, processor) to react faster to crank speed and/or wheel speed information than to wait for the next signal to occur.

In act 506, the processor compares data representative of the cadence speed received in act 504 (eg, the current cadence speed) with the target cadence speed. The target cadence speed can be defined by the user. For example, a bicycle may include one or more control devices (eg, two control buttons) mounted on the handlebars of the bicycle. These two control buttons can communicate (eg, wirelessly and/or wiredly) with, for example, the electric bicycle controller 302 and/or other components on the bicycle. One of the two control buttons may generate a signal indicating an increase in the target cadence speed when pressed, and the other of the two control buttons may generate a signal indicating a decrease in the target cadence speed when pressed . For example, a single press of either of the two control buttons can increase or decrease the target cadence speed (eg, set point) by a programmable number of RPMs. In one embodiment, the set point is adjustable within a functionally practical predetermined range (eg, 60 RPM - 120 RPM). Attempts by the rider to make adjustments beyond the limits of the predetermined limits have no effect on the set point. In other words, the set point will remain at the lower or upper limit. The predetermined limit may also be adjustable.

In one embodiment, the derailleur button that controls the upshift and downshift action of the rear derailleur can serve a dual purpose to control the set point for the automatic shift target cadence. If the derailleur button is pressed for less than a predetermined amount of time (eg, less than 300 milliseconds), the upshift and downshift buttons may trigger upshift and downshift actions of the rear derailleur, respectively. If the derailleur button is pressed and held for longer than a predetermined time (eg, a long press), the long press may be considered a set point adjustment command and the target cadence may be increased or decreased.

Each setpoint adjustment should only modify the target cadence by a small amount (for example, 1 RPM) to achieve a precise adjustment. In one embodiment, in order to quickly make large adjustments to the target cadence, a long press may be followed by one or more short presses (for example, less than 300 milliseconds). As long as each shorter pressure occurs within some threshold time (eg, 800 milliseconds) after the last press, the shorter pressures can each result in an additional increase or decrease in the set value.

If the time interval between a button press and the previous button press during a series of presses exceeds a threshold time period, that button press and all subsequent button presses may be interpreted as a derailleur upshift or downshift command, until another long press occurs. If one or more short presses within the threshold followed by a long press are considered repeat commands, but the button orientation changes (for example, long press, short press, short press, short press), the repeat command sequence may be Terminated, and alternately directed button presses may be interpreted as shifts. The downshift button can share the increase set point function, and the upshift button can share the decrease set point function. In one embodiment, these functional pairs are interchangeable.

A memory in communication with the processor (eg, the memory of the derailleur 102 or the memory of the electric bicycle controller 302 ) stores gear ratio tables and upshift/downshift tables. When the rider adjusts the set point, the processor recalculates the gear ratio table and upshift/downshift table based on the adjusted set point. If the closest gear ratio changes while the set point is being adjusted, the derailleur will shift gears immediately, ignoring hysteresis in the upshift/downshift tables.

In one embodiment, setpoint adjustments are assembled through a system control interface (eg, an electric bicycle system control interface). The system control interface may be able to display the current settings and directly adjust the settings on the rear derailleur. In another embodiment, the set point adjustment is performed by a mobile device application that communicates directly with the rear derailleur.

In act 508, the processor determines based on the comparison of act 506 whether the current cadence speed received in act 504 is within a certain range (eg, within 3 RPM) relative to the target cadence speed. If the current cadence speed is within the range, the method returns to action 502 . If the current cadence speed is not within the range, the method moves to action 510 .

In act 510, the processor compares the current wheel speed to a predetermined minimum wheel speed. For example, the processor calculates the difference between the current wheel speed and a predetermined minimum wheel speed. The predetermined minimum wheel speed means, for example, the functional minimum wheel speed.

In act 512 , the processor determines whether the current wheel speed is greater than or less than a predetermined minimum wheel speed based on the comparison in act 510 . If the processor determines that the current wheel speed is less than the predetermined minimum wheel speed, then the shift is not initiated and the method returns to act 502 . If the processor determines that the current wheel speed is greater than the predetermined minimum wheel speed, then the method moves to act 514 .

In the absence of being pedaled, the characteristics of the chain link speed-up drive are limited by the speed of the bicycle. This is such that the drive speed of the chainrings should not be such that torque is applied to the wheels. Therefore, the above method may not be applicable when the bicycle is moving very slowly or stopped. In order to overcome this problem a hub can be used which enables decoupling of the cassettes. When the bicycle is stopped or moving below a speed at which the overdrive function can be used safely, the control system can decouple or disengage the cassette from the rear hub, allowing the cassette to move forward without applying torque to the wheel. With the hubs decoupled, the derailleur can change gears and the assist motor can overdrive to select the ideal gear for slow or stopped conditions. A crank speed sensor may be used to detect recovery rider input into the system. When pedaling is detected or the rider is pedaling faster, the control system recouples the cassette to the hub.

In act 514, the processor determines whether the crank arm is rotating. For example, the processor determines whether the crank arm is rotating based on the current cadence received at act 504 . If the current cadence speed is greater than zero, the method proceeds to act 516 . If the current cadence speed is equal to zero or approximately zero (eg, less than or equal to 1 RPM), the method moves to act 518 .

In act 516, the processor instructs a motor (e.g., that of a derailleur or assist motor 140) to actuate and shift gears to maintain the gears that result in the rider's cadence approaching the target cadence speed identified in act 506 ( For example, within the scope of the above discussion). After act 516, the method returns to act 502.

When performing an automatic shift, the derailleur may adjust the minimum timing between shifts based on current wheel speed, current cogs, current cycling cadence, or some other parameter such that each shift is completed before blocking. This timing is optimized to allow the fastest possible shifts without causing missed shifts.

The assist motor does not operate unless the user depresses the pedals to accelerate the motor or maintain bicycle speed. This is not difficult if the current wheel speed is accurate. However, the wheel speed sensor can only update the current wheel speed once per revolution. During a rapid deceleration event, the bicycle may drop below the speed of the assist motor before the wheel speed sensors report a change in speed. A bicycle's accelerometer or inertial measurement unit (IMU) can be used to supplement wheel speed sensor data by disabling the auxiliary motor when significant deceleration occurs. If a rapid deceleration event occurs, the auxiliary motor may be temporarily stopped (eg, if currently operating) until the wheel speed data has been updated.

In act 518, the processor instructs, for example, an assist motor to run for a period of time to allow the chain to derail to the target cog (eg, with the derailleur's motor). After act 516, the method returns to act 502.

When an auxiliary motor is used to facilitate shifting without the rider pedaling, the auxiliary motor should run the drivetrain at a speed slower than the bicycle is moving. A threshold (eg, proportional to the torque the auxiliary motor applies to the driveline) for the amount of current drawn by the auxiliary motor may be defined to prevent the motor from inputting unnecessary power into the driveline. This is an intentionally redundant method of turning off the auxiliary motor for speed calculation. It is important that the assist motor does not apply unintentional torque to the drivetrain, causing unintentional acceleration of the bicycle.

For example, when the rider is not pedaling, the rate at which the auxiliary motor drives the chain to facilitate shifting should be low enough that, for the current gear ratio and current wheel speed, no torque is transmitted to the hub's drive elements (such as , Chain RPM &lt; current gear ratio * current wheel speed + safety margin). The shift needs to be done as quickly as possible. Thus, the chainring can be driven as fast as possible without applying torque to eg the rear wheel. Accordingly, the auxiliary motor speed may be set based on the current gear ratio and the current wheel speed. In one embodiment, the motor output torque is limited below a threshold value during a motor assisted shift event. For example, motor output torque may be limited to two ("2") Newton meters ("N m").

It is desired that the time required for the auxiliary motor to run is as short as possible to complete the commanded shift. Each time the chain ring turns, the chance of the chain ring derailing increases (for example, in the case of low pedal pedal loads for motor assisted shifting). The duration of motor operation may vary with the currently selected gear since different gears have different expected shift times. In one embodiment, the rear derailleur (eg, the rear derailleur's processor and/or one or more sensors) can determine when the shift is complete (eg, the chain has derailed to the target cog). In this case, the motor may run until the derailleur detects that the shift is complete.

In one embodiment, even if the bike is configured for zero rider assistance, the automatic shifting described above can operate without pedaling using motor drive functions (e.g., overdrive the chainring without pedaling) . In this setup, the assist motor only runs when the derailleur is shifting without pedaling to facilitate the shift. When the rider is pedaling, the unassisted mode of the e-bike system will be used.

FIG. 6 is a flowchart of an embodiment of a method for electromechanically controlling components of a bicycle, such as bicycle 100 . As described in the following sections, actions may be performed using any combination of components indicated in the previous figures. For example, the following actions may be performed by at least some components of control system 300 as well as additional or other components. In one embodiment, such actions may be performed by, for example, the rear derailleur 138, the electric bicycle controller 302, the power assist device 140, one or more sensors, or any combination thereof. Additional, different or fewer actions may be provided. The actions are performed in the order shown or in another order. These actions can be repeated.

In act 600, the processor determines whether the bicycle is moving. In one embodiment, the processor determines whether the bicycle is moving by receiving wheel speed data from a wheel speed sensor of the bicycle and determining whether the bicycle is moving based on the received wheel speed data. For example, the processor may determine that the bicycle is moving when the received wheel speed data indicates that the wheel speed is greater than zero.

In act 602, when it is determined that the bicycle is moving, the processor determines whether the bicycle is being pedaled. In one embodiment, the processor determines whether the bicycle is being pedaled by receiving crank data from one or more crank sensors of the bicycle and determining whether the bicycle is being pedaled based on the received crank data. For example, the processor may determine that the bicycle is being pedaled when the received crank data indicates that the crank speed is greater than zero.

The one or more crank sensors of the bicycle may include any number of different types of crank sensors. For example, the processor may receive crank cadence data from one or more cadence sensors of the bicycle, crankshaft angle data from one or more angular position sensors of the bicycle, The angular velocity sensor receives crankshaft angular velocity data, or any combination thereof.

In one embodiment, the method may include additional actions when it is determined that the bicycle is pedaled. For example, the processor may estimate the angular position of the crank arm continuously or at predetermined intervals based on the received crank data.

In action 604, when it is determined that the bicycle is not being pedaled, the processor enables the auxiliary motor of the bicycle to provide power to the transmission system of the bicycle to realize electronic shifting of the bicycle. In one embodiment, the processor causes the bicycle's auxiliary motor to provide power to the bicycle's drivetrain for a period of time, thereby shifting a single gear. To switch multiple gears, the auxiliary motor can be activated at various times.

Gear changer action can be timed and/or otherwise related to the angular position of the crank arm. In other words, derailleur shifting operations can be timed to work with specific angular positions of the crank. The processor may perform a gear shift based on the estimated crank angle. For example, when the estimated angular position of the crank matches the predetermined angular position of the crank, the processor causes the auxiliary motor of the bicycle to provide power to the transmission system of the bicycle to realize the electronic shifting of the bicycle. In one embodiment, the predetermined angular position of the crank corresponds to the vertical position of the crank.

When the rear derailleur performs a shift, there may be an interruption in the rider's pedaling stroke, such as a short but rapid advance of the crank, which may disturb or cause discomfort to the rider. Also, in some rear derailleur systems it is desirable to have low chain tension during shifting to prevent damage to the cassette, chain or gearbox. Because the rider cannot predict when the automatic shifting algorithm will execute a shift and adjusts his pedaling effort accordingly during the shift, it is beneficial to the rider and the shifter that the shift occurs when the rider's input torque is low. When a rider is pedaling, there is generally a region of low torque input, such as when the crank is in an upright position. Crank cadence, angular position or angular velocity sensors may be used to delay and/or otherwise time the onset of the shifting action so that the shifting is performed at the desired crank arm position for proper rider input torque. Some sensors, such as traditional cadence sensors, can time crank rpm with reference to a fixed location on the bicycle frame. A signal can be sent from the cadence sensor as it passes the frame reference. When the rear derailleur chooses to perform a shift from the automatic shifting algorithm, it will wait until the crank is in the proper position so that the shift will be done at the ideal position in the rider's pedaling movement. The derailleur uses the cadence sensor frame reference signal along with the crank cadence data to maintain the estimated position of the crank at all times. In one embodiment, the frame mounted portion of the cadence sensor may be positioned relative to the appropriate shift zone for the crank arm position. For example, a frame-mounted portion of the cadence sensor can be mounted to the seat portion of the frame, and another portion of the cadence sensor can be mounted to the crank arm. Thus, the shift zone can be initiated when the crank arm portion of the sensor is sensed, as this orientation provides an indication that the sensed crank arm has reached the optimum shift position.

Determining whether the bicycle is moving, determining whether the bicycle is being pedaled, and having the bicycle's auxiliary motor power the bicycle's drivetrain for electronic shifting of the bicycle may be part of the bicycle's mode of operation. The processor may initiate based on, for example, sensor data (e.g., when it is determined that the bicycle is moving and not being pedaled) and/or user input (e.g., interaction with one or more buttons on the handlebar) The mode of operation of the bicycle.

In one embodiment, when in fully automatic mode, the rider can still command gear shifts from the control device (eg, derailleur). When the rider commands a gear shift, the automatic shifting feature described above is deactivated for a configurable period of time to allow the rider to negotiate riding zones that require manual override. If the rider commands a shift without pedaling, an assist motor (eg, assist motor 140 ) may be activated to facilitate completion of the shift.

In a variation of the fully automatic mode, the processor may initiate the coast-only automatic mode automatically or in response to user input. In Auto Coast Only mode, the aforementioned automatic shifting only operates when the rider is not pedaling. For a rider who rides aggressively, this may be desirable so that the rider does not experience the shock caused by the bicycle's pedals due to shifting under high loads. During coasting, the derailleur shifts through gears to accommodate the changing wheel speed so that when the rider resumes pedaling, the rider is in the desired gear.

In another mode, the motor-only shifting mode, the derailleur only shifts in response to user input (eg, commands), such as on a control device. If the rider commands a gear shift without depressing the pedals, an auxiliary motor can be activated to facilitate completion of the gear shift.

Fully automatic, coast-only and motor-only shifting modes are also available with cable-actuated derailleurs controlled by an electric cable mechanism. The pedal-less motor-assisted shifting can be triggered by a non-electronically actuated shifting system capable of communicating shift events to the e-bike system.

A bicycle has many operating states in which it is undesirable for the bicycle to attempt an automatic shift. For example, it is undesirable for a bicycle to attempt automatic shifting while the bicycle is being serviced on a rack, when the bicycle is placed on its side, when the user is walking alongside the bicycle, and when the bicycle is stationary. A prerequisite for shifting gears can thus be provided.

For the safety of the user, it is only possible to operate a motor (eg, an assist motor) to complete a gear change when the rider is not pedaling while riding a bicycle. If the bicycle is in a service stand or pushed/transported by hand, it should not perform an automatic shift function where body parts or clothing can get caught in the drivetrain or spokes. During maintenance, a mechanic may turn the crank and move the derailleur to make adjustments or diagnose problems. Turning the wheels and cranks may trigger automatic gear shifting (eg, by an assist motor).

The automatic shifting of the auxiliary motor can also be disabled whenever the bicycle stops moving (eg, wheel speed &lt;= 0). Whenever the bike starts moving, the assist motor automatically shifts until the rider is detected. Automatic shifting poses no threat to the rider and can always be enabled regardless of riding, maintaining or transporting the bike. However, certain implementations of automatic shifting may disable automatic shifting (eg, with or without an assist motor) until the rider detection algorithm is satisfied.

After the bike starts moving, the processor starts recording the crank speed and the rider input torque on the crank. The processor may continuously buffer crank torque and speed data over a rolling period of time representing the immediate history of the drivetrain and determine the average power currently being input into the bicycle. In one embodiment, the time period represented by the buffer data is 1 to 5 seconds. Other time periods may be used.

The processor continuously calculates the average rider power input (eg, torque times speed) over this time period. If the bike is in a pit stand, the rear wheel of the bike will not be able to respond to any high torque input from the crank, so the maximum average power over a few seconds is very low, coming only from the wheels and friction in the rear wheel's inertial drivetrain. When riding a bicycle, the rear wheel will react to the torque from the crank because the rate of pedaling on the bicycle is many times that of pedaling on the service stand. The current average power input to the crank can be compared to a threshold power level that can only be achieved by normal cycling.

Once the average power exceeds the threshold level, the automatic speed change of the auxiliary motor can be activated. The bike may come to a standstill when the rider unloads it, so once the input power requirements are met, it is safe to use the assist motor for automatic shifting until the bike reaches zero speed. When the rider stops, the automatic shifting of the auxiliary motor will be disabled; if the rider resumes riding from the stop, the average input power requirement must be met again. Generally, when a bicycle is pedaled from a stop position, a large electric power input is required to accelerate the bicycle so that the above-mentioned requirements can be quickly met. The time period for recording crank torque and crank speed can be long enough to prevent false detection, but short enough to enable automatic gear shifting as quickly as possible using the auxiliary motor.

As noted above, both wheels may include at least a portion of a wheel speed sensor (eg, wheel speed sensor 306 ). If the wheel speed sensors are not reporting the same or similar speed (for example, within 0.1 RPM), then this is a strong indication that the bike is being pedaled on the stand, and the above method should not cause the derailleur to shift or command the motor to increase speed. speed transmission. There may be exceptions if the above methods are evaluated in a bracket. To accommodate this situation, the control system (eg, control system 300 ) can be placed in an override mode to allow cruise control permission even if the control system thinks the bicycle is in the work stand. This override mode can be activated via the e-bike interface, the drivetrain's mode selection unit, a mobile device app or by interacting with the derailleur's buttons.

FIG. 7 is a flowchart of another embodiment of a method for electromechanically controlling components of a bicycle (eg, bicycle 100 ). As described in the following sections, actions may be performed using any combination of components indicated in the previous figures. For example, the following actions may be performed by at least some components of control system 300 as well as additional or other components. In one embodiment, these actions may be performed by, for example, the rear derailleur 138, the electric bicycle controller 302, the power assist device 140, one or more sensors, or any combination thereof. Additional, different or fewer actions may be provided. The actions are performed in the order shown or in another order. These actions can be repeated.

In act 700, a processor receives first sensor data from a first sensor of a bicycle. For example, receiving first sensor data from a first sensor includes receiving first wheel speed data from a first wheel speed sensor (eg, a front wheel speed sensor). The first wheel speed data represents the wheel speed of the first wheel (eg, the front wheel) of the bicycle.

In one embodiment, receiving the first sensor data from the first sensor includes one of the following: receiving the bicycle orientation data from the orientation sensor of the electric bicycle; receiving the bicycle orientation data from the first wheel speed sensor of the electric bicycle receiving first wheel speed data; receiving second wheel speed data from a second wheel speed sensor of an electric bicycle; receiving crank speed data from a cadence sensor of an electric bicycle; receiving strain data from a strain gauge of an electric bicycle; and Acceleration data is received from an accelerometer, a gyroscope, or a combination thereof. In another example, receiving the first sensor data from the first sensor includes receiving strain data from a strain gauge of a crank arm, frame, handlebar, or seat of the electric bicycle.

In act 702, the processor receives second sensor data from a second sensor of the bicycle. For example, receiving second sensor data from a second sensor includes receiving second wheel speed data from a second wheel speed sensor (eg, a rear wheel speed sensor). The second wheel speed data represents the wheel speed of the second wheel (eg, rear wheel) of the bicycle.

In one embodiment, receiving the second sensor data from the second sensor includes one of the following: receiving bicycle orientation data from an orientation sensor of the electric bicycle; receiving bicycle orientation data from a first wheel speed sensor of the electric bicycle receiving first wheel speed data; receiving second wheel speed data from a second wheel speed sensor of an electric bicycle; receiving crank speed data from a cadence sensor of an electric bicycle; receiving strain data from a strain gauge of an electric bicycle; and Acceleration data is received from an accelerometer, a gyroscope, or a combination thereof. For example, receiving the second sensor data from the second sensor includes receiving the first wheel speed data from the first wheel speed sensor of the electric bicycle or receiving the second wheel speed data from the second wheel speed sensor of the electric bicycle. Wheel speed data.

In action 704, the processor identifies based on the first sensor data and the second sensor data whether the bicycle is supported such that the wheels of the bicycle can be driven without translating the bicycle (e.g., the bicycle is supported off the ground, such as by bracket support; rider participation state). In one embodiment, identifying whether the bicycle is supported in this manner includes comparing, by the processor, the first wheel speed to the second wheel speed. For example, the processor can compare the first wheel speed to the second wheel speed by calculating the difference between the first wheel speed and the second wheel speed. The processor compares the calculated difference to a predetermined difference (eg, 3 RPM).

In act 706, the processor prevents movement of the electric components of the bicycle based on the identification. For example, movement of the electric component may be prevented based on a comparison of the first wheel speed and the second wheel speed. In other words, when the calculated difference is greater than the predetermined difference (eg, greater than 3 RPM), the processor prevents the movement of the electric component.

The blocking of the processor in act 706 may be overridden by user input. For example, a processor may receive user input or a signal resulting from user input (e.g., user interaction with one or more buttons on a handlebar), and may enable the electric bicycle to movement of electric components (e.g. actuator motors).

In one embodiment, several sensors may be used to positively determine whether the bicycle is being actively ridden, on a work stand, or being pushed. The sensors may include: one or more pressure sensors located in the saddle and configured to detect the rider's weight; and strain gauges in one of the crank arms or bottom bracket for detecting Measuring torque in the rider's legs; and/or strain gauges in the handlebars or handlebars, which are configured to detect the rider's grip on the handlebars.

If the rider crashes or the bike is left on its side, and one or more wheels are still spinning, the methods described above may recognize this as a valid input and attempt to shift gears or operate the motor overdrive function. To prevent this, an accelerometer in the rear derailleur can be used to determine the orientation of the bike. While the derailleur is operating, the derailleur may take accelerometer readings at regular intervals (eg, at frequent intervals, such as every 100 milliseconds). By averaging these readings (eg, as a low pass filter) over a limited history, the orientation of the bicycle can be determined. The accuracy and response time of the orientation sensing function can also be improved by supplementing the accelerometer data with a gyroscope. Orientation sensors and functions may also exist in e-bike systems, derailleurs, electronic seatposts, or in a separate device for detecting orientation.

A combination of wheel speed, crank cadence, and rider torque may be used in combination to determine whether the bicycle is being lightly pedaled or being actively ridden on a work stand. If the wheel speed accelerates from zero to an effective value that triggers an automatic shift, the energy input by the rider to achieve this speed can be used by the integral <img file="TWI810100B_D0002.tif" />It is determined whether the bicycle is being actively ridden. If the energy used to accelerate the rider and the bicycle is below a predetermined threshold, it can be inferred that the bicycle may be pushed or pedaled on a stand. This assumption may not be valid if the bike starts moving down the ramp. Accelerometers or other orientation sensing devices can be used to supplement this decision. The processor can calculate the energy and compare the calculated energy to a predetermined threshold. Predetermined threshold values may be set based on experimental data.

If the bicycle is pedaled on a bicycle stand, the wheel acceleration will not correlate with the acceleration observed by the inertial measurement (IMU) unit or accelerometer. If sufficient wheel speed acceleration and IMU acceleration correlations are not met, the processor may disable the automatic transmission function.

FIG. 8 is a flowchart of another embodiment of a method for electromechanically controlling components of a bicycle (eg, bicycle 100 ). As described in the following sections, actions may be performed using any combination of components indicated in the previous figures. For example, the following actions may be performed by at least some components of control system 300 as well as additional or other components. In one embodiment, these actions may be performed by, for example, the rear derailleur 138, the electric bicycle controller 302, the power assist device 140, one or more sensors, or any combination thereof. Additional, different or fewer actions may be provided. The actions are performed in the order shown or in another order. These actions can be repeated.

In act 800, a processor in communication with electric components of the bicycle identifies sensor data. The sensor data identifies the state of the bicycle. The electric components may be any number of electric components of a bicycle including, for example, an auxiliary motor for an electric bicycle or a derailleur motor for automatic shifting. In one embodiment, the method is applied in parallel to more than one electric component. For example, the method may stop or prevent movement of both the auxiliary motor and the motor of the gear converter.

In one embodiment, identifying sensor data includes receiving, by the processor, orientation data from one or more orientation sensors of the bicycle. For example, the processor can receive orientation data from at least one accelerometer. The processor may receive orientation data from at least one accelerometer continuously or at predetermined intervals.

Alternatively or additionally, identifying sensor data includes receiving wheel speed data from one or more wheel speed sensors of the bicycle, receiving crank speed data from one or more cadence sensors, receiving crank speed data from one or more The strain gauges receive strain data, acceleration from one or more accelerometers and/or one or more gyroscopes, or any combination thereof.

In act 802, the processor determines rider engagement status based on the identified sensor data. For example, the processor determines the orientation of the bicycle based on the received orientation data, and determines whether the user is riding the bicycle based on the determined orientation of the bicycle.

In one embodiment, determining the orientation of the bicycle includes the processor averaging a portion of the received orientation data (e.g., over a predetermined time period such as 0.5 s, 1.0 s, 2.0 s), and based on the average of the received orientation data part to determine the orientation of the bicycle.

In one embodiment, the processor determines whether the bicycle is experiencing a predetermined deceleration as the rider engagement state based on the identified sensor data. For example, the sensor data may be acceleration data from one or more accelerometers and/or gyroscopes of the bicycle, and the processor may calculate deceleration based on the sensor data. The processor may compare the calculated deceleration to a predetermined deceleration and identify a rider engagement state based on the comparison.

In act 804, the processor stops or prevents movement of the powered component based on the determined rider engagement status. In one embodiment, when the determined rider engagement status indicates that the user is not riding the bicycle, movement of the electric assembly is stopped or prevented. In another embodiment, the movement of the electric components is stopped or prevented when the processor determines that the bicycle is experiencing a predetermined deceleration. Other rider participation status may be determined and used in act 804 .

FIG. 9 is a flowchart of yet another embodiment of a method for electromechanically controlling components of a bicycle (eg, bicycle 100 ). As described in the following sections, actions may be performed using any combination of components indicated in the previous figures. For example, the following actions may be performed by at least some components of control system 300 as well as additional or other components. In one embodiment, such actions may be performed by, for example, the rear derailleur 138, the electric bicycle controller 302, the power assist device 140, one or more sensors, or any combination thereof. Additional, different or fewer actions may be provided. The actions are performed in the order shown or in another order. These actions can be repeated.

In act 900, the processor determines whether the bicycle is moving based on first sensor data received from a first sensor of the bicycle. For example, the processor receives wheel speed data from a wheel speed sensor of a bicycle as first sensor data.

In act 902, when it is determined that the bicycle is moving, the processor determines a rider engagement state. The determination of the rider participation state includes: identifying the second sensor data from the second sensor of the bicycle by the processor, and identifying the third sensor data from the third sensor of the bicycle by the processor. For example, the processor receives crank strain data as second sensor data from a strain gauge, such as at the crank of a bicycle, and crank speed data as third sensor data from a crank speed sensor.

The processor determines the rider participation status based on the second sensor data and the third sensor data. For example, the processor calculates the input power based on the received crank strain data and the received crank speed data, and compares the calculated input power to a predetermined threshold power (e.g., indicating that the bicycle is being pedaled by a rider rather than manually plate). The processor may determine the rider participation status based on a comparison of the calculated input power to a predetermined threshold power. For example, when the calculated input power is greater than a predetermined threshold power, the processor may determine the rider participation state as the user is riding a bicycle.

In act 904, the processor enables the auxiliary motor to be used to effect electronic shifting of the bicycle when the determined rider engagement status indicates that the bicycle is being ridden. In one embodiment, the processor disables the use of the auxiliary motor for electronically shifting the bicycle when the determined rider engagement state is that the bicycle is not moving (eg, no motion).

In one embodiment, the method further includes the processor identifying a motor current of the auxiliary motor. For example, the processor may identify (eg, receive) motor current data from one or more sensors of the auxiliary motor. The processor compares the motor current of the identified auxiliary motor to a predetermined maximum motor current. Based on the comparison, when the motor current of the identified auxiliary motor is greater than a predetermined maximum motor current, the processor disables the use of the auxiliary motor for electronically shifting the bicycle.

Limiting the motor current limits the maximum torque output of the motor to prevent injury or damage if foreign objects such as sticks or fingers become lodged in the drive train. Automatic shifting (eg, with or without an assist motor) may remain disabled until a rider is detected again.

Modern cassettes offer a very wide range of gear ratios so riders can easily ascend steep hills and efficiently descend hills or in strong tailwinds. When the rider starts pedaling from a standstill, it is expected to be in a low gear, but usually not the lowest gear, depending on the gears installed on the bike. If the rider is on very large cogs as the bike accelerates from a stop on flat ground, the rider will quickly be at an uncomfortably high pedaling cadence. In one embodiment, the derailleur has the smallest cog to which the automatic shifting method may not shift when the rider is not pedaling (eg, coasting) to decelerate to a low speed or to a stop .

There is still a need for the rider to be able to reach the largest gear when needed (eg, climbing a steep hill). If the rider is slowing down such that the automatic shifting will select a cog lower than the smallest cog, and the user is still being pedaled (eg, not coasting), then the lower cog may be considered functionally required and the derailleur May shift gears. Pedaling loads (eg, from rider undercarriage torque) can provide additional input to determine whether the bicycle should shift into a gear lower than the smallest gear it was assembled with. This method may require the rider to pedal and apply torque above a minimum threshold to shift to a gear lower than the smallest gear assembled.

When the rider resumes pedaling from a stop (for example, in a gear above the largest cog), the automatic shifting method attempts to downshift to achieve the target cadence, making it impossible to reach the smallest cog. To prevent this, the processor can calculate the acceleration of the bicycle based on the derivative of the speed sensor data. If the bicycle is accelerating beyond a predetermined threshold, and the target gear is a lower gear than the current gear, and within the threshold number of gears from the current gear, the processor may ignore the downshift. Alternatively or additionally, the automatic shifting method may not be reinitiated for a short period of time (eg, two seconds) after the start of movement from a stop.

In one embodiment, the automatic transmission method cannot shift to the lowest gear unless the bicycle is riding up a slope (eg, unless the processor determines that the bicycle is riding a slope). For example, a bicycle may include an IMU or accelerometer configured to recognize when the bicycle is being ridden on a slope. The automatic transmission method may limit the lowest gear selectable by the automatic transmission method, and when the IMU or accelerometer identifies an incline, the processor may temporarily cancel the restriction. Rear derailleur shift execution timed with crank position

FIG. 10 is a flowchart of an embodiment of a method for electromechanically controlling components of a bicycle (eg, bicycle 100 ). As described in the following sections, actions may be performed using any combination of components indicated in the previous figures. For example, the following actions may be performed by at least some components of control system 300 as well as additional or other components. In one embodiment, these actions may be performed by, for example, the rear derailleur 138, the electric bicycle controller 302, the power assist device 140, one or more sensors, or any combination thereof. Additional, different or fewer actions may be provided. The actions are performed in the order shown or in another order. These actions can be repeated.

The illustrations of the embodiments described herein are intended to provide a general understanding of the structure of the various embodiments. These descriptions are not intended to be a complete description of all elements and features of devices and systems that utilize the structures or methods described herein. Many other embodiments will be apparent to those of ordinary skill in the art upon review of this disclosure. Other embodiments may be utilized and derived from the present invention, such that structural and logical substitutions and changes may be made without departing from the scope of the present invention. Additionally, such illustrations are representational only and may not be drawn to scale. Some proportions in the drawings may be exaggerated while other proportions may be minimized. Accordingly, the invention and the drawings are to be regarded as illustrative rather than restrictive.

While this specification contains many specifics, these should not be construed as limitations on the scope of the invention or of what may be claimed, but rather as descriptions of features specific to particular embodiments of the invention. Some features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Furthermore, although features above may be described as functioning in some combinations, and even initially claimed to be so, in some cases one or more features in a claimed combination may be removed from the combination and the claimed combination may be Changes to subgroups or subgroups.

Similarly, although operations and/or actions are depicted in the figures and described herein in a particular order, this should not be construed as requiring that such operations be performed in the particular order illustrated or in sequential order , or perform all of the actions described to achieve the desired result. In certain circumstances, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system components in the above-described embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that any described program components and systems can generally be integrated in a single software product or packaged in a in multiple software products.

One or more embodiments of the invention may be referred to herein individually and/or collectively by the term "invention", which is for convenience only and is not intended to automatically limit the scope of the application to any Specific inventions or inventive concepts. Furthermore, while specific embodiments have been illustrated and described herein, it should be understood that any subsequent arrangement, designed to achieve the same or a similar purpose, may be substituted for the specific embodiment described. This disclosure is intended to cover any and all subsequent adaptations or variations of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art from reading the specification.

From the foregoing discussion, it will be appreciated that the present invention may be embodied in a variety of forms, including but not limited to the following: &lt;br/&gt;Example 1. A method for controlling one or more electric components of a bicycle, the method comprising: &lt;br/&gt;recognizing sensor data by a processor in communication with one of the one or more electric components, the sensor data identifying a state of the bicycle; &lt;br/&gt;Determining a rider participation status based on the identified sensor data by the processor; and The processor stops or prevents movement of the electric component based on the determined rider engagement status. &lt;br/&gt;Example 2. The method of Example 1, wherein identifying the sensor data includes receiving, by the processor, orientation data from one or more orientation sensors of the bicycle, &lt;br/&gt;Wherein the method further comprises, by the processor, determining an orientation of the bicycle based on the received orientation data, wherein determining the rider engagement status includes determining whether a user is riding the bicycle based on the determined orientation of the bicycle, and Wherein stopping or preventing movement of the electric component based on the rider engagement state includes stopping or preventing movement of the electric component when the determined rider engagement state indicates that the user is not riding the bicycle. &lt;br/&gt;Example 3. The method of example 2, wherein receiving orientation data from one or more orientation sensors of the bicycle comprises receiving orientation data from at least one accelerometer at a predetermined interval; and The orientation of the bicycle determined in &lt;br/&gt; includes: &lt;br/&gt;Averaging a portion of the received targeting data; and &lt;br&gt;The orientation of the bicycle is determined on the average portion of the received orientation data. &lt;br/&gt;Example 4. The method of example 1, wherein determining the rider engagement status based on the identified sensor data includes determining whether the bicycle experiences a predetermined deceleration based on the identified sensor data. &lt;br/&gt;Example 5. The method of Example 4, wherein the electric component is an auxiliary motor, and Stopping or preventing movement of the electric component includes stopping or preventing movement of the auxiliary motor when the determined rider engagement status indicates that the user experiences the predetermined deceleration. &lt;br/&gt;Example 6. The method of Example 5, wherein the electric component is a first electric component, and the one or more electric components include a second electric component, &lt;br&gt; wherein the first electric component is an auxiliary motor, and the second electric component is a derailleur motor, and The method further includes, by the processor, stopping or preventing movement of the second motorized component based on the determined rider engagement status. &lt;br/&gt;Example 7. The method of Example 1, wherein identifying the sensor data includes: &lt;br/&gt;Receive bicycle orientation data from one or more orientation sensors of the bicycle; &lt;br/&gt;Receive wheel speed data from one or more wheel speed sensors of the bicycle; &lt;br/&gt;Receive crank speed data from one or more cadence sensors; &lt;br/&gt;Receive strain data from one or more strain gauges of the bicycle; &lt;br/&gt;Receive acceleration data from one or more accelerometers, one or more gyroscopes, or a combination thereof; or Any combination of &lt;br/&gt; etc. &lt;br/&gt;Example 8. The method of Example 7, wherein the wheel speed data includes first wheel speed data and second wheel speed data, The sensor data identified in &lt;br/&gt; includes: &lt;br/&gt;Receiving the first wheel speed data from a first wheel speed sensor, the received first wheel speed data represents a first wheel speed, and the first wheel speed is a first wheel of the bicycle one of the wheel speeds; and &lt;br/&gt;Receiving the second wheel speed data from a second wheel speed sensor, the received second wheel speed data represents a second wheel speed, the second wheel speed is a second wheel of the bicycle one of the wheel speeds, and &lt;br/&gt;The rider's participation status is determined to include: &lt;br/&gt;Comparing the first wheel speed data with the second wheel speed data; and &lt;br/&gt;The rider participation status is determined based on this comparison. &lt;br/&gt;Example 9. The method of Example 8, wherein comparing the first wheel speed data with the second wheel speed data includes calculating a difference between the first wheel speed and the second wheel speed, and Determining the rider participation status based on the comparison includes determining the rider participation status based on the calculated difference. &lt;br/&gt;Example 10. The method of Example 9, wherein determining the rider participation status based on the calculated difference comprises: &lt;br/&gt;The calculated difference is compared with a predetermined difference; and &lt;br/&gt;When the calculated difference is greater than the predetermined difference, it is determined that the bicycle is supported on a surface that can support the bicycle, and Wherein stopping or preventing movement of the electric component based on the determined rider engagement status includes stopping or preventing movement of the electric component when it is determined that the bicycle is supported on the surface. &lt;br/&gt;Example 11. A method for controlling an electric bicycle, the method comprising: &lt;br/&gt;receiving first sensor data from a first sensor of the electric bicycle by a processor; and &lt;br/&gt;Receiving second sensor data from a second sensor of the electric bicycle by the processor; &lt;br/&gt;By the processor, based on the first sensor data and the second sensor data, it is recognized whether the electric bicycle is supported, so that one wheel of the electric bicycle can be driven without translating the electric bicycle ;and Movement of an electric component of the electric bicycle is prevented by the processor based on the identification. &lt;br/&gt;Example 12. The method of Example 11, wherein receiving the first sensor data from the first sensor comprises receiving first wheel speed data from a first wheel speed sensor, the first a wheel speed data representing a wheel speed of a first wheel of the electric bicycle; &lt;br/&gt;receiving the second sensor data from the second sensor includes receiving second wheel speed data from a second wheel speed sensor, the second wheel speed data representing the electric bicycle a wheel speed of a second wheel, where the identifying comprises comparing the first wheel speed with the second wheel speed, and Preventing movement of the electrically powered component includes preventing movement of the electrically powered component based on the comparison of the first wheel speed and the second wheel speed. &lt;br/&gt;Example 13. The method of Example 12, wherein comparing the first wheel speed with the second wheel speed comprises determining a difference between the first wheel speed and the second wheel speed, Wherein the identifying further comprises comparing the determined difference to a predetermined difference, and Preventing movement of the motorized component includes preventing movement of the motorized component based on the comparison of the determined difference to the predetermined difference. &lt;br/&gt;Example 14. The method as in Example 11, which further comprises: &lt;br/&gt;After stopping the movement of the electric component of the electric bicycle: &lt;br/&gt;Receiving a user input by the processor; and &lt;br&gt;On the received user input to allow movement of the electric component of the electric bicycle. &lt;br/&gt;Example 15. The method of Example 11, wherein receiving the first sensor data from the first sensor includes one of the following: receiving a bicycle from an orientation sensor of the electric bicycle Orientation data; receiving first wheel speed data from a first wheel speed sensor of the electric bicycle; receiving second wheel speed data from a second wheel speed sensor of the electric bicycle; receiving data from a second wheel speed sensor of the electric bicycle receiving crank speed data from a cadence sensor; receiving strain data from a strain gauge of the electric bicycle; and receiving acceleration data from an accelerometer, a gyroscope, or a combination thereof, and &lt;br/&gt;Receiving the second sensor data from the second sensor includes another one of the following: receiving bicycle orientation data from an orientation sensor of the electric bicycle; receiving bicycle orientation data from the electric bicycle receiving the first wheel speed data from a first wheel speed sensor; receiving second wheel speed data from a second wheel speed sensor of the electric bicycle; receiving information from a cadence sensor of the electric bicycle crank speed data; receiving strain data from a strain gauge of the electric bicycle; and receiving acceleration data from an accelerometer, a gyroscope, or a combination thereof. &lt;br/&gt;Example 16. The method of Example 15, wherein receiving the first sensor data from the first sensor includes receiving from a crank arm, a frame, a handlebar, or a Strain data of one of the strain gauges of the vehicle seat. &lt;br/&gt;Example 17. A method for controlling an electronic transmission of a bicycle, the method comprising: &lt;br/&gt;A processor determines whether the bicycle is moving based on first sensor data received from a first sensor of the bicycle; &lt;br/&gt;When it is determined that the bicycle is moving, a rider participation state is determined by the processor, and the determination of the rider participation state includes: &lt;br/&gt;identifying, by the processor, second sensor data from a second sensor of the bicycle; &lt;br/&gt;identifying, by the processor, third sensor data from a third sensor of the bicycle; &lt;br/&gt;Determine the rider's participation status based on the second sensor data and the third sensor data; &lt;br/&gt;The determined rider participation status indicates that the bicycle is being ridden, allowing use of an auxiliary motor for the electronic shifting of the bicycle. &lt;br/&gt;Example 18. The method of Example 17, further comprising identifying the first sensor data, identifying the first sensor data includes receiving wheel speed data from a wheel speed sensor of the bicycle; wherein identifying the second sensor data includes receiving crank strain data from a strain gauge at a crank of the bicycle, &lt;br/&gt;identifying the third sensor data includes receiving crank speed data from a crank speed sensor of the bicycle, &lt;br/&gt;The rider's participation status is determined to include: &lt;br/&gt;calculating an input power by the processor based on the received crank strain data and the received crank speed data; &lt;br/&gt;The calculated input power is compared with a predetermined threshold power; and &lt;br/&gt;The rider participation status is determined based on the comparison between the calculated input power and the predetermined threshold power. &lt;br/&gt;Example 19. The method of Example 18, further comprising disabling use of the auxiliary motor for the electronic shifting of the bicycle when it is determined that the bicycle is not moving. &lt;br/&gt;Example 20. The method as in Example 17, which further comprises: &lt;br/&gt;Identifying a motor current of the auxiliary motor by the processor; comparing, by the processor, the identified motor current of the auxiliary motor with a predetermined maximum motor current; and In the comparison, when the identified motor current of the auxiliary motor is greater than the predetermined maximum motor current, the use of the auxiliary motor for the electronic shifting of the bicycle is disabled.

This Abstract is provided to comply with the requirements of 37 CFR § 1.72(b) with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Additionally, in the foregoing detailed description, for the purpose of streamlining the disclosure, various features may be grouped together or described in a single embodiment. This invention is not to be interpreted as reflecting an intention that the claimed embodiments require more features than are expressly recited in each claim. Rather, as reflected in the appended claims, inventive subject matter may lie in less than all features of any one of the disclosed embodiments. Thus, the claims below are incorporated into the Detailed Description, with each claim independently defining a separately claimed subject matter.

It is intended that the foregoing detailed description be regarded as illustrative and not restrictive, and it should be understood that the following claims, including all equivalents, are intended to define the scope of the invention. The claims should not be read as limited to the described order or elements unless stated to that effect. Accordingly, all embodiments that come within the scope and spirit of the appended claims and equivalents thereof are claimed as inventions.

<p>100: Bicycle &lt;br/&gt;02: Rear derailleur &lt;br/&gt;04: Intermediate power connector &lt;br/&gt;06: Frame &lt;br/&gt;08: handlebar &lt;br/&gt;10: Seat &lt;br/&gt;12: Front wheel &lt;br/&gt;14: rear wheel &lt;br/&gt;16: Front brake &lt;br/&gt;18: Rear brake &lt;br/&gt;20: Brake actuator &lt;br/&gt;22: Transmission system &lt;br/&gt;24: crank assembly &lt;br/&gt;26: Rear box &lt;br/&gt;28: chain &lt;br/&gt;30: crank arm &lt;br/&gt;32: Pedal &lt;br/&gt;34: chain link &lt;br/&gt;36: driving force &lt;br/&gt;40: Power Auxiliary Device &lt;br/&gt;41: Electric auxiliary motor &lt;br/&gt;42: Remote power supply &lt;br/&gt;44: Cable &lt;br/&gt;48: Electric actuator &lt;br/&gt;50: Base parts &lt;br/&gt;52: Outer connecting rod &lt;br/&gt;54: Inner connecting rod &lt;br/&gt;56: Movable assembly &lt;br/&gt;58: Integrated power supply &lt;br/&gt;00: Control system &lt;br/&gt;02: Electric bicycle controller &lt;br/&gt;04: Pedal speed sensor &lt;br/&gt;06: Wheel speed sensor &lt;br/&gt;08:Torque sensor &lt;br/&gt;10: Communication link &lt;br/&gt;00: Operation components &lt;br/&gt;02: Operation unit &lt;br/&gt;04: Operation Processor &lt;br/&gt;06: Operation memory &lt;br/&gt;08: Operation User Interface &lt;br/&gt;10: Operating power supply &lt;br/&gt;12: Operation communication interface &lt;br/&gt;14: Operation device interface &lt;br/&gt;16: Operate the communication device &lt;br/&gt;18: Operating device &lt;br/&gt;00, 502, 504, 506, 508, 510, 512,514,516,518,600,602,604,700,702,704,706,800,802,804,900,902,904: action &lt;br/&gt;:arrow </p>

Objects, features and advantages of the present invention will become apparent by reading the following description in conjunction with the accompanying drawings, wherein:

Figure 1 shows a side view of one example of a bicycle with component movements that can be controlled based on the teachings of the present invention;

Fig. 2 is a side view of an example of the rear derailleur;

3 is a block diagram of an embodiment of an electromechanical control system;

Figure 4 is a block diagram of the operating components;

Figure 5 is a flowchart of an embodiment of a method for automatic gear shifting;

6 is a flowchart of an embodiment of a method for controlling one or more components of a bicycle;

7 is a flowchart of another embodiment of a method for controlling one or more components of a bicycle;

8 is a flowchart of yet another embodiment of a method for controlling one or more components of a bicycle;

9 is a flowchart of another embodiment of a method for controlling one or more components of a bicycle; and

10 is a flowchart of an embodiment of a method for controlling one or more components of a bicycle;