Baby stroller frame, baby stroller and control method thereof, and computer-readable storage medium

Abstract

The invention relates to a stroller frame (10), comprising: at least one motor (21), in particular an electric motor, for in particular auxiliary driving of a stroller (1) or a stroller frame (10); at least one pusher (4) for pushing the stroller (1) or the stroller frame (10); at least one force sensor device (30) for detecting force-related parameters, in particular forces and / or force components acting on the pusher (4), and / or parameters derived from the forces or force components, such as torque and / or the change of the forces or force components over time; and at least one control unit (34), which is configured to start calibration of the force sensor device based on the result of at least one detection of the force-related parameters, in particular based on the result of multiple, preferably at least three, in particular successive detections of the force-related parameters. The invention also relates to a stroller (1).

Description

Technical Field

[0001] The invention relates to a child vehicle frame, a child vehicle and a computer-readable storage medium. Background Art

[0002] Motorized strollers are known in principle. Such strollers can be configured so that they can be moved solely by motor power. In addition, it is known in principle to equip strollers with motor assistance, which assists the driving force of the person operating the stroller, but does not provide assistance when the operator does not apply force.

[0003] DE 20 2017 104 166 U1 discloses a stroller frame and a corresponding stroller, which have a force sensor device for measuring the magnitude or direction of a force or a force component. The motor assistance of the stroller can thereby be controlled based on the output of the sensor device. The force sensor device can be arranged on the handle of the push piece. Thus, when the user pushes or pulls the stroller, the force sensor device measures the magnitude or direction of the applied force. The output measured by the force sensor device is then used by a connected control device to control at least one drive motor. The drive motor is used to assist the user when pushing (depending on the applied force).

[0004] Force sensor devices are known in principle. Such force sensor devices, in particular strain gauges, can be based, for example, on changes in resistance due to changes in length and / or cross section. A force sensor device is also to be understood as a device which indirectly provides an indication of the applied force, for example by detecting a torque. When a strain gauge (DMS) is stretched, its resistance increases. When it is compressed, its resistance decreases. Due to the high sensitivity of the strain gauges, there are interference variables which can influence the measurement result. Typical interference variables are, for example, temperature, creep and humidity. If such a force sensor device is used in a baby stroller, these interference variables can lead to a distorted output and thus to poorer driving assistance. This can pose a safety risk to the child in the baby stroller. In general, baby strollers can tolerate smaller deviations, but larger deviations are problematic. Summary of the invention

[0005] For this reason, the object of the present invention is to provide a baby carriage or baby carriage frame with motor assistance, in which the use can be as simple, safe and user-friendly as possible. In particular, (disruptive) interruptions of the use of the baby carriage or baby carriage frame or its motor assistance should be reduced or avoided.

[0006] The object is achieved in particular by a stroller or a stroller frame, which comprises:

[0007] at least one motor for auxiliary driving of the stroller or the stroller frame,

[0008] at least one push element for pushing the stroller or the stroller frame,

[0009] at least one force sensor device for detecting a force-related variable, and

[0010] At least one control unit is configured to initiate a calibration of the force sensor arrangement as a function of a result of at least one detection of the force-related variable.

[0011] The object is achieved in particular by a stroller or stroller frame, comprising: at least one motor, in particular an electric motor, for (in particular auxiliary) driving the stroller or stroller frame; at least one push piece for pushing the stroller frame or stroller; at least one force sensor device for detecting force-related variables, in particular forces and / or force components acting on the push piece and / or variables derived from these forces or force components, such as torques and / or changes in the forces or force components over time; and at least one control unit, which is configured to start (and preferably also carry out) a calibration of the force sensor device (i.e. a calibration of the force sensor device with respect to the force-related variables). By means of this calibration, in particular large deviations (due in particular to changes in external conditions) can be compensated or at least reduced. The control and thus the use of the stroller or stroller frame are thereby improved.

[0012] The control unit is particularly preferably configured to initiate calibration of the force sensor device as a result of at least one detection of the force-related variable, in particular as a result of multiple, preferably at least 3 (further preferably at least 5, even more preferably at least 8) and / or at most 100 (or at most 50 or at most 30), in particular (preferably directly) successive detections of the force-related variable. As a result, the user-friendliness of the stroller or stroller frame can be improved in a simple manner. By initiating or starting calibration (only) when the result of the force-related variable detection is available, for example, the probability of performing calibration when this (taking into account the current use of the stroller or stroller frame) is reduced. In particular, calibration is not (mandatory) performed if (once) the motor assistance is turned on. Such a (mandatory) calibration immediately after the motor assistance is started has or will result in: a certain time must pass before the user can use the stroller or stroller frame (with motor assistance).

[0013] For example, it is not mandatory for the user to first immobilize the stroller or stroller frame after the motor-assisted start-up in order to be able to perform a calibration before the actual use of the stroller with motor assistance. Generally speaking, it is not necessary to wait until the force sensor device is calibrated before starting to use the stroller or stroller frame. A corresponding pause (no or only slight force is applied to the force sensor device) is not (mandatory) required. In particular, in situations where the user first uses the (motorized) stroller or stroller frame without motor assistance, but then wants to use the motor assistance (e.g. due to an uphill slope), the user no longer has to (mandatory) first wait for the force sensor device to be calibrated after switching on the motor. Overall, a simple, safe, user-friendly and / or time-saving use of the motorized stroller can be achieved.

[0014] Preferably, the control unit is configured to start calibration of the force sensor device (with respect to the force-related variable) (only) if (if and / or as soon as) the result (of the detection of the force-related variable) indicates that no one is pushing. This allows a particularly user-friendly or time-saving use.

[0015] Whenever it is mentioned in this context that a start is carried out as soon as certain conditions are met, this means in particular that calibration is started or initiated after 1 minute at the latest, preferably at most 10 seconds, further preferably at most 1 second, further preferably at most 0.5 seconds (and preferably also calibration is carried out immediately thereafter).

[0016] In principle, it is preferred to perform the calibration immediately after the corresponding predetermined conditions have occurred. However, it is also conceivable to first store the results of the detection, in particular the results of a plurality of detections, and then to perform the calibration (e.g. zero point determination) with the aid of these results (e.g. by averaging the plurality of detections) if necessary at a later time. The average value is preferably an arithmetic mean or a geometric mean or a harmonic mean or a weighted or trimmed mean or another suitable average value.

[0017] Calibration means in particular the determination of at least one reference point, preferably a zero point, during which a force-free state preferably exists (i.e. in particular no pushing by the user occurs). If necessary, the relationship between the actually applied force and the measured force can be determined by measurement (e.g. in a simple manner familiar to the skilled person).

[0018] The control unit is preferably configured to initiate the calibration of the force sensor device (only) if (if and / or once) the multiple detections of the force-related variable are within a predetermined value interval (or a value interval of predetermined width) of the force-related variable (preferably with a width of at least 0.1 N, more preferably at least 0.3 N, more preferably 0.5 N and / or at most 10 N, preferably at most 5 N, more preferably at most 2 N). If the force-related variable is not a direct force or force component in this case, the value given here in Newtons should correspond to the force that corresponds to the variable actually (if necessary directly) detected, such as a torque. This should also always apply hereinafter when values ​​are given in Newtons. For example, if a torque is detected (directly), the force applied to the push piece can be derived from it, which in this case results from the lever travel (in meters) being known or defined in the existing stroller or stroller frame.

[0019] Alternatively or additionally, the control device is configured to start calibration of the force sensor device (with respect to the force-related variable) only if (if and / or once) a statistical characteristic value, in particular a statistical dispersion measure, preferably a variance, of a plurality of detected statistical characteristic values ​​is within a predetermined value (preferably at least 0.1 N, more preferably at least 0.3 N, more preferably 0.5 N and / or at most 10 N, preferably at most 5 N, more preferably at most 2 N) of the statistical characteristic value. This makes it possible to improve user-friendliness in a simple manner.

[0020] The statistical dispersion measure is to be understood in particular as a measure of the dispersion of the detected measured values. If the statistical characteristic value or the statistical dispersion measure lies outside a predetermined interval or lies above a predetermined value, preferably no calibration is performed.

[0021] In order to determine the speed of the baby carriage or the rotational speed of at least one wheel, a corresponding speed sensor can be provided. The speed sensor is preferably configured to detect at least whether the baby carriage or the at least one wheel is stationary or moving, in particular to detect two, more preferably at least five different values ​​(greater than zero).

[0022] According to one embodiment, the control unit is configured to initiate calibration of the force sensor device (with respect to the force-related variable) (only) if (if and / or as soon as) a predetermined speed of the child vehicle frame, in particular a predetermined rotational speed of at least one wheel, or below, preferably (only) if (if and / or as soon as) at least one wheel is stationary. The predetermined speed may be ≤5 cm / s, preferably ≤1 cm / s, and may be (at least approximately) 0 cm / s.

[0023] According to one embodiment, the control unit is configured to initiate calibration of the sensor device (with respect to the force-related variable) only when the detected value of the force-related variable is equal to or below a predetermined value, which is preferably at least 1 N, optionally at least 2 N or at least 5 N and / or at most 10 N. This can reduce the risk of incorrect calibration, for example when static forces act (e.g. when a coat is placed on the pusher). In particular, the risk of confusing a state of applied static force (which is usually not present in pushing, which is a highly dynamic process) with a situation where no force is applied to the pusher at all can be reduced.

[0024] The control unit is preferably configured to inhibit motor assistance (i.e., in particular, not allow it to start at all in the first place) or to stop (already ongoing) motor assistance and / or initiate an error display (e.g., by a visual and / or acoustic display, such as a sound, preferably a buzzer, or an illuminated display, such as an LED or a display indicator) if (if and / or as soon as) the detected value of the force-related variable is at or exceeds a predetermined value, preferably at least 10 N, further preferably at least 20 N, further preferably at least 25 N and / or at most 100 N, preferably at most 50 N, further preferably at most 40 N. Particularly preferably, in this case neither calibration nor motor assistance is performed. This allows a (serious) malfunction of the force sensor device to have as few or harmless consequences as possible, in particular, it does not lead to motor assistance not being performed in accordance with the user's wishes or even to a dangerous situation. Particularly preferably, in this case, motor assistance is not performed at all. In particular, this condition is checked by the control unit (in a first check step) before checking other conditions (regarding the start of calibration).

[0025] The force sensor device and / or the control unit can be configured to detect the force-related variable at a predetermined frequency of preferably at least 2 Hz, more preferably at least 5 Hz, more preferably at least 8 Hz and / or at most 100 Hz, preferably at most 50 Hz, more preferably at most 30 Hz, more preferably at most 20 Hz, at least before starting the calibration. By means of such a detection frequency, a relatively accurate understanding of the current use of the child vehicle or the child vehicle frame can be obtained in an efficient manner.

[0026] The multiple detections are preferably at least 5 times, further preferably at least 8 times and / or at most 500 times, preferably at most 100 times. Alternatively or additionally, the multiple detections are at least 0.3 times, preferably at least 0.5 times and / or at most 50 times, preferably at most 10 times, further preferably at most 5 times, and even more preferably at most 2 times, of the detection frequency of the force-related parameter in Hz. Thus, the result of the relative effective force can be derived in an effective manner.

[0027] The control unit is preferably designed to perform a calibration, preferably to determine a new reference point (especially a zero point) of the force-related variable, especially as a function of the value (several) of the force-related variable considered for the start-up, particularly preferably to determine the average value of the multiple values ​​of the force-related variable considered for the start-up as the new reference point (zero point). As an alternative, another control unit (possibly also an external control unit) can also perform the actual calibration. The average value is preferably an arithmetic mean or a geometric mean or a harmonic mean or a weighted or trimmed mean or another suitable mean value.

[0028] The calibration can be carried out at least partially, if necessary completely, with the aid of the values ​​that are also used to start the calibration. Alternatively or additionally, however, other values ​​(which may have to be measured first) can also be used for the calibration.

[0029] The stroller or the stroller frame or its control unit preferably comprises at least one (electronic) memory unit, in particular for storing (already performed) calibrations. The memory unit may comprise a (micro)chip.

[0030] The control unit is preferably designed to control the motor based on the stored calibration until a new calibration is reached. This applies in particular even if individual or all components of the stroller or the stroller frame, such as the force sensor device and / or the control device, are switched off during this time.

[0031] In particular, a compromise can be chosen (consciously) between detection accuracy (at a certain point in time) and user-friendliness (at the respective point in time). In particular, it is preferred to consciously accept that the detection is less precise (because an "old" calibration is used) at least for a certain period of time, so that the user is not restricted (in terms of time) in terms of specific use, in particular without having to wait for a pause. Calibration is preferably performed only when the user is not actively using the stroller or the stroller frame (for example, when waiting at traffic lights).

[0032] In an embodiment, the control unit is designed to check, in particular (directly) after the motor is put into operation (and optionally a subsequent initial calibration), at predetermined time intervals (preferably at least 5 minutes, more preferably at least 10 minutes and / or at most 12 hours, preferably at most 2 hours) whether the calibration can be started (i.e. whether the other conditions required for this are met). If the calibration can be started, the control unit preferably also initiates the execution of the calibration (or is configured accordingly). As an alternative, the control unit can be designed to not start further calibrations after the calibration has been started (in particular until the motor is turned off).

[0033] In an embodiment, the control unit is designed to check whether calibration can be started, in particular (directly) after the motor is put into operation (and optionally subsequently calibrated), when (if and / or as soon as) predetermined, in particular externally predetermined conditions are present, such as a temperature change compared to the temperature at the last calibration and / or a (relative) humidity change compared to the (relative) humidity at the last calibration and / or other changes in the ambient conditions. If calibration can be started, the control unit preferably also initiates the performance of the calibration (or is configured accordingly). Thus, in particular if the ambient conditions change accordingly (strongly), a new calibration can be performed, which means an efficient use of the resources required for this (computing power or electronic memory and / or electrical storage for operating current).

[0034] The above-mentioned object is preferably also solved by a computer-readable storage medium, which contains instructions, which, when executed by a processor, cause at least one processor to execute a method for controlling a baby carriage (especially of the above-mentioned type), the baby carriage comprising at least one motor for auxiliary driving a frame of the baby carriage, especially an electric motor, and at least one push piece for pushing the frame of the baby carriage, wherein in the method at least one force-related parameter is detected, especially a force and / or a force component acting on the push piece, and / or a parameter derived from the force or force component, such as a torque and / or a change in the force or force component over time, wherein calibration of the force sensor device (with respect to the force-related parameter) is initiated based on the result of at least one detection of the force-related parameter, especially based on the result of multiple, preferably at least 3, especially (directly) successive detections of the force-related parameter.

[0035] Other method steps that can be implemented accordingly can be seen from the above and following descriptions. The configurations or functions given there can be implemented as specific method steps.

[0036] The above object is also achieved in particular by a method for controlling a baby carriage of the type described above, which comprises at least one motor, in particular an electric motor, for auxiliary driving the baby carriage and at least one pusher for pushing the baby carriage, wherein at least one force-related variable, in particular a force and / or a force component acting on the pusher, and / or a variable derived from the force or force component, such as a torque and / or a change in the force or force component over time, is detected, wherein a calibration of the force sensor device (with respect to the force-related variable) is initiated based on the result of at least one detection of the force-related variable, in particular based on the result of multiple, preferably at least 3, in particular (preferably directly) successive detections of the force-related variable. Further method steps that can be implemented accordingly can be derived from the above and the following description. The configurations or functions given there can be implemented as specific method steps.

[0037] The force sensor device can be arranged (at least partially) directly on and / or in the push piece (e.g. on and / or in a horizontally extending and / or upper push piece section). Alternatively or additionally, the force sensor device can be arranged on a connecting section of the push piece unit to the frame of the child vehicle frame. In this case, the force sensor device can be designed to measure the force acting from the push piece (or the push piece section) on the frame.

[0038] The drive unit can be designed in different ways. For example, the drive unit can include an electric motor and a brake, and when the drive unit is switched to the non-driven state, the brake unit or the brake is switched by the control unit. However, in another embodiment, it is also conceivable that if the drive unit includes an electric motor, the electric motor is switched to a generator and / or used as a recovery brake, which is designed to transfer electrical energy to the energy accumulator. This has the advantage that no further brakes or other braking processes are required in addition to the motor.

[0039] In one embodiment, the child vehicle frame may include at least three wheels, and the drive unit may be arranged and configured to drive and / or lock at least one wheel.

[0040] The frame of the stroller can be designed in different ways. Here, a three-wheel configuration is available, but also a four-wheel configuration.

[0041] In one embodiment, the stroller frame can comprise a frame, on which the push piece section and / or the at least three wheels can be arranged, in particular fastened.

[0042] In one embodiment, the push piece section can be designed to be connectable to the frame via a connecting element and / or a connecting section, and the force sensor device can be arranged at least in sections on the connecting element or the connecting section.

[0043] The user's interaction with the push-piece segment may be detected indirectly through the force between the push-piece segment and the frame.

[0044] In one embodiment, the frame can include at least one hinge section, about which the pusher section can be designed to be rotatable.

[0045] In order to fold the stroller frame and thus obtain compact carrying dimensions, the push piece section can be configured to be foldable. For this reason, the push piece section can be rotated around the hinge section.

[0046] In one specific embodiment, the force sensor device may be arranged in the joint section.

[0047] It is therefore conceivable that the interaction of the user with the stroller frame can be detected indirectly via the torque measured in the joint section. This provides a further possibility for determining the interaction. The advantage of arranging the force sensor device in the joint section is that a compact structural size and an arrangement that is safe from external influences can be selected. Furthermore, complex wiring of the pusher section is not required.

[0048] The at least one (force) sensor device can be arranged on and / or in the push piece, in particular the push piece handle and / or in and / or near the push piece fixing area. The push piece fixing area can be understood in particular as the area where the push piece is mounted on the frame body of the child stroller. Being arranged near the push piece fixing area can be understood in particular as being arranged at a distance of less than 10 cm, preferably less than 5 cm from the push piece (in the case of a push piece that moves relatively, this refers in particular to the minimum distance).

[0049] In one embodiment, the frame may be configured to be foldable from an expanded configuration to a folded configuration, particularly with the use of hinge sections.

[0050] In one embodiment, the force sensor device may communicate and / or be electrically connected to the drive unit and / or control unit in the unfolded configuration of the frame, and / or the force sensor device may not communicate and / or be electrically connected to the drive unit and / or control unit in the folded configuration of the frame.

[0051] In one embodiment, the expanded configuration may be a fully expanded configuration or a partially expanded configuration. In one embodiment, the folded configuration may be a fully folded configuration or a partially folded configuration.

[0052] The drive can be deactivated in a simple manner by folding up the stroller frame or frame.

[0053] The push piece is preferably configured as an integral piece (if necessary, with relatively movable parts). The push piece can especially have a horizontal handle. As an alternative, the push piece can also be configured as a multi-piece (such as a two-piece), for example, with a plurality of handles separated from each other.

[0054] The force sensor device is preferably configured to detect a plurality of different values, for example at least 10 different values ​​(>0), preferably at least 100 different values ​​(>0).

[0055] Preferably, the stroller or the stroller frame comprises a (preferably rechargeable) battery, preferably comprising at least 2 or at least 4 or at least 10 battery cells.

[0056] The control unit may comprise at least one (micro)processor and / or at least one (micro)controller and / or at least one (electronic) chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The invention is explained below with the aid of an embodiment which is explained in more detail with reference to the accompanying drawings.

[0058] Figure 1 A schematic diagram of a baby carriage is shown in an oblique view;

[0059] Figure 2 Show according to Figure 1 Schematic diagram of a child's bicycle frame, highlighting different possible arrangements of the force sensor arrangement;

[0060] Figure 3 A flow chart is shown to illustrate the process of starting up and performing calibration. DETAILED DESCRIPTION

[0061] In the following, the same reference numerals are used for identical and identically acting parts.

[0062] Figure 1 A baby carriage 1 is shown, which has four wheels 2. Two front wheels 2 are connected to the baby carriage 1 via wheel mountings 3 with front wheel suspensions 18. In the front region of the baby carriage 1, a front wheel support 19 is arranged between the wheel mountings 3 to stabilize the wheels 2 on the baby carriage 1. The baby carriage 1 can be pushed (or pulled) by means of a push piece 4. A child receiving device 5 (for example a seat accessory and / or a reclining accessory, such as in particular a seat carrier, a seat unit or a bassinet) which can accommodate a child is shown only schematically.

[0063] The wheel securing device 3 of the front wheel 2 is connected to the adjusting device 15 via the front wheel suspension 18. The adjusting device 15 is arranged above the front wheel 2 in a manner offset to the rear. The rear wheel suspension 17 is also arranged on the adjusting device 15, on which the two rear wheels are arranged on a rear wheel axle 24. The parking brake 20 is arranged at least approximately centrally on the rear wheel axle and is designed to be actuated by one foot. The parking brake 20 is designed to lock the rear wheel. The rear wheel can then only be moved again by releasing the parking brake 20.

[0064] In the embodiment shown, two electric motors 21 for driving the rear wheels are provided at the ends of the rear wheel axle 24. However, in other embodiments, it is also conceivable that a single motor drives both wheels via a shaft and / or a transmission.

[0065] exist Figure 1 In the embodiment shown, the rear axle 24 is configured as a hollow cylinder, in which a battery 23 is arranged, which is electrically connected to the electric motor 21. As an alternative, the rear axle 24 can also be configured as a strut, and the battery 23 can be partially configured below it if necessary. In addition, a control electronic device can be arranged in or on the rear axle 24, which control electronic device is configured to control the functions of the motor 21.

[0066] Furthermore, a holding device 25 is provided on the adjustment device 15 , which holding device is designed to receive the child receiving device 5 .

[0067] The adjustment devices 15 are connected to each other via a crossbar 16 to ensure the stability of the entire device. In addition, a pusher receiving device 26 extending obliquely upward and backward is provided on the adjustment device 15, and the pusher receiving device is connected to the pusher device via a connecting element 14. The pusher device comprises two side rods 13, 13', which are movably arranged in the pusher receiving device 26. The side rods 13, 13' can be fixed by the connecting element 14. A (horizontal) pusher section 12 is provided at the end of the side rods 13, 13', which the user can grasp to push the baby carriage 1.

[0068] Figure 2 Different possibilities for arranging a force sensor arrangement 30 , 30 ′, 30 ″, 30 ′″ on a baby carriage 1 are shown. Figure 2 A first sensor region 31 is shown, which in the illustrated embodiment includes the pusher section of the stroller 1. A force sensor 30, 30' can be arranged in the first sensor region 31. The force sensor 30 can be a sensor designed to measure force. That is, the force sensor 30 emits a signal that can be converted into a force.

[0069] In the embodiment shown, the force sensor 30 is arranged in the push-piece section of the stroller 1 in the first sensor area 31 such that an interaction of the stroller 1 with a user can be detected. In this case, in one embodiment, the force sensor 30 is installed in the push-piece section 12, with the contact surface of the force sensor 30 oriented in the direction of the operator of the stroller 1.

[0070] In addition to the fixing of the force sensor device 30 in the pusher section, in another embodiment, the force sensor 30' can also be arranged in the second sensor area 32 in the connection area of ​​the pusher section 12 and the side bars 13, 13' of the child carriage 1. The pusher section 12 is here movably arranged in the side bars 13, 13' and fixed by a fixing element or connecting element 14'. In order to measure the force applied by the user to the pusher section 12, a force sensor device, such as the force sensor 30', can be arranged in the connecting element 14'. A force sensor 30, 30' can also be designed to be elongated and thus cover both the pusher section 12 and the area of ​​the connection area.

[0071] Figure 2 A second exemplary embodiment is also shown superimposedly, in which a force sensor device 30 ″ is arranged in a connecting element of the side bars 13 , 13 ′.

[0072] In another embodiment, the force sensor device 30'"' is arranged in a third sensor area 33 or 33' on the adjustment device 15. This is preferably a torque sensor 30'". The torque sensor 30'"' is designed to measure the torque caused by the force applied by the user to the push piece section 12 or the side rod 13, 13'.

[0073] A control unit 34 is arranged in the rear wheel axle 24 and is communicatively connected to the force sensor devices 30 , 30 ′, 30 ″, 30 ′″. The control unit 34 is designed to receive and process sensor data generated by the force sensor devices 30 , 30 ′, 30 ″, 30 ′″.

[0074] Figure 3 A flow chart for starting up and performing calibration of a force sensor arrangement is shown.

[0075] After the motor has been switched on (by the user), the control unit first checks in step S10 whether a force greater than a limit value (e.g. 10 N to 100 N, preferably 20 N to 50 N, more preferably (at least approximately) 30 N) acts on the force sensor arrangement. If this is the case, an error message is output in step S15. No calibration and, if necessary, no motor assistance is then performed.

[0076] If the force value is less than the limit value, a check is made in step S20 whether at least one wheel of the stroller 1 or the stroller frame 10 is rotating. If this is the case, the stroller is temporarily operated with the last stored calibration value (step S25). If the at least one wheel is not rotating, a check is made in the next step S30 by the control unit whether all values ​​of a plurality of, for example, 3 to 10, preferably 5 to 20, particularly preferably 10 last measured values ​​(alternatively or additionally a plurality of last measured values, which are rounded to the nearest integer and correspond to 0.3 to 10 times the frequency value measured in Hertz, further preferably 0.5 to 2 times the frequency measured in Hertz) are within a predetermined interval (i.e. an interval of predetermined width or size) and / or whether a statistical characteristic value of the measured plurality of values, such as a variance or other statistical dispersion measure, does not exceed a predetermined value.

[0077] The size (width) of the interval is preferably between 0.1 N and 5 N, further preferably at least between 0.3 N and 2 N, particularly preferably (at least approximately) 0.6 N. If this is the case, a calibration is performed in step S40. In particular, a mean value of the last measured values ​​can be determined here and used as the (new) zero point, the mean value being preferably an arithmetic mean or a geometric mean or a harmonic mean or a weighted or trimmed mean or another suitable mean value. If this is not the case, the baby carriage is temporarily operated with the last saved calibration values.

[0078] In order to save memory resources, the motor can run at this value until it is turned off. However, it can also be provided that calibration is performed at predetermined intervals (e.g. at intervals of 5 minutes to 15 minutes, preferably at intervals of 10 minutes to 2 hours) and / or when predefined conditions occur (e.g. when the temperature has changed by at least 3°C ​​or at least 6°C or at least 10°C compared to the last calibration).

[0079] The next time the motor is switched on, the (entire) cycle can be repeated if necessary.

[0080] It should be pointed out here that all of the above-mentioned components, in particular the details shown in the drawings, alone or in any combination, are claimed as further developments of the invention. Modifications are possible.

[0081] Reference numerals list

[0082] S10 Steps

[0083] S15 Step

[0084] S20 Steps

[0085] S25 Step

[0086] S30 Steps

[0087] S40 Steps

[0088] 1Children's car

[0089] 2 wheels

[0090] 3 wheel fixing device

[0091] 4 Push pieces

[0092] 5Child accommodation device

[0093] 10Children's bicycle frame

[0094] 11 Framework

[0095] 12 Pushing section

[0096] 13, 13' sidebar

[0097] 14, 14' connection element

[0098] 15 Adjustment device

[0099] 16 crossbar

[0100] 17 rear wheel suspension

[0101] 18 front wheel suspension

[0102] 19Front wheel support rod

[0103] 20 Parking brake

[0104] 21 Motor

[0105] 22 Braking device

[0106] 23. Battery

[0107] 24 rear axle

[0108] 25 Holding device

[0109] 26 Push piece receiving device

[0110] 31 First sensor area

[0111] 32, 32' Second sensor area

[0112] 33, 33' Third sensor area

[0113] 34Control Unit

[0114] 30, 30', 30'' force sensor

[0115] 30''' torque sensor

Claims

1. A children's bicycle frame (10), comprising: at least one motor (21) for assisting in driving the frame (10) of the baby carriage, at least one pushing member (4) for pushing the frame (10) of the baby carriage, at least one force sensor device (30) for detecting a force-related variable, and At least one control unit (34) is configured to start calibration of the force sensor device based on the results of multiple consecutive detections of the force-related parameter, and the control unit (34) is configured to start calibration of the force sensor device only when the multiple detections of the force-related parameter are within a value interval of a predetermined width of the force-related parameter and / or when the statistical characteristic value of the multiple detections is within a predetermined value of the statistical characteristic value, and the control unit (34) is configured to start calibration of the force sensor device when the detection value of the force-related parameter is at or below a predetermined value.

2. The children's vehicle frame (10) according to claim 1, characterized in that: The at least one motor (21) is an electric motor.

3. The children's vehicle frame (10) according to claim 1, characterized in that: The force-related variable is the force and / or force component acting on the push piece (4), and / or a variable derived from the force or force component.

4. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is configured to start calibration of the force sensor device only when the result indicates that no one is pushing.

5. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is configured to start calibration of the force sensor device only when the multiple detections of the force-related parameter are within a value interval of a predetermined width of at least 0.1N and / or at most 10N of the force-related parameter and / or when the statistical characteristic value of the multiple detections is within a predetermined value of at least 0.1N and / or at most 10N of the statistical characteristic value.

6. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is configured to start calibration of the force sensor device only when the speed of the child vehicle frame (10) reaches or falls below a predetermined speed.

7. The children's vehicle frame (10) according to claim 6, characterized in that: The control unit (34) is configured to start calibration of the force sensor arrangement only when at least one wheel (2) is stationary.

8. The children's vehicle frame (10) according to claim 1, characterized in that: The predetermined value is at least 1N.

9. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is configured to inhibit or stop the motor assistance and / or initiate an error display when the detected value of the force-related parameter is at or exceeds another predetermined value.

10. The children's vehicle frame (10) according to claim 9, characterized in that: The further predetermined value is at least 10N and / or at most 100N.

11. The children's vehicle frame (10) according to claim 1, characterized in that: The force sensor device (30) and / or the control unit (34) are configured to detect the force-related variable at a predetermined frequency of at least 2 Hz and / or at most 100 Hz, at least before starting the calibration.

12. The children's vehicle frame (10) according to claim 1, characterized in that: The multiple detections are at least 5 times and / or at most 500 times, and / or the multiple detections are at least 0.3 times and / or at most 50 times the detection frequency of the force-related parameter in Hz.

13. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is designed to carry out a calibration in order to determine a new reference point for the force-related variable.

14. The children's vehicle frame (10) according to claim 13, characterized in that: The control unit (34) is designed to carry out a calibration in order to determine a new reference point for the force-related variable as a function of the value of the force-related variable considered for the start-up.

15. The children's vehicle frame (10) according to claim 14, characterized in that: The average value of the multiple values ​​of the force-related variable considered for the activation is determined as the new reference point.

16. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is designed to control the motor based on the stored calibration until a new calibration is performed.

17. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is designed to check at predetermined time intervals after the motor has been put into operation whether a calibration can be started and, if so, to initiate such a calibration; or the control unit is designed not to initiate further calibrations after the calibration has been started until the motor has been shut down.

18. The children's vehicle frame (10) according to claim 17, characterized in that: The control unit (34) is designed to check, after a subsequent initial calibration, at predetermined time intervals whether a calibration can be started.

19. The children's vehicle frame (10) according to claim 17 or 18, characterized in that: The control unit (34) is designed to carry out the check at predetermined time intervals of at least 5 minutes and / or at most 12 hours.

20. The children's vehicle frame (10) according to claim 1, characterized in that: The control unit (34) is designed to check, after the motor (21) has been put into operation, whether a calibration can be started if predetermined conditions exist and, if this is the case, to initiate such a calibration.

21. The children's vehicle frame (10) according to claim 20, characterized in that: The control unit (34) is designed to check, after a subsequent initial calibration, whether a calibration can be started if predetermined conditions exist.

22. The children's vehicle frame (10) according to claim 20 or 21, characterized in that: The predetermined condition is an externally predetermined condition.

23. The children's vehicle frame (10) according to claim 22, characterized in that: The external predetermined condition is a temperature change compared to the temperature at the last calibration.

24. A children's vehicle (1), characterized in that: The baby stroller (1) comprises a baby stroller frame (10) according to any one of claims 1 to 23.

25. A computer-readable storage medium comprising instructions which, when executed by a processor, cause at least one processor to perform a method for controlling a child vehicle frame (10) according to any one of claims 1 to 23 or a child vehicle (1) according to claim 24, wherein: In the method, at least one force-related parameter is detected, wherein calibration of the force sensor device is initiated based on the results of multiple consecutive detections of the force-related parameter, and calibration of the force sensor device is only initiated when the multiple detections of the force-related parameter are within a value interval of a predetermined width of the force-related parameter and / or when a statistical characteristic value of the multiple detections is within a predetermined value of the statistical characteristic value, and calibration of the force sensor device is initiated when the detection value of the force-related parameter is at or below a predetermined value.

26. Method for controlling a child vehicle frame (10) according to any one of claims 1 to 23 or a child vehicle (1) according to claim 24, wherein: Detect at least one force-related parameter, wherein calibration of the force sensor device is initiated based on the results of multiple consecutive detections of the force-related parameter, and calibration of the force sensor device is initiated only when the multiple detections of the force-related parameter are within a value interval of a predetermined width of the force-related parameter and / or when a statistical characteristic value of the multiple detections is within a predetermined value of the statistical characteristic value, and calibration of the force sensor device is initiated when the detection value of the force-related parameter is at or below a predetermined value.

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