Scooter, Control Device and Controlling Method

Abstract

A control device for a scooter and a scooter for transporting individuals are provided. The scooter is operable using physical strength in a first mode of operation while being operable using physical strength and/or electric power in a second mode of operation. The scooter has an operating device for a control unit, and an electric motor which allows the scooter to be powered. A propulsive force is created on the scooter by actuating the operating device.

Claims

1. A scooter for transporting individuals, wherein the scooter is drivable by motor power in at least one operating mode, comprising: an operating device; and an electric motor by way of which the scooter is drivable, wherein the scooter generates a propulsion pulse on the scooter by way of the motor when the operating device is operated.

2. The scooter as claimed in claim 1, wherein the propulsion pulse lasts for a predetermined time period.

3. The scooter as claimed in claim 2, wherein the scooter covers a predetermined distance in the predetermined time period.

4. The scooter as claimed in claim 3, wherein no propulsion pulse is generated below a minimum speed and/or above a maximum speed of the scooter when the operating device is operated.

5. The scooter as claimed in claim 1, wherein no propulsion pulse is generated below a minimum speed and/or above a maximum speed of the scooter when the operating device is operated.

6. The scooter as claimed in claim 1, wherein the operating mode in which the scooter is driven by motor power is activated above a minimum speed of the scooter by double activation of the operating device.

7. The scooter as claimed in claim 4, wherein the operating mode in which the scooter is driven by motor power is activated above a minimum speed of the scooter by double activation of the operating device.

8. The scooter as claimed in claim 1, wherein the scooter comprises a control device, and further wherein, by operation of the operating device, a first signal is output to the control device and, at least based on the first signal, a second signal is output to the motor by the control device, as a result of which the motor generates the propulsion pulse on the scooter.

9. A control device for controlling a propulsion pulse of a scooter, wherein the scooter is drivable by electrical motor power in at least one operating state, wherein the control device is operatively configured to execute a control to: detect a signal from an operating device; and output a signal to an electric motor, wherein the propulsion pulse is generated by the electric motor on the scooter in response to the signal.

10. The control device as claimed in claim 9, wherein the control device further executes a control to: detect a signal from a speed detection device, which signal represents a current speed of the scooter; compare a value of the current speed of the scooter with a value of a minimum speed and/or a value of a maximum speed; and output the signal to the electric motor when the current speed is greater than or equal to the minimum speed and less than or equal to the maximum speed of the scooter.

11. The control device as claimed in claim 9, wherein the control device further executes a control to: detect the operating state of the scooter, wherein: (i) when the scooter is in a first operating state in which the scooter is operated by muscle power, no signal is output to the electric motor when operation of the operating device is detected, and (ii) when the scooter is in a second operating state in which the scooter is driven by motor power, the signal is output to the electric motor when operation of the operating device is detected.

12. A method for controlling a propulsion pulse on a scooter, the method comprising the acts of: detecting operation of an operating device; and outputting a signal to a motor for generating the propulsion pulse on the scooter.

13. The method as claimed in claim 12, further comprising the acts of: detecting a speed of the scooter; and comparing the detected speed with a minimum speed and a maximum permissible speed, wherein the signal is output to the motor only when the speed of the scooter is greater than or equal to the minimum speed and less than or equal to the maximum permissible speed.

14. The method as claimed in claim 12, further comprising the act of: detecting an operating state in which the scooter is driven by motor power.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG. 1 is a side view of the basic, structural design of a scooter.

[0021] FIG. 2 is an excerpt of a basic circuit diagram with essential components of an electrically drivable scooter.

[0022] FIG. 3 is a riding state diagram in which various riding states of the scooter are graphically depicted.

DETAILED DESCRIPTION OF THE DRAWINGS

[0023] The overall design of the scooter 10 is intended to be explained with reference to FIG. 1. The scooter 10 has a frame 11, a front wheel 12, a rear wheel 13, a front wheel guide 14 and a steering unit 15. The front wheel guide 14 is designed as a fork and is rotatably mounted in a head tube 11c and is therefore arranged on the frame 11. The front wheel 12 can rotate about a steering axis with the aid of the steering unit 15, as a result of which it is possible for the scooter 10 to travel around a corner. The frame 11 of the scooter includes a middle part 11b and a rear wheel mount 11a. The head tube 11c, in which the fork 14 is rotatably mounted, is likewise a constituent part of the frame 11. The two wheels 12, 13 are arranged one behind the other in the longitudinal direction of the scooter L. However, the invention is not intended to be limited to single-track scooters since it can also be used in three-wheeled or four-wheeled vehicles. The control device according to the invention can also be used for bicycles with an auxiliary drive, so-called pedelecs or e-bikes. A footboard 16 on which the scooter rider stands is provided in the middle part 11b of the frame 11. An operating device 20 is provided on the top side of the footboard. In FIG. 1, the operating device is illustrated as a lever. In a departure from this illustration, the operating device 20 can also be in the form of a pushbutton. In further embodiments, the operating device 20 can also be arranged as a twist grip, lever or button on the handlebar of the steering unit 15. In the latter case, operation is then performed by hand.

[0024] In the embodiment of the scooter 10 illustrated in FIG. 1, the operating device 20 is operated by foot. The scooter rider advantageously stands on the ball of his foot and makes contact with the operating device 20 with his heel. This foot position allows extremely secure footing. In FIG. 1, a control device 21 is provided in the middle part 11b of the frame 11. The control device 21 interacts with the operating device 20 and an electric motor 22. Here, the electric motor 22 is, by way of example, illustrated as a hub motor which is integrated in the rear wheel 13 of the scooter 10. The rear wheel 13 is the wheel which is at the rear in the longitudinal direction L of the scooter 10. In this case, the longitudinal direction arrow L points counter to a movement direction of the scooter 10 when it is traveling forward.

[0025] Therefore, the scooter 10 can be moved forward by pushing using one's muscle power (physical strength) in a first operating mode. Furthermore, a motorized auxiliary power can be switched on by the electric motor in a second operating mode of the scooter 10. This motorized auxiliary power is sufficient to move the scooter forward via the motor.

[0026] The manner of operation of the controller in the second operating mode is intended to be explained with reference to FIG. 2 and the text which follows. FIG. 2 shows only an excerpt of the components and element of the control system, wherein only those components and elements which are the most necessary for the explanation are illustrated. When it is operated, the operating device 20 generates a signal S1 which is detected by the control device 21. In other words: as long as the operating device 20 is pressed down, it outputs the signal S1 to the control device 21. Furthermore, the control device 21 also detects a speed signal SV which is output by a speed sensor 23, for example a speedometer. On the basis of the speed signal SV, the control device 21 can determine whether the speed of the scooter 10 is in a predetermined speed range. This speed range is limited at the lower end by a minimum speed V.sub.min, and at the upper end by a maximum speed V.sub.max. The absolute values, that is to say the boundary values V.sub.min and V.sub.max, can lie within or outside the speed range in this case. When the control unit 21 then detects that the propulsion speed lies within this speed range (for example between 6 km/h and 25 km/h) and operation of the operating device 20 is detected owing to the signal Si, the control device 21 outputs a second signal S2 to the electric motor 22. Owing to this signal S2, the electric motor 22 is activated and generates a propulsion force on the scooter 10. As shown in FIG. 2, the electric motor 22 is mechanically connected to the rear wheel 13.

[0027] Operator control or the operator control concept of the scooter 10 in the second operating mode is intended to be explained with reference to FIG. 3. FIG. 3 illustrates various riding states by way of example. The speed of the scooter 10 is below a minimum speed V.sub.min at time interval t0 to t2. As shown by the curve for rider power, the scooter 10 is propelled forward by pushing via foot between times t0 and t2.

[0028] At time t1, the operating device 20 is operated by the rider, as shown by the rising flank of signal S1 in FIG. 3 at time t1. However, the control device 21 suppresses actuation of the motor signal since no signal S2 is output to the motor 22 below the speed V.sub.min. This is shown in FIG. 3 by no motor signal, which corresponds to the signal S2, being illustrated. The absence of the motorized propulsion force is noticed by the rider of the scooter 10. The rider releases the operating device 20 and pushes the scooter using muscle power. This is illustrated by the falling flank of signal S1 and graphically illustrated by the second increase in rider power. The scooter is further accelerated by further pushing by the rider immediately before time t2, and therefore the scooter exceeds the minimum speed at time t2. At the same time, the operating device 20 is pressed at time t2. The control device 21 then outputs a control signal S2 to the electric motor 22 since the speed of the scooter 10 is in a permissible speed range. As a result, the scooter 10 is accelerated over a distance of, for example, 5 m, at a preselected power level, see the maximum motor power P.sub.Motor max in FIG. 3 for example. A propulsion force is exerted on the scooter 10 over this distance, illustrated by the acceleration from time t2 until directly shortly before time t3. As already mentioned in the introductory part, the propulsion force is applied only for the period which is required in order to cover a predetermined distance of, for example, 5 m, and is then automatically, that is to say autonomously, switched off again (thus it is also referred to as a propulsion pulse). This is shown in FIG. 3 since the motor power drops again directly before time t3 and the speed of the scooter also drops somewhat later, owing to the inertia of the scooter, but still shortly before time t3. Since the time period for which the propulsion force is exerted on the scooter is dependent on the absolute speed of the scooter, the propulsion force acts on the scooter 10 for a relatively short time at high speeds and for a relatively long time at low speeds.

[0029] Between time t3 and t4, the scooter 10 rolls without propulsion force and is continuously braked by riding-dynamics frictional forces, that is to say rolling friction, relative wind, etc. As a result, the speed drops until time t4. At time t4, the operating device 20 is once again operated by the scooter rider. The control device 21 detects this and outputs a control signal S2, as a result of which the motor power is once again increased to the predetermined value P.sub.Motor max power level. The scooter experiences an additional propulsion pulse and further accelerates between time t4 and t5. At time t5, the operating device is once again pressed by the scooter rider. A further propulsion pulse is generated as a result. Since the maximum duration of the propulsion pulse generated at time t4 has not yet elapsed, the signal S2, which was generated at time t4, is suppressed and a new signal S2 is generated at time t5. This happens so quickly that the profile of the motor power does not correspond to the profile of the signal S2 at this point. The motor power is constant at this point. Owing to multiple operation of the operating device 20, propulsion pulses can be attached to one another and, as a result, the scooter can be accelerated to a desired target speed in a relatively short time. The absolute value of individual accelerations remains the same. Only phases in which the scooter 10 would slow down without a propulsion pulse are avoided. Each operation of the operating device 20 generates a new propulsion pulse which at maximum is sufficient in order to drive the scooter 10 for a predetermined distance w.sub.x of, for example, 10 m. If a new propulsion pulse is generated before the predetermined distance w.sub.x is reached, the remaining distance of the preceding pulse expires as it were. The dependence of the duration of a pulse on the actual speed of the scooter is shown in FIG. 3 with comparison of the duration t.sub.pul1 of the pulse at time t2 with the duration of the pulse t.sub.pul3 at time t5 compares. The subsequent propulsion pulse at time t5 is significantly shorter than the propulsion pulse at time t2 since the speed of the scooter is higher at time t5. In this case, the duration t.sub.pul2 does not correspond to a complete predetermined distance w.sub.x. The scooter rider 10 stops operation of the operating device 20 shortly before time t5, as shown by the falling flank of signal S1. This leads to a cancellation of signal S2 to the electric motor 22. Operation of the operating device 20 at time t5 once again starts the signal S2 in order to be output for the period which is necessary in order to cover the predetermined distance.

[0030] No propulsion force is applied to the scooter 10 from time t6 until time t7. The speed decreases between these two times. Analogously to the propulsion pulses described above, a new pulse is also generated at time t7, said new pulse leading to renewed acceleration of the scooter until time t8. A brake signal is generated by the scooter rider at time t8. In this case, braking can be performed mechanically or by electrical recuperation with the aid of the electric motor. Although the operating device is still pressed—as shown by the profile of signal S1—this leads to the propulsion pulse being immediately switched off or the signal S2 being suppressed, as shown by the drop in motor power. The speed drops from time t8 until time t9. At time t9, the brake is released, that is to say the brake signal is switched off and a new propulsion pulse is generated at the same time.

[0031] At time t10, the scooter rider stops operation of the operating device. Starting from time t10, the rider of the scooter 10 continues to roll without motor assistance. That is to say, at time t10, the driver relieves the operating device of loading, and therefore the control signal S1 is also stopped. As a result, the motor power is switched off and the drive pulse is canceled.

[0032] In order to accelerate the scooter 10, the driver has to press the pedal and keep it pressed. In this way, the rider generates motor assistance for acceleration over a maximum assistance distance which corresponds to the predetermined distance w.sub.x. After the maximum assistance distance w.sub.x is reached, the motor assistance is automatically switched off, irrespective of whether the pedal is still pressed or not. In order to accelerate further, the driver has to briefly release the pedal, press it once again and keep it pressed. Motor assistance is once again generated for acceleration over a further maximum assistance distance w.sub.x. This operator control logic corresponds to a first embodiment.

[0033] In a further embodiment of the invention, acceleration of the scooter 10 can be generated by an alternative operator control logic. In this case too, the rider has to press the pedal 20 in order to accelerate the scooter 10. However, it is not necessary to keep the operating device 20 pressed. Even if the operating device 20 is released, motor assistance for acceleration over a maximum assistance distance is maintained. The maximum assistance distance corresponds to the predetermined distance w.sub.x in this case too. After the maximum assistance distance w.sub.x is reached, the motor assistance is automatically switched off. In order to accelerate further, the rider has to press the pedal once again. The motor assistance is once again generated for acceleration over a further maximum assistance distance w.sub.x. According to this second variant, the operating device functions like a switch which can be moved from an “ON” to an “OFF” position and vice versa. As soon as an “ON” position of the operating device 20 is detected, a propulsion pulse is generated. This propulsion pulse continues, even if the operating device 20 is moved to an “OFF” position before the maximum assistance distance is reached. In contrast to this, in a first variant, the propulsion pulse is immediately suppressed when an “OFF” position of the operating device is detected. If, in the second variant, the operating device 20 is once again moved to an “ON” position before the maximum assistance distance is reached, a new propulsion pulse is generated. This new propulsion pulse is applied for the period which is necessary in order to reach a maximum assistance distance. In other words, the assistance distance is reset when a subsequent, second propulsion pulse is generated before the maximum assistance distance of a first propulsion pulse is reached.

[0034] In both variants of the operator control logic, firstly the situation of the assistance distance w.sub.x being reached after the last pedal actuation or the situation of a maximum vehicle speed V.sub.max being reached serve as cancellation criteria for motor assistance during acceleration. The situation of the pedal being released by the driver is a criterion for canceling the propulsion only in the first variant of the operator control logic. It goes without saying that detection of a braking intervention which is generated by the driver is likewise a criterion for interrupting acceleration. The run-on time of the electric motor after detection of a reason for interruption is at most 0.8 s.

[0035] Since the operator control logic functions in a pulse-based manner, that is to say individual propulsion force pluses are generated on the scooter 10, constant travel is possible only in specific limits. If the rider desires constant travel, that is to say to travel at a constant speed between the minimum speed V.sub.min and the maximum speed V.sub.max, the driver has to toggle around the value of the constant speed. The scooter 10 is correspondingly accelerated by brief pedal operations, wherein the speed correspondingly drops again owing to the traveling resistances after the pedal is released. Said scooter then has to accelerate once again. Therefore, the desired riding speed can be virtually constantly adjusted by the rider. However, absolutely constant travel when a scooter 10 is in muscle-powered mode is likewise possible only in specific limits, and therefore sufficiently accurate simulation is generated here too.

[0036] The option of a mechanical brake is provided for braking the scooter 10. When the brake is operated, a signal is passed to the control device 21 and any motor assistance which may be present is immediately interrupted. Therefore, this function also constitutes an emergency stop function for the scooter 10. As an alternative, electric braking can also be realized by the electric motor 22 functioning as a generator and recuperating the kinetic energy of the scooter 10. The recovered energy is then stored as electrical energy.

[0037] According to the invention, constant travel at walking speed can be achieved with the scooter 10. To this end, there are two options for achieving this riding state. In the second riding state, that is to say with electromotive assistance, the scooter is moved at a speed which is greater than the minimum speed V.sub.min. A propulsion force which accelerates the scooter is generated by operating the operating device 20 and keeping it permanently pressed. The electric motor 22 is switched off after the maximum assistance distance w.sub.x is reached and exceeded. As long as there is no new pedal pulse, the scooter 10 is correspondingly decelerated on account of the traveling resistances. If, in this case, the speed of the scooter 10 drops below walking speed when the operating device is pressed, the control device 21 detects this and outputs a signal S2, as a result of which the motor is briefly switched on. As a result, a brief propulsion pulse is generated in order to accelerate the scooter to walking speed, for example 6 km/h. After walking speed is reached, the assistance power of the motor is switched off again. When walking speed is once again undershot, the motor assistance is further switched on, etc. by the control device 21. By way of this pulse-control of the signal S2, the vehicle speed toggles around the walking speed by approximately 0.5 km/h. If the driver releases the operating device 20, the speed drops again until the scooter 10 comes to a standstill.

[0038] As an alternative, constant travel at walking speed can also be achieved from a standstill. During starting, the scooter is stationary and therefore in the first riding mode, that is to say it can be driven forward only by means of muscle power. By pushing, the scooter is accelerated above the minimum speed V.sub.min and above the walking speed. The pedal is pressed twice quickly in succession in order to activate the second riding mode. After the second press, the pedal is kept in the pressed position. However, no propulsion pulse is generated by the electric motor 22 as a result and therefore the scooter 10 is not electromotively accelerated. On account of the traveling resistances, the forward movement of the scooter 10 slows down until the speed drops below walking speed. The situation of walking speed being undershot is detected by the control unit 21. The control unit then outputs a signal S2 to the electric motor 22 which exerts a propulsion pulse on the scooter 10. As a result, the speed of the scooter toggles about the walking speed by approximately 0.5 km/h. In one embodiment of the invention, the walking speed and the minimum speed V.sub.min can be the same.

[0039] When the second operating mode is not activated, the scooter 10 can also be operated in a conventional manner purely by muscle power. As a result and when constantly traveling at walking speed, the scooter 10 can also be used in pedestrian zones. Owing to the use of the electrical auxiliary motor, the radius of action and therefore the range of use can be significantly extended, primarily in urban areas. The scooter provides significant advantages over bicycles, pedelecs or e-bikes since servicing of a chain or shifting system is not necessary. Similarly, there is also no risk of clothing being soiled by a shifting system or chain since these are not present. The control device 21 described above can also perform regulation functions and therefore function as a regulating device.

[0040] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.