Baby stroller

Abstract

A baby carriage or a baby carriage frame (10), comprising a pushing member (11) for pushing the baby carriage or the baby carriage frame (10) and at least one force sensor device, the force sensor device being particularly used for detecting the direction and / or value of a force and / or a force component acting on the pushing member (11), and / or for detecting a parameter derived from the force or force component, in particular a change in the force or force component over time, the at least one force sensor device being configured to measure the force (force component) and / or a parameter derived therefrom at least on a major part of a horizontal section (101) of the pushing member (11), preferably on at least 80% or at least 90%, and / or being configured to measure the force (force component) and / or a parameter derived therefrom in at least one, particularly curved and / or arc-shaped transition section (103) of the pushing member (11), the transition section being between the horizontal section (101) of the pushing member (11) and a connecting section (102) of the pushing member (11).

Description

Technical Field

[0001] The invention relates to a baby carriage frame and a corresponding baby carriage, which in particular has a motor-assisted device. Background Art

[0002] Motor-driven baby carriages are known in principle. Such baby carriages can be configured so that they can only be moved by motor power. Furthermore, it is known in principle to equip baby carriages with motor assistance devices, which assist the driving force of the person operating the baby carriage, but do not provide assistance when the operator does not apply any force. Summary of the invention

[0003] The object of the present invention is to provide a simple to operate, uncomplicated and stable, in particular motor-driven, stroller frame and a corresponding stroller which in particular allow the operator to control the stroller in a simple, comfortable and precise manner.

[0004] The invention comprises a sensor unit which is arranged in the gripping region of the pusher and is used to determine an external force acting on the pusher.

[0005] According to the invention, it is possible to determine if a person is holding the gripping area of ​​the pusher. Preferably, however, a force (or a parameter related to the force) is measured, by means of which the effect of the auxiliary drive on the wheels of the baby carriage can be controlled.

[0006] Non-capacitive measuring methods are preferred, since capacitive sensors can only detect with difficulty persons wearing gloves, for example due to the weather.

[0007] Preferably, the pusher is equipped with a sensor system which enables the force (or a parameter related to the force or a parameter derived therefrom) with which the baby carriage is pushed or pulled to be determined, wherein in particular the smallest possible number of sensors is used.

[0008] Preferably, the sensor device is integrated into the pusher of the stroller in such a way that the pusher is designed to be sensitive over a major part of its width or over the entire width and / or in the transition area between a (substantially) horizontal section of the pusher and a connecting section (which optionally extends in the direction of the body of the stroller (frame)) (in particular at corners and / or rounded parts of the pusher).

[0009] The invention is also based on the object of proposing a simple, reliable, precise and / or cost-effective alternative to the solutions known from the prior art.

[0010] The invention relates in particular to a baby carriage or a baby carriage frame, which preferably has one or more wheels, preferably three or four wheels, a pusher with at least one gripping area, and at least one sensor device. In addition, the baby carriage or the frame can each have one or more front wheel supports, rear wheel supports and / or a baby receiving device or an adapter for mounting a baby receiving device. The baby carriage or the frame can also have a motor and, if necessary, a control device for the motor. Other configurations are possible.

[0011] The pusher can have one or more approximately horizontal sections (hereinafter: horizontal sections), wherein the angle between the horizontal section and the horizontal can be less than 30°, preferably less than 15°, in particular also less than 5° or exactly 0°. Furthermore, the pusher can have one or more sections (hereinafter: connecting sections) extending (in each case) in an (at least approximately) vertical plane for connecting to further frame elements.

[0012] The pusher can be encircling, that is, for example, in the form of a (inverted) U-shape, the pusher has a horizontal section and two mutually (at least approximately) parallel, lateral connecting sections, wherein the gripping area (if necessary, a plurality of gripping areas) is located at least partially in the horizontal section. Alternatively, the pusher can also be two-piece, that is, in the form of two (at least approximately) cane-shaped and / or crutch-shaped elements, wherein the gripping area of ​​the pusher is located in the curved (including horizontal section) area of ​​the upper part of the element. Other embodiments, for example, with only one middle connecting section are possible. If the pusher is based on (at least approximately) U-shaped below, then as long as there is no additional description, the conversion to other pusher shapes is possible and should be included. Similarly, the description of the gripping area should be understood as the description involving each possible gripping area.

[0013] An independent or further developed aspect of the invention is that the force acting on the pusher from the outside is measured or determined directly (immediately) in the gripping region of the pusher (ie, for example, not in / on the connecting section).

[0014] Preferably, the pusher is designed in multiple parts in the gripping area. In particular, the pusher has an (especially dimensionally stable) base part, at least one sensor unit (preferably two sensor units) and at least one (especially dimensionally stable) jacket part, which at least partially surrounds the base part and the sensor unit in the gripping area of ​​the pusher.

[0015] According to this embodiment, a gap is provided between the base part and the jacket part, which gap enables the jacket part to be (at least minimally) displaced relative to the base part under the action of external forces. In the absence of external forces, the base part and the jacket part should preferably not be in direct contact (however, this is possible, for example, when a flexible section is present).

[0016] According to this embodiment, the sensor unit is fastened (force-transmittingly and / or rigidly) to the base part and to the covering part, wherein the sensor unit is preferably arranged between the base part and the covering part.

[0017] The sensor unit preferably comprises at least one force sensor (eg a strain gauge) which makes it possible to determine the magnitude of a force applied by a user to the sheath element along at least one sensitive axis.

[0018] Preferably, the connection formed by a sensor unit (or by a plurality of sensor units) is the only (force-transmitting) connection between the base part and the jacket part, so that (as long as any external forces acting on the jacket part do not directly perform work, such as deformation work, in the jacket part) the external forces are transmitted to the base part via the sensor unit.

[0019] It is conceivable that the base part and the jacket part are surrounded by a cover, for example a cover made of leather or textiles. However, such a cover does not transmit or only transmits forces to a relatively small extent between the two parts and therefore does not necessarily violate the preferred design scheme in which no (force-transmitting) connection is provided except for the sensor unit.

[0020] Pushing or pulling the baby carriage in the gripping area of ​​the pusher preferably results in a (minimal) mutual displacement of the base part and the jacket part. The displacement of the two parts preferably causes a change in an electrical characteristic variable (e.g. a voltage change and / or a resistance change depending on the embodiment of the sensor) in the sensor unit. The change in the electrical characteristic variable can be transmitted to the control unit by means of a transmission device (e.g. via a cable or by radio), whereby the motor power consumed to assist the wheels of the baby carriage can be determined based on the displacement and the applied force. Thus, the baby carriage can be assisted by the auxiliary drive device based on the external force.

[0021] Preferably, the gripping region of the pusher should be primarily (in particular over at least 50% or at least 80% of its extension in the longitudinal direction), if appropriate at any location, sensitive to forces acting on the pusher from the outside.

[0022] In particular, in addition to the one (or more) horizontal sections, the transition region between one or more horizontal sections and one or more connecting sections can also be designed to be sensitive. This is achieved in that the base part is at least partially surrounded by a (optionally separate) rounded jacket part in the rounded region.

[0023] The corresponding jacket parts, in particular the rounded jacket parts, can for example be made (cost-effectively) from plastic, if necessary in a single piece, but preferably in two or more pieces. In particular, it is conceivable that the corresponding jacket parts, in particular the rounded jacket parts, are (partially) manufactured by injection molding and / or using a 3D printer.

[0024] A (or the above-mentioned) gap can be provided between the rounded cover part and the base body so that the rounded cover part and the base body part can move relative to each other when a user, for example, grips / holds the stroller in the rounded region of the pusher and is able to exert a pulling or pushing force on the pusher of the stroller.

[0025] The rounded jacket part preferably has a first projection on the side facing the sensor unit, which extends in the gap between the base part and the jacket part. According to this embodiment, the forces caused by the movement (displacement) between the rounded jacket part and the base part are (mechanically) transmitted to the sensor unit via the first projection of the rounded jacket part, so that the gripping area of ​​the pusher is also sensitive in the rounded area.

[0026] Preferably, the first projection of the rounded jacket part is part of the (optionally only) connection between the base part and the jacket part, so that the connection between the base part, the jacket part, the rounded jacket part and the sensor is (only) produced via the first projection. However, the sensor unit can be fastened to the base part at another point, in particular screwed to the base part.

[0027] Preferably, the rounded jacket component has an edge region, in particular an edge, with which the rounded jacket component directly, preferably in a form-fitting manner, adjoins the jacket component. In particular, the edge region can have a third projection for cooperating with a corresponding resilient portion in the jacket component.

[0028] In a specific design, the corresponding jacket component, in particular the rounded jacket component, can have two housing halves, which can be joined together so that the two housing halves can wrap the base component in the transition area between the horizontal section and the connecting section. The connection between the two housing halves can be achieved by material locking (e.g. bonding), but preferably the connection should be detachable and achieved by a locking mechanism, a snap mechanism and / or a threaded mechanism. For this purpose, one of the two housing halves can have a second protrusion extending into the accommodating space, through which a connection with the other housing half is established. The second protrusion can have (with) a locking mechanism or a snap mechanism that can cooperate with a corresponding matching piece on the inner side of the other housing, and / or the second protrusion can have an internal thread that can cooperate with a screw that is guided through a corresponding opening arranged in the other housing half. In any case, an opening (channel) can be provided in the base component, and the opening (channel) is (at least slightly) larger than the second protrusion (in terms of diameter) to avoid an undesirable connection between the rounded jacket component and the base component.

[0029] In a preferred embodiment, two sensor units are integrated in the pusher. The sensor units are positioned adjacent to the end of the horizontal section (at a distance of less than 5 cm, less than 3 cm, or less than 1 cm), ie close to the connecting section.

[0030] At least one sensor unit is mounted, preferably two sensor units are mounted (symmetrically on the left and right sides of the pusher). The detection direction of the sensor unit can be tilted forward and downward by an angle of 0° to 45°, preferably 3° to 20°, for example (at least approximately) 8° relative to the horizontal. By tilting the sensor unit, it is also possible to detect force components directed upward or downward, so that auxiliary driving by the motor may not be allowed in necessary situations (for example, in the case where the front wheel is lifted by a force acting downward on the pusher).

[0031] In a specific dimensioning of the jacket part or the rounded jacket part, a (preferably constant) gap of preferably 0.1 to 5 mm, more preferably 0.5 to 2 mm, for example approximately 1 mm, is provided between the (dimensionally stable) base part and the jacket part or the rounded jacket part.

[0032] The force threshold from which the auxiliary drive is engaged can be between 30 N and 7 N, in particular between 25 N and 10 N, preferably (at least approximately) 15 N. The sampling rate of the sensor unit can be greater than 5 Hz, in particular greater than or equal to 10 Hz. Furthermore, the sampling rate can be less than 1 kHz or less than 100 Hz. Preferably, no hysteresis is provided for the force threshold.

[0033] In addition to strain gauges, capacitive and / or inductive sensors can also be used to detect the displacement between the base part and one or more jacket parts (and one or more rounded jacket parts). A plurality of sections that can be displaced relative to one another are also conceivable.

[0034] As an alternative to the described embodiment with separate rounded jacket parts, another division of the jacket (comprising one or more jacket parts and / or one or more rounded jacket parts or consisting of these) can also be provided. In particular, the entire jacket can consist of (at least) two parts, none of which constitutes the jacket by itself, but in which the jacket is obtained only by joining the (at least) two parts together. In particular, two half shells, such as an upper shell and a lower shell, or a front shell and a rear shell can be provided. Further features (for example for joining together) are obtained similarly to the above-described embodiment.

[0035] According to aspect A, the above-mentioned purpose is achieved in particular by a baby carriage or a baby carriage frame, the baby carriage or the baby carriage frame comprising a pushing member for pushing the baby carriage or the baby carriage frame and at least one force sensor device, the force sensor device being in particular for detecting the direction and / or value of a force and / or a force component acting on the pushing member, and / or for detecting a variable derived from the force or the force component, in particular a change in the force or the force component over time, wherein the at least one force sensor device is configured to measure, preferably directly measure, at least a force of the pushing member (in particular extending at least substantially horizontally). , optionally extending at an angle of less than / equal to 30° or less than / equal to 10°) and / or variables derived therefrom, and / or is configured to measure, preferably directly measure, the forces (force components) and / or variables derived therefrom in at least one, preferably curved and / or arcuate transition section of the pusher between the horizontal section of the pusher and the connecting area of ​​the pusher (in particular the end of the pusher extending from top to bottom, preferably obliquely and / or optionally articulatedly mounted on the stroller (frame) body).

[0036] Alternatively or additionally, according to aspect B, the above purpose is achieved in particular by a baby carriage or a baby carriage frame, in particular a baby carriage or a baby carriage frame according to aspect A, the baby carriage or the baby carriage frame comprising a pushing member for pushing the baby carriage or the baby carriage frame and at least one force sensor device, the force sensor device being in particular used to detect the direction and / or value of the force and / or force component acting on the pushing member, and / or for detecting a parameter derived from the force or force component, in particular the change of the force or force component over time, wherein the at least one force sensor device The push member extends at least over a major part (preferably at least 80% or at least 90%) of a horizontal section (especially extending at least essentially horizontally, optionally extending at an angle of less than / equal to 30° or less than / equal to 10°) of the push member and / or extends at least partially over at least one, especially curved and / or arcuate transition section, preferably directly, between the horizontal section of the push member and a connecting area of ​​the push member (especially an end portion extending from top to bottom, preferably obliquely and / or optionally articulatedly mounted on a baby carriage (frame) body).

[0037] Alternatively or additionally, according to aspect C, the above object is achieved in particular by a baby carriage or a baby carriage frame, in particular the baby carriage or baby carriage frame according to at least one of aspects A or B, the baby carriage or baby carriage frame comprising a pushing member for pushing the baby carriage or baby carriage frame and at least one force sensor device, the force sensor device being in particular used to detect the direction and / or value of the force and / or force component acting on the pushing member, and / or for detecting a variable derived from the force or force component, in particular a change in the force or force component over time, wherein the force sensor device comprises:

[0038] - a base part, which is preferably designed to at least partially accommodate at least one sensor unit (sensor); and

[0039] a sheath part which at least partially surrounds the base part and, if applicable, the at least one sensor unit, preferably in the gripping region of the pusher, and which is optionally connected, in particular fixedly connected, to the at least one sensor unit;

[0040] wherein the jacket part is movable, in particular displaceable, relative to the base part, wherein a gap may be present between the base part and the jacket part, and

[0041] The at least one sensor unit is designed to detect a movement, in particular a displacement, between the covering part and the base part.

[0042] Preferably, at least one motor, in particular an electric motor, is provided for auxiliary driving of the stroller or the stroller frame.

[0043] Preferably, at least one control device is provided, which is preferably operatively connected to the at least one force sensor device, in particular such that an output of the at least one sensor device can be used to control the at least one motor.

[0044] Preferably, the control device is designed to control and / or regulate the power of the at least one motor, in particular as a function of the output of the at least one sensor device, for example in discrete steps and / or continuously. Alternatively or additionally, the control device is designed to start the at least one motor when a first threshold value of a force and / or a force component and / or a variable derived therefrom is exceeded. Alternatively or additionally, the control device is designed to stop the at least one motor or to keep the at least one motor at a constant power when a second threshold value of a force and / or a force component and / or a variable derived therefrom is exceeded.

[0045] The sensor device preferably comprises at least two sensor units (sensors), which preferably extend at least partially over a respective connecting section and / or extend adjacent to opposite ends of the horizontal section and / or extend beyond the ends.

[0046] Preferably, the sensor device comprises at least or exactly two components (a first component and a second component or, according to the present embodiment, the jacket component and the base component) that can move relative to each other, in particular can move (in each case one-piece or multi-piece) and at least one sensor unit (sensor), which measures a relative movement (or relative displacement), in particular a value of the relative movement (relative displacement).

[0047] Preferably, the first component (according to the present embodiment, the jacket component) and the second component (according to the present embodiment, the base component) are movable relative to each other, in particular displaceable relative to each other, in (at least substantially) radial directions and / or (at least substantially) in directions in a plane spanned by the advancement direction (in the case of straight-line travel) and a vertical line.

[0048] Preferably, the first component (according to the present embodiment, the sheath component) and / or the second component (according to the present embodiment, the base component) is fixedly connected to at least one sensor unit.

[0049] Preferably, at least one sensor unit (the at least one sensor unit) is configured to measure resistance or resistance change. Alternatively or additionally, at least one sensor unit (the at least one sensor unit) has at least one, if necessary two, three, four or more strain gauges (the strain gauges are preferably arranged in the horizontal section and / or the transition section). Alternatively or additionally, at least one sensor unit (the at least one sensor unit) is designed as a bending beam sensor, preferably, the torque applied to the measuring body acts on at least one, for example four strain gauges, for example, one or two strain gauges are stretched and two strain gauges are shortened, and further preferably, the four strain gauges are constructed in the form of a bridge circuit to measure the resistance change of the strain gauges.

[0050] According to one embodiment, the base part has a straight section and at least one, in particular exactly one or exactly two, curved sections.

[0051] The base part can be designed as a solid profile or preferably as a hollow profile, optionally with a polygonal (especially quadrilateral), for example D-shaped, oval or circular cross section.

[0052] The covering element can have a straight section and at least one, in particular exactly one or exactly two, curved sections.

[0053] The jacket part can be designed as a solid profile or preferably as a hollow profile, optionally with a polygonal (especially quadrilateral), for example D-shaped, oval or circular cross section.

[0054] The base profile can be formed in one piece (optionally in one piece).

[0055] The jacket part can be designed in multiple parts, in particular in two parts, three parts, four parts, five parts or even multiple parts (in particular from a corresponding number of, if appropriate, each one-piece component parts).

[0056] The jacket element can be formed at least in sections, in particular in a transition section, from two half shells.

[0057] The jacket part can surround the base part (at least in (axial) subsections) over an angular range of at least 180° or at least 270° or at least substantially completely.

[0058] The above-mentioned object is also preferably achieved by a method for controlling a baby carriage or a baby carriage frame, in particular a baby carriage or a baby carriage frame as described above and below, wherein the force (force component) acting on the pusher is measured, in particular the direction and / or value of the force and / or force component acting on the pusher is detected, and / or a variable derived from the force or force component, in particular the change in time of the force or force component. As long as the functional features of the baby carriage frame or baby carriage are subsequently described above and below, these functional features should be understood as corresponding method steps can be implemented. In this regard, according to the method, corresponding device features (for example force sensor device) are not necessarily decisive, but the method steps themselves (i.e., for example, detecting the direction and / or value of the force) can also be present in the method. As described further above and below, it goes without saying that corresponding device features (for example force sensor device) can also be present within the method, as described above and below.

[0059] In the following paragraphs and in the brief description of the drawings, further preferred features of the invention will be described. If a feature is not indicated as optional in this paragraph, this only applies to the disclosure of this paragraph. In particular, this does not (mandatorily) mean that the corresponding feature is generally essential or mandatory for the invention, as, in particular, explained further above, the following descriptions relating to the stroller frame should also apply to the stroller. Thus, if, for example, it is mentioned that the stroller frame has a motor, then it should also be disclosed that the stroller has a motor.

[0060] In particular, a baby carriage frame is proposed, which comprises: at least one motor, in particular an electric motor, for driving the baby carriage frame; at least one pusher for pushing the baby carriage frame and preferably at least one sensor device, in particular a force sensor device. Preferably, the sensor device, in particular the force sensor device, is configured to detect the direction and / or value of a force and / or a force component acting on the pusher and / or to detect a variable derived from the force or force component, in particular a change in the force or force component over time.

[0061] An optional aspect is that a force sensor device is provided, which detects the direction or value (or both) of the force and / or force component (or a variable derived from the force or force component). This makes it possible to perform a corresponding control based on the output of the sensor device. The output of the sensor device is to be understood in particular as the output of a measured value and / or the output of an average value of a plurality of measured values.

[0062] The control can then be carried out internally (via a control device arranged on or in the stroller frame) and / or externally via a separate control device (e.g. a mobile terminal, in particular a smartphone). However, it is primarily important here that fully corresponding data relating to forces or force-related variables can be generated. In this regard, it is advantageous, but not necessarily necessary, for the stroller frame (or the corresponding stroller) to have a control device itself. Overall, a user-friendly and simple-to-produce stroller frame with a motor-assisted device is proposed.

[0063] The pusher is preferably constructed in one piece (possibly with parts that can move relative to each other). In particular, the pusher can have a horizontal handle. Alternatively, the pusher can also be constructed in multiple pieces (e.g., two pieces), for example, with multiple handles separated from each other.

[0064] The force sensor device can in particular determine at least two different force directions (for example forward and backward and / or upward and downward) and, if necessary, their values, or at least four directions (for example forward, backward, upward and downward) and, if necessary, their values.

[0065] If necessary, at least two different values ​​(>0), preferably at least four different values, such as a continuum of forces (or force components or variables derived therefrom) can be detected using the force sensor arrangement. In any case, such a force sensor arrangement provides information in a simple manner that can be used to control a motor for driving the stroller or the stroller frame.

[0066] Preferably, the stroller frame or the stroller has a plurality of motors, in particular electric motors, for driving the stroller frame. Preferably, at least two or exactly two wheels (e.g. a left wheel and a right wheel or a first side wheel and a second side wheel) are each assigned a motor. Preferably, a control device for individually controlling the motors can be provided. Alternatively or additionally, a sensor device for detecting thrust and / or movement of the stroller frame can be provided. By means of a plurality of (in particular at least or exactly two) motors, the pushing comfort, in particular when driving around corners, can be increased without having to take complex measures for this purpose (as is the case, for example, when there is only one motor with a differential gear arrangement).

[0067] Unless otherwise indicated, a push or a thrust is to be understood in particular as an action or a force which can be directed both forwards and also backwards (even in the case of a backwards direction it can also be referred to as a pull or a pulling force).

[0068] If (two) forces are compared with one another and it is stated that they are identical or different, this should generally be understood as the abbreviation for “identical or different with regard to direction and / or magnitude of the force”, unless it can be inferred from the context that the direction is predetermined (for example in the case of a “rearwardly directed force”); the statement about identical or different forces should then relate to the magnitude of the forces.

[0069] The at least one (force) sensor device can be arranged on and / or in the pusher, in particular the handle of the pusher, and / or in and / or near the pusher fastening area. The pusher fastening area is to be understood in particular as the area in which the pusher is mounted on the body of the stroller frame. Being arranged near the pusher fastening area is to be understood in particular as being arranged at a distance of less than 10 cm, preferably less than 5 cm, relative to the pusher (wherein, in the case of relatively moving pushers, this refers in particular to the minimum distance).

[0070] Preferably, at least one control device is provided, which is operatively connected to the at least one (force) sensor device, in particular such that the output of the at least one sensor device is used to control the at least one motor. This allows the force (or other variable, such as the current movement) to be detected simply and reliably.

[0071] In one embodiment, the at least one sensor device is designed to detect forces and / or force components acting on the pusher at at least two different positions and / or variables derived therefrom. The detection can be carried out in particular on a first side (e.g. left side) and a second side (e.g. right side) of the pusher, in particular on a first side (e.g. left side) and a second side (e.g. right side) of a handle and / or on two different, in particular laterally arranged, handles. In this context, reference to the left or right side here and below refers in particular to the left or right side resulting from the viewing direction of the person operating the stroller frame or the stroller.

[0072] In a specific embodiment, the sensor device is designed to determine force components in the direction of movement and / or opposite to the direction of movement (in each case horizontally) and / or upwards and / or downwards (in each case vertically). Alternatively or additionally, corresponding components of the time derivative (or the change in time) can be determined.

[0073] If the applied force (and / or force components and / or force-derived variables) are detected at a plurality of different positions, the control device can be designed such that, for example, the corresponding drive wheels (or the motors assigned if necessary) are actuated depending on the magnitude and duration of the (especially horizontal) applied force (and / or its temporal variation) and / or depending on whether the (especially horizontal) force (and / or its temporal variation) points in the same direction. The drive wheels (or the motors assigned if necessary) can be actuated depending on the force (and / or its temporal variation) applied to one side of the drive wheel (or the motor assigned accordingly) and / or the force (and / or its temporal variation) applied to the other (opposite) side.

[0074] The control device is preferably designed to control and / or regulate the power of the at least one motor, in particular to control and / or regulate the power of the at least one motor based on an output of the at least one sensor device, for example in discrete steps and / or continuously.

[0075] Furthermore, the control device can be designed to start at least one motor when a first threshold value of a force and / or a force component and / or a variable derived therefrom is exceeded. Starting the motor is to be understood in particular as the motor providing power to drive the stroller frame. In this sense, switching on the motor (the motor is then, for example, running at idle speed) is not yet starting. However, starting can also mean the first switching on of the motor (energy supply).

[0076] The control device can be designed to stop at least one motor or keep the motor at a constant power when a second threshold value of the force and / or force component (e.g. upward or downward component) and / or a variable derived therefrom is exceeded. Stopping the motor should be understood in particular to mean that the motor is placed in a state in which the motor no longer drives the baby carriage. If necessary, the motor can still continue to run (e.g. in idling). However, it can also be understood as a final shutdown (e.g. interruption of the energy supply to the motor). The second threshold value can be greater than the first threshold value in terms of value.

[0077] Furthermore, the control device may be designed to, when a threshold value F of the downward force is exceeded, d and / or when a threshold value F of the upward force is exceeded u When the at least one motor is stopped or the at least one motor is kept at a constant power, wherein F d and F u If necessary, they are equal or different (in value) and / or when a threshold value F of the forward force is exceeded f2 When and / or when the threshold value F of the backward force is exceeded r2 When the at least one motor is stopped or the at least one motor is kept at a constant power, wherein F f2 and Fr2 The same or different (in value) as necessary, where F f2 and / or F r2 Preferably greater than F u and / or F d , especially F u and / or F d 2 times, 5 times or 20 times larger. Preferably, the control device is configured to: f2 、F r2 、F u or F d (Re)start the motor when (if previously exceeded).

[0078] The control function can also be configured such that, when a threshold value F of the forward force is exceeded, f1 When and / or when the threshold value F of the backward force is exceeded r1 At least one motor is started when F f1 and F r1 If necessary, the threshold value of the force acting downwards and the threshold value of the force acting upwards may be the same or different (in terms of value) (and / or if necessary, when a threshold value of the force acting downwards is exceeded and / or when a threshold value of the force acting upwards is exceeded, the threshold value of the force acting downwards and the threshold value of the force acting upwards may be the same or different), preferably F f1 (in numerical terms) smaller than F f2 , and / or preferably F r1 (in numerical terms) smaller than F r2 .

[0079] Alternatively or additionally, the control device can be designed to control the drive wheels (or the corresponding configured motors) in such a way that only one of the drive wheels (motors) provides assistance and / or the assistance force does not exceed a predetermined value, or the assistance of both motors is (completely) stopped or at least significantly reduced, if the (horizontal) force on one of the two sides is positive and the (horizontal) force on the other side is negative (which can correspond to a rotation or turn of the baby carriage) and / or if the temporal variation of the (horizontal) force on one side is positive and the temporal variation of the (horizontal) force on the other side is negative (caused when the baby carriage is rotated or turned).

[0080] The stroller frame preferably has at least one speed sensor and / or at least one turning sensor. The speed sensor is particularly designed to determine the value (and, if necessary, the direction) of the current speed (of the stroller frame relative to the ground). The turning sensor is preferably designed to determine the curvature of a rotation or turn (in the path traveled by the stroller frame). The control device can then optionally be designed to stop the assistance of the corresponding motor when a certain speed is exceeded and / or a certain turning curvature is fallen below, thereby improving the reliability and safety when operating the stroller as a whole.

[0081] The control device can be designed so that the quotient of the thrust or (especially horizontal) thrust component and the auxiliary force of the at least one motor is constant, for example 1 or greater than 1 or greater than 2 or greater than 3 or less than 1; or variable, for example so that the auxiliary force increases more or less linearly with the thrust or (especially horizontal) thrust component. The auxiliary force can, for example, increase polynomially, exponentially or logarithmically with the thrust.

[0082] Furthermore, the control device can be designed so that the quotient of the change in time of the thrust or the change in time of the (in particular horizontal) thrust component and the change in time of the auxiliary force of the at least one motor is constant, for example 1 or greater than 1 or greater than 2 or greater than 3 or less than 1; or variable, for example so that the change in time of the auxiliary force increases more or less linearly with the change in time of the thrust or thrust component. The change in time of the auxiliary force can, for example, increase polynomially, exponentially or logarithmically with the change in time of the thrust or thrust component.

[0083] Particularly preferably, the supporting force (or the change in the supporting force over time) increases more than (only) linearly with the thrust or the thrust component (or with the change in the thrust or the change in the thrust component over time).

[0084] The threshold values ​​and limit values ​​described above (and below) may have predetermined fixed values ​​or may be changed, for example, by a self-learning algorithm.

[0085] Preferably, the control device is designed to reduce or stop the drive power of the at least one motor when a brake, in particular a deceleration brake (service brake) or a parking brake, is actuated.

[0086] Preferably, the pusher and / or a section of the pusher, in particular a section of the pusher at least partially comprising the sensor device, is preferably freely movable within the movement range, in particular without unlocking, preferably against a restoring force.

[0087] In this sense, a movement is not to be understood as a movement for (pure) height adjustment of the pusher in order to adapt the stroller frame to the height of the operator, but rather as a (free) movement which can be used in particular for force measurement and / or as feedback to the user, so that motor assistance is caused. In this regard, a "double feedback" can be present here, on the one hand by the active assistance of the motor (which assistance can be recognized by the user himself), and at the same time by the movement of the pusher (or the pusher section). Thus, force measurement can be carried out in particular and a double feedback function can be realized at the same time by the same movement. If this is compared with, for example, a piezoelectric sensor (as a relatively compact sensor device), then in this case a relatively good feedback is given to the user, which facilitates the operation of the stroller for the user (and the user does not only rely on the recognition of the motor assistance itself, which can be relatively small if necessary).

[0088] The (free) movement of the pusher (or pusher section) can be, for example, at least 2 mm or at least 10 mm or at least 20 mm. If such a force sensor arrangement is compared, for example, with a simple piezoelectric sensor, a clear improvement is achieved, since more precise information can be provided. Piezoelectric sensors can only determine relatively small relative movements (much less than 1 mm).

[0089] In the case of a translational movement, this refers in particular to the movement path; in the case of a rotational movement or pivoting, this refers to the path of the point of the pivoted section which implements the maximum path of all points. In one embodiment, the pusher or the upper section of the pusher (for example a handle) can be pivoted about the fastening area. Alternatively (or additionally), the (upper) section of the pusher can be translationally movable relative to the lower section. Furthermore, the entire pusher can be (translationally) movable.

[0090] The at least one sensor device can be designed to detect a (temporal) change in a force (or a force component) and / or a variable derived therefrom. This can further improve the control. It can then be achieved, for example, that a threshold value for the force (or a force component) and / or a temporal change of the force (or a force component) and a temporal threshold value are defined, wherein the temporal threshold value can be the duration for which the (applied) force (or a force component) and / or a temporal change of the force (or a force component) exceeds (or falls below) a threshold value for the force (or a force component) and / or a temporal change of the force (or a force component).

[0091] The change in time (in the mathematical sense) can in principle be understood as the time derivative of the force (or force component). However, the change in time can also be understood as ΔF / Δt (a finite, non-infinitely small Δt in the range of, for example, 100 milliseconds to 1 second).

[0092] The corresponding control device is preferably a regulating device, in particular a regulating device for continuously (if necessary linearly) regulating the power of the at least one motor, preferably a PID regulating device (PID stands for proportional integral derivative).

[0093] Preferably, at least one braking device, in particular a deceleration brake and / or a parking brake, is provided. The deceleration brake is preferably designed to use the kinetic energy of the stroller frame (with the baby) or the stroller for braking (and in particular to convert it into electrical energy). Alternatively or additionally, a / the control device can be arranged and / or designed such that the parking brake is automatically activated after a predetermined time, preferably between 3 seconds and 5 minutes (preferably between 10 seconds and 30 seconds), after the stroller frame (after the last movement) has come to a (complete) standstill. Alternatively or additionally, the control device can be arranged and / or designed such that the parking brake is automatically activated after reaching a standstill or a relatively low speed after a previous travel.

[0094] The braking device can be designed in two stages, preferably in such a way that there is not only a deceleration brake (service brake) but also a parking brake for determining the parking position (when the baby carriage is completely stopped). The deceleration brake can be designed so that the baby carriage is braked by friction (on one or more wheels) (wherein the kinetic energy is converted into heat). However, preferably, at least one motor can be used as a generator to brake the baby carriage (wherein the kinetic energy is converted into electrical energy, which can in turn be used to charge one or more batteries). Any operating device can be provided for the deceleration brake, such as a lever (on a pusher or handle) that can be operated by hand or finger or another device (such as a rotating handle or a foot pedal or the like). If necessary, a graphical user interface (such as a display, especially a touch screen) can also be connected to the baby carriage, and / or the graphical user interface has a receiver so that it can be connected to an external device (such as a smartphone with a corresponding app). The actuating device (or receiver) can be connected to the deceleration brake (via suitable mechanisms) in order to actuate the deceleration brake, i.e. to apply a braking force desired by the user (this braking force can be zero or greater than zero, in particular can have more than 2 or more than 5 values ​​greater than zero). The deceleration brake can be active as long as the actuating device is actuated, or until the stroller comes to a complete stop and then the parking brake is activated if necessary.

[0095] The parking brake can be configured as a locking element that prevents one or more wheels from rotating. The parking brake can, for example, include a pin that cooperates with an energy storage device or a latching device (eg, a groove) arranged in the side of the wheel.

[0096] If necessary, the parking brake can be (automatically) activated immediately or after a predetermined time after the stroller frame or the stroller has been stopped, in particular by means of a retarding brake.

[0097] Preferably, the at least one parking brake device can be activated (only) electrically or electronically and can be released (only) manually.

[0098] The parking brake can be preloaded in the released state and not preloaded or (only) slightly preloaded in the activated state. These measures improve safety during operation.

[0099] The parking brake can be actuated in various ways, for example by means of a switch, for example a push switch or a pressure switch or a foot pedal or the like.

[0100] In particular, if the parking brake is preloaded in the activated state, the parking brake can be released (only) manually, whereas the brake can possibly be activated (only) electronically or electrically.

[0101] The sensor device, in particular the force sensor device, can be arranged and the control device can be designed to activate at least one braking device, in particular a deceleration brake and / or a parking brake, when the person operating the stroller releases contact, for example, by hand and handle. Preferably, the deceleration brake and / or the parking brake (emergency brake) is activated with an increased (maximum) force when it is determined that the person operating the stroller is not (any longer) in contact with the stroller and the stroller is still moving.

[0102] In one embodiment, the control device is designed to activate the braking device when the force sensor device detects a force that is (at least partially) opposite to the current direction of movement of the baby carriage frame. Alternatively, in this case, motor assistance can be performed as described above. Preferably, the motor acts as a generator in the case of braking.

[0103] At least one display or signaling device may be provided, which indicates to the user of the stroller frame that motor assistance is present or may be present. If necessary, a first display or signaling device may indicate that motor assistance is currently present, while a second display or signaling device may indicate that motor assistance may be present, in the sense that motor assistance is present or absent (if the parameters are appropriate) depending on further parameters (e.g. maximum speed or the like).

[0104] In general, the stroller or stroller frame of the present invention can achieve comfortable assistance when pushing (or pulling) the stroller. In particular, the value F can be set f1 and / or F r1, which (essentially) defines the force that must be used by the user (independent of the situation). When starting a stationary stroller, the user starts pushing (or pulling). Then, the horizontal component of the pushing or pulling force becomes greater than zero. After reaching F f1 At the moment, the motor can start to assist the user (at minimum power). If, for example, the horizontal component of the thrust or pull force then increases (i.e. ΔF inh / Δt>0), the auxiliary force will also increase (i.e. ΔF s / Δt>0). Thus, the horizontal component of the force can be kept (substantially) constant at F f1 (At least when overshoot is not considered.) It goes without saying that if conditions exist to stop the motor assist, more force may be required.

[0105] F u It can be between 0 and 25N, preferably between 5N and 15N.

[0106] F d It can be between 10N and 50N, preferably between 20N and 40N.

[0107] F f1 It can be between 0 and 25 N, preferably between 5 and 15 N. r1 It can be between 0 and 25 N, preferably between 5 and 15 N. f2 and / or F f2 It can be between 25N and 500N, preferably between 50N and 200N.

[0108] F f1 、F r1 、F f2 and / or F r2 If necessary, it can be predefined by the user, for example via an interface, such as a graphical user interface and / or a smartphone (or smartphone app). If necessary, minimum and maximum values ​​(determined by the manufacturer) can be predefined to avoid safety problems and / or to extend the service life of the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] The invention is described below with reference to exemplary embodiments, which are explained in more detail with reference to the accompanying drawings. In the drawings:

[0110] Figure 1 The complete stroller including the accessories is shown in a perspective view so that the pusher can be seen;

[0111] Figure 2 An exploded view showing the pusher area with the upper portion of the rounded sheath component;

[0112] Figure 3A cross-sectional view showing a longitudinal extension of the pusher perpendicular to the horizontal section and passing through the sensor and a first projection of a rounded sheath part fastened to the sensor;

[0113] Figure 4 A longitudinal section (perpendicular to the horizontal) of the pusher is shown, so that the sensor and the rounded sheath part can be seen;

[0114] Figure 5 A longitudinal section through the pusher (a section in the plane of the pusher) is shown, so that the sensor and the rounded sheath part can be seen;

[0115] Figure 6 A schematic oblique view showing a baby carriage frame according to the present invention;

[0116] Figure 7 Show according to Figure 6 Side view of a baby stroller frame. DETAILED DESCRIPTION

[0117] In the following description, the same reference numerals are used for identical and identically acting parts.

[0118] Figures 1 to 5 The stroller frame 10, the pusher 11, the wheels 12, the front wheel support 13, the rear wheel support 14, the adapter 15, the baby receiving device 16, the motor 17, the control device 18, the horizontal section 101 of the pusher 11, the (corresponding) connecting section 102 of the pusher 11, the transition region 103 or transition section of the pusher 11, the gripping region 104, the gap 105 between the base part 110 of the gripping region 104 and the covering part 120 (see Figure 4 and 5 ), edge region 121, springback 122, rounded jacket part 130, first housing half 131 and second housing half 132 of rounded jacket part 130, first projection 133, screw 134, second projection 135, screw 136, opening 137, edge region 138, third projection 139, sensor unit 140 and region 141 for at least one strain gauge. In the assembled state, third projection 139 is preferably embedded in the corresponding springback 122 of edge region 121 of jacket part 120.

[0119] Figure 1 A baby carriage is shown with a baby receiving device 16. The baby receiving device 16 is connected or connectable to the baby carriage frame 10 via an adapter 15. The baby receiving device 16 (presently) has a leg section, a seat section and a backrest section. Alternatively, the baby receiving device 16 can also be designed without a leg section or without such a division into different sections, for example as a lying insert.

[0120] The stroller frame 10 has a pusher 11, which in turn has a horizontal section 101 and (two) connecting sections 102 connected to the horizontal section 101 via corresponding transition areas 103. The horizontal section 101 is designed as a horizontal strut. The connecting section 102 is designed as a strut that extends obliquely downward (or forward) from the horizontal section 101 (in the use state) and is preferably bendable (especially foldable) and / or can be telescopically changed in its length.

[0121] according to Figure 1 The stroller has four wheels. However, it is conceivable that more or fewer wheels (for example three, in particular one front wheel and two rear wheels) are provided. Figure 1 Two rear wheels and two (rotatable, optionally fixed) front wheels are provided in the vehicle. The respective wheels are connected to one another via connecting struts. The struts connecting the wheels are in turn connected to the connecting section 102 (in particular in an articulated manner) via further struts (front strut 13 and rear strut 14), wherein a single strut may be sufficient for each wheel.

[0122] The transition section 103 of the pusher 11 is designed to be curved and preferably (at least approximately) forms a quarter of a circle and / or preferably forms an angle of at least approximately 90°.

[0123] The horizontal section 101 and the connecting section 102 are designed to extend (at least approximately) at a right angle to one another.

[0124] exist Figures 2 to 5 1 , the pusher 11 , in particular its horizontal section 101 and its transition section 103 , are shown in more detail.

[0125] exist Figure 2 , a detail of the gripping region 104 is shown, including a detail of the horizontal section 101 and of (two) transition sections 103 .

[0126] A jacket component 120 is arranged in the horizontal section 101. The jacket component is designed to be straight. A rounded jacket component 130 is arranged in the transition section 103, which comprises a first shell half 131 and a second shell half 132. The rounded jacket component 130 (and its shell halves 131, 132) is designed to be curved. The rounded jacket component 130 forms a (curved) sleeve. The jacket component 120 forms a (straight) sleeve.

[0127] The sheath part 120 and the rounded sheath part 130 wrap the base part 110. Figure 2In the embodiment, the sheath component 120 is moved to the right relative to the base component 110, so that the sensor unit 140 located within the sheath component 120 and the rounded sheath component 130 can be identified. Figure 2 The two openings shown on the left end of the sensor unit 140 coincide with the recesses or openings or screws 134 shown on the left end of the sensor unit 140 (see also Figure 3 and 4 ).

[0128] If you can also Figure 3 and 4 As can be seen in the figure, the rounded jacket part 130, more precisely the half shell 132 of the rounded jacket part, the jacket part 120 and the sensor unit 140 are connected by (here by way of example two) screws 134. Generally, further fastening means (in another number, for example one or more than two) can also be provided for this purpose.

[0129] The two half-shells 131 , 132 are in turn connected to one another via a second projection 135 (with an internal thread) and a screw 136 . Other fastening or connecting means are also conceivable here. However, a detachable fastening is preferred.

[0130] An opening (channel 111 ) may be provided in the base part 110 , which is (slightly) larger than the second projection 135 , in order to avoid an undesired connection between the rounded jacket part 130 and the base part 110 .

[0131] Specifically, the second housing half 132 has a first protrusion 133 that extends between the sheath component 120 and the base component 110 and has two openings through which the screws 134 can be inserted.

[0132] The first projection 133 is adjacent to an edge region 138 of the main body of the second housing half 132 (see Figure 3 and Figure 4 ), wherein an edge region 138 of the main body of the second housing half 132 adjoins the edge region 121 of the jacket part 120 additionally, preferably directly, in particular in a form-fitting manner.

[0133] In order to guide the screw 136 through the second housing half 132, an opening 137 is provided (see Figure 3 ).

[0134] The first housing half 131 has a third protrusion 139 (see Figure 2 ), the third protrusion can be engaged with the sheath component 120, in particular with the rebound portion 122.

[0135] The sensor unit 140 itself can function according to the principle of strain gauges and / or (see Figure 4 ) has an area 141 in which a strain gauge (not shown in detail) may be arranged. If pressure is now applied to the jacket part 120 and / or the rounded jacket part 130, the sensor unit 140 or optionally a strain gauge 141 (or optionally a plurality of strain gauges) is correspondingly stretched and / or shortened (due to the spacing provided at least in sections between the sensor unit 140 and the corresponding jacket part 120 or rounded jacket part 130). This stretching or shortening can then be correspondingly evaluated in order to determine whether the user has gripped the jacket part 120 and / or the rounded jacket part 130.

[0136] The sensor unit 140 can be configured, for example, to measure a resistance or a resistance change. The sensor unit 140 can have at least one (if necessary two, three, four or more) strain gauges. The strain gauges can be arranged in horizontal sections and / or transition sections. The sensor unit 140 can be configured as a bending beam sensor, wherein the torque preferably applied to the measuring body acts on at least one (for example four) strain gauges. For example, one or two strain gauges can be stretched and one or two strain gauges can be shortened. Specifically, the four strain gauges can be configured as a bridge circuit to measure the resistance change of the strain gauges.

[0137] Figure 6 The baby carriage frame according to the present invention is shown in a schematic oblique view. d The downwardly directed force acting on the handle 23 (in the horizontal section) is shown. Arrow F u Indicates the upwardly directed force acting on the handle 23. Arrow F lat The handle 23 is mounted so as to be pivotable relative to the lower section of the pusher 11 .

[0138] Specifically, the handle 23 can be pivoted (and locked) into different positions in order to implement height adjustment of the handle 23 .

[0139] A pivotable bearing element 22 (with a corresponding hinge) is arranged between the pivotable handle 23 and the lower section of the pusher 11 .

[0140] It is also preferred that (the entire) pusher 11 is pivotably supported on a pivotable support 21 on the main body of the stroller frame (in particular in order to be able to fold the stroller frame).

[0141] Alternative or additional to Figures 1 to 5The arrangement structure of the sensor device can be provided on the pivotable support 21 and / or on the pivotable support 21. One or more sensor devices can be arranged to detect the force (especially F) applied by the user to the handle 23. u and F d In addition (see Figure 7 ), preferably by means of a corresponding sensor device, the forward-directed force F f and the backward directed force F r The motor (not shown in detail) can preferably be placed in the wheel hub 31. Alternatively, the motor can be placed on the axle 32 (in particular on the section of the axle adjacent to the wheel hub 31).

[0142] It should be pointed out here that all of the above-described parts are claimed individually and in any combination, especially the details shown in the drawings, as essential to the invention. Modifications to this are familiar to those skilled in the art.

[0143] Reference numerals list

[0144] 10 Baby stroller frame

[0145] 11 Pusher

[0146] 12 wheels

[0147] 13 front wheel support

[0148] 14 rear wheel support

[0149] 15 Adapter

[0150] 16Infant accommodation device

[0151] 17 Motor

[0152] 18 Control Devices

[0153] 21 Pivotable support

[0154] 22 Pivotable support

[0155] 23 handles

[0156] 31 wheels

[0157] 32 Axles

[0158] 101 horizontal sections

[0159] 102 connection section

[0160] 103 Transition Area

[0161] 104 grip area

[0162] 105 Gap

[0163] 110 base parts

[0164] Channel 111

[0165] 120 sheath parts

[0166] 121 Edge Area

[0167] 122 Rebound Department

[0168] 130 rounded sheath parts

[0169] 131 first housing half

[0170] 132 Second housing half

[0171] 133 first protrusion

[0172] 134 screws

[0173] 135 second protrusion

[0174] 136 screws

[0175] 137 Opening

[0176] 138 Edge Area

[0177] 139 The third protrusion

[0178] 140 sensor units

[0179] 141 Area of ​​strain gauge

Claims

1. A baby stroller frame (10), the baby stroller frame comprising a pushing member (11) for pushing the baby stroller frame (10) and at least one force sensor device, The at least one force sensor device is configured to measure a force or a force component and / or a variable derived therefrom in at least one transition section (103) of the push member (11), the transition section being between a horizontal section (101) of the push member (11) and a connecting section (102) of the push member (11), characterized in that At least one control device (18) is provided, which is operatively connected to the at least one force sensor device so that the output of the at least one force sensor device can be used to control at least one motor (17). The pusher (11) is designed to be sensitive over a major part of the width of the pusher (11) or over the entire width and in the transition area between the horizontal section (101) and the connecting section (102) of the pusher (11).

2. The baby carriage frame (10) according to claim 1, characterized in that: The at least one force sensor device is used to detect the direction and / or value of a force and / or a force component acting on the pusher (11), and / or to detect a variable derived from the force or the force component.

3. The baby carriage frame (10) according to claim 1, characterized in that: The at least one force sensor device is configured to measure a force or a force component and / or a variable derived therefrom at least on a major part of a horizontal section (101) of the pusher (11).

4. The baby carriage frame (10) according to claim 1, characterized in that: The at least one force sensor device extends at least over a major part of a horizontal section (101) of the push member (11), and / or at least partially over at least one transition section (103) of the push member (11), the transition section being between the horizontal section (101) of the push member (11) and a connecting section (102) of the push member (11).

5. The baby carriage frame (10) according to claim 3 or 4, characterized in that: The main portion includes at least 80% or at least 90% of the horizontal section (101) of the pusher (11).

6. The baby carriage frame (10) according to claim 1 or 4, characterized in that: The transition section (103) is curved.

7. The baby carriage frame (10) according to claim 1 or 4, characterized in that: The force sensor device comprises: - a base part (110) designed to at least partially accommodate at least one sensor unit (140); and - a sheath component (120), the sheath component at least partially enveloping the base component (110) and the at least one sensor unit (140); The sheath component (120) is movable relative to the base component (110), and The at least one sensor unit (140) is designed to detect a movement between the covering part (120) and the base part (110).

8. The baby carriage frame (10) according to claim 7, characterized in that: There is a gap (105) between the base component (110) and the jacket component (120).

9. The baby carriage frame (10) according to claim 1, characterized in that: At least one motor (17) is provided, which is used to auxiliary drive the baby carriage frame (10).

10. The baby carriage frame (10) according to claim 1 or 9, characterized in that: The control device (18) is designed to control and / or regulate the power of the at least one motor (17), and / or the control device is designed so that when a first threshold value of a force and / or a force component and / or a variable derived therefrom is exceeded, the at least one motor (17) is started, and / or the control device is designed so that when a second threshold value of the force and / or a force component and / or a variable derived therefrom is exceeded, the at least one motor (17) is stopped or maintained at a constant power.

11. The baby carriage frame (10) according to claim 1, characterized in that: The sensor device comprises at least two sensor units, which extend at least partially over a respective connecting section (102) and / or extend adjacent to opposite ends of the horizontal section (101) and / or extend beyond the ends.

12. The baby carriage frame (10) according to claim 1, characterized in that: The sensor device comprises at least or exactly two components that are movable relative to one another and at least one sensor unit which measures the relative movement.

13. The baby carriage frame (10) according to claim 12, characterized in that: The first component and the second component are movable relative to each other in at least substantially radial directions and / or at least substantially in a direction lying in a plane spanned by the advancement direction and a vertical line.

14. The baby carriage frame (10) according to claim 12 or 13, characterized in that: The first component and / or the second component is fixedly connected to the at least one sensor unit.

15. The baby carriage frame (10) according to claim 1, characterized in that: At least one sensor unit is configured to measure resistance or a change in resistance and / or at least one sensor unit has at least one or more strain gauges and / or at least one sensor unit is designed as a bending beam sensor, and the torque applied to the measuring body acts on at least one strain gauge.

16. The baby carriage frame (10) according to claim 15, characterized in that: The at least one strain gauge is arranged in the horizontal section (101) and / or the transition section (103).

17. The baby carriage frame (10) according to claim 15 or 16, characterized in that: Four strain gauges are configured in a bridge circuit so that the change in resistance of the strain gauges can be measured.

18. The baby carriage frame (10) according to claim 7, characterized in that: The base part (110) has a straight section and at least one curved section, and / or the base part is designed as a solid profile or a hollow profile, and / or The jacket component (120) has a straight section and at least one curved section, and / or the jacket component is designed as a solid profile or a hollow profile, and / or the base component is designed in one piece, and / or The jacket component (120) is constructed in multiple parts, and / or The jacket component (120) is constructed at least in sections from two half shells, and / or The jacket part (120) surrounds the base part at least in an axial section over an angular range of at least 180° or at least 270° or at least substantially completely.

19. The baby carriage frame (10) according to claim 1 or 4, characterized in that: The transition section (103) is arc-shaped.

20. A stroller comprising a stroller frame according to any one of claims 1 to 19.

21. Method for controlling a stroller frame (10) according to any one of claims 1 to 19, wherein: The force or force component acting on the pusher (11) is measured.

22. A method for controlling a baby stroller, the baby stroller comprising a baby stroller frame according to any one of claims 1 to 19, wherein: The force or force component acting on the pusher (11) is measured.

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