Baby carriage frame, baby carriage, and computer-readable storage medium

Abstract

To enhance safety of a baby carriage by improving detection of whether an operator holds a baby carriage frame or the baby carriage.SOLUTION: A baby carriage frame 10 comprises a sensor unit for acquiring sensor data, a drive unit 21 and an arithmetic unit. The arithmetic unit is designed so that the drive unit can switch between a drive state and a non-drive state, as a temporal curvilinear function of the sensor data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a baby stroller frame, a baby stroller, and a computer-readable storage medium.

Background Art

[0002] Electric baby strollers are known in principle. These can be configured to be movable only by the force of a motor. Further, in principle, it is known to equip a baby stroller with a motor assist that assists the driving force of a person operating the baby stroller but does not provide assistance when the operator is not applying force.

[0003] Also, when the operator is not touching the baby stroller, it is necessary to apply a brake to the baby stroller. This can prevent the baby stroller from accidentally rolling down or continuing to move forward in an uncontrollable manner.

[0004] The prior art includes various solutions for detecting whether an operator is touching a baby stroller. For example, from EP 2 805 867 B1, it is known to equip a baby stroller with a capacitive sensor for detecting a hand on the push handle of the baby stroller.

[0005] However, the solution of EP 2 805 867 B1 has the drawback that an operator wearing gloves is not effectively detected.

[0006] Furthermore, from DE 299 01 834 U1, it is known to attach a mechanical switch to the handle of a baby stroller to check whether an operator is pushing the baby stroller. However, this solution has the drawback that an article placed on the handle of the baby stroller, such as a jacket, may activate the switch, so the safe operation of the baby stroller is not guaranteed.

Summary of the Invention

[0007] Therefore, an object of the present invention is to improve the safety of a baby stroller frame, particularly a baby stroller. In particular, an object of the present invention is to improve the detection of whether an operator is gripping the frame of the baby stroller or the baby stroller. In particular, an object of the present invention is to reduce the false detection of contact between the operator and the baby stroller frame or the baby stroller.

[0008] That object is achieved by a baby stroller frame according to claim 1, a baby stroller according to claim 15, and a computer-readable storage medium according to claim 16.

[0009] In particular, that object is - a sensor unit for acquiring sensor data, and - a drive unit, characterized in that it is a baby stroller frame comprising an arithmetic unit is provided, and the arithmetic unit is designed to switch between a driven state and a non-driven state as a function of the curve of the sensor data over time. In particular, the drive unit is designed to switch from (the driven state to) the non-driven state and / or is designed to switch from (the non-driven state to) the driven state.

[0010] One of the core concepts of the present invention is to consider the curve of sensor data over time in order to determine whether to assume the non-driven state or the driven state. Therefore, it is not intended to use only one point in time or only one sensor signal for switching to the non-driven state or the driven state. By considering the curve over time, it is possible to determine whether a substantially static signal or a dynamically changing signal is being detected by the sensor unit. A static signal may indicate that a person is not pushing the baby stroller frame. In contrast, a dynamically changing signal may indicate that a person is pushing the baby stroller frame. In one embodiment, the non-driven state may be designed as a braking state. The braking state can be characterized by actively decelerating or stopping the baby stroller frame. Also, the non-driven state may include, for example, an idle mode when there is no active driving of the baby stroller frame.

[0011] The sensor unit may be, for example, a force sensor or a torque sensor. The sensor unit may be designed to acquire sensor data at a sampling frequency of ≧5 Hz or ≧10 Hz or ≧15 Hz and / or ≦200 Hz or ≦100 Hz.

[0012] In one embodiment, the computing unit may be designed to determine at least one reference value for the sensor data, in particular for at least one temporally continuous subset of the sensor data.

[0013] The subset of sensor data may be composed of sensor data for a specific period. For example, the temporally continuous subset of sensor data may be a 0.5-second portion of the sensor data. Also, it is conceivable that the period is <0.2 seconds, <0.5 seconds, ≦0.8 seconds, ≦1 second, ≦2 seconds and / or ≦5 seconds.

[0014] In one embodiment, temporally directly consecutive subsets may overlap with respect to the measurements captured therein. For example, at least one measurement and all but at most one of the measurements may be captured in both subsets. In one embodiment, additionally or alternatively, it is provided that temporally directly consecutive subsets do not overlap with respect to the measurements captured therein. For example, the measurements included in one subset are not included in the other subset. In particular, non-overlapping temporally consecutive subsets can be designed such that the first measurement captured in the later subset directly follows the last measurement captured in the earlier subset.

[0015] By forming a reference value, there is an advantage that the arithmetic unit can perform a switching as a function of the time course of the curve of the sensor data and the reference value. In this way, a reference amount of a subset of the sensor data is determined and can be compared with one or more current measurements. This simplifies the calculation.

[0016] In one embodiment, the reference value can represent an average value, for example, a trimmed average value, a harmonic average value, or a weighted harmonic average value.

[0017] Accordingly, the reference value may provide a (kind of) summary of the individual sensor values of consecutive subsets of the sensor data. As a result, the individual sensor data can be set in relation to the reference value, and as a result, an efficient switching to a non-driven state or a driven state becomes possible. In one embodiment, the sensor data represents a plurality of measurements, and a recording time may be associated with each measurement.

[0018] To efficiently store the sensor data, each of the measurements may be associated with a recording time. This eliminates the need to store the measurements in a data structure in a certain order. Also, since it can be reverted to a time series by time, the measurements can be stored in any data structure.

[0019] However, for storage, it is also possible to use a data structure with a fixed size, designed to store at least or exactly the number of measurements included in one subset. The data structure may operate according to the FIFO (First In - First Out) principle, and the oldest measurement may be deleted each time a new measurement is stored.

[0020] In one embodiment, the number of temporally consecutive measurements may form a temporally consecutive subset of sensor data.

[0021] In one embodiment, the measurements may indicate force and / or torque.

[0022] Therefore, the sensor unit can be a force sensor and / or a torque sensor. Accordingly, the sensor unit may be designed to output a force value and / or a torque value. In particular, a plurality of sensor units may be provided, at least one force sensor and / or one torque sensor may be provided, and the arithmetic unit may be designed to switch the drive unit to an appropriate state (non - drive state or drive state) as a function of the time - dependent curve of the sensor data from the force sensor and / or torque sensor.

[0023] In one embodiment, the arithmetic unit may be designed to switch the drive unit to the non - drive state when at least a first predetermined number of measurements, particularly when all measurements of the subset are within the tolerance range around the reference value, and / or to switch the drive unit to the drive state when at least a first predetermined number of measurements, particularly when at least one of the measurements of the subset is outside the tolerance range.

[0024] In one embodiment, the arithmetic unit may be designed to switch the drive unit to the non-driven state when the statistical measurement of the spread of the measured values is within the allowable range around the reference value, and / or may be designed to switch the drive unit to the driven state when the statistical measurement of the spread of the measured values is outside the allowable range.

[0025] In one embodiment, the arithmetic unit may be designed to perform the switch to the non-driven state taking into account a plurality of, for example, two, three, five, or ten consecutive subsets, and in particular, the switch may be performed when at least one, or at least two, or all of the measured values of the considered subsets satisfy any of the above conditions.

[0026] Therefore, the allowable range indicates a window (or a type of window) in which the measured values should be arranged that are less than or equal to a first predetermined number. In particular, for the signal from the sensor unit to be considered substantially static, all the measured values in the considered period must be arranged. When at least the first predetermined number of measured values, in particular at least one measured value, is outside this allowable range, it can be assumed that a dynamically changing force is acting on the sensor unit, that is, there is a substantially dynamic signal. When the user touches the sensor unit on the frame of the stroller, the recorded force fluctuations increase. Therefore, when a high degree of spread (for example, variance or another statistical measure of spread) is confirmed, it is assumed that a person is interacting with the stroller frame. When the magnitude of the force is substantially constant, for example, there may be a possibility that an object is acting on the sensor. Examples include a jacket hung on the frame of the stroller.

[0027] In one embodiment, the arithmetic unit may be designed to switch the drive unit to the driven state when at least the first predetermined number of measured values, in particular at least one of the measured values of the subset, is outside the allowable range.

[0028] In one embodiment, the arithmetic unit is designed to permit the driving of the stroller frame by the driving unit in the driving state. Therefore, when switching to the driving state, the driving unit does not necessarily actually become dynamic. Rather, the actual activation may depend on further parameters such as, for example, the magnitude of the average pushing force, the rotation of at least one wheel, etc. Further, the driving state may indicate that the user of the stroller frame can activate the driving device.

[0029] In one embodiment, it may be provided that the arithmetic unit is designed to directly or indirectly activate the drive device and / or to supply power to the drive device when switching to the driving state. In this embodiment, the activation of the driving unit may include the driving of the stroller frame.

[0030] In another embodiment, the arithmetic unit may be designed to switch the driving unit to the driving state when the statistical measurement of the spread of the measured values is outside the tolerance range around the reference value.

[0031] In one embodiment, the arithmetic unit may be designed to perform the switching to the driving state considering a plurality of, for example, two, three, five, or ten consecutive subsets, and in particular, when the measured values of at least one, or at least two, or all of the considered subsets satisfy any of the aforementioned conditions, the switching to the driving state may be performed.

[0032] Also, when it is confirmed that a person is interacting with the stroller frame, it is also possible for the driving unit to drive the stroller frame. This means that the driving unit moves the stroller frame assistively or completely.

[0033] The tolerance range may be an interval of force, and it has been found to be advantageous to consider a tolerance range of up to ±30 N, up to ±40 N, or up to ±100 N around the reference value.

[0034] In one embodiment, it is also possible to select the tolerance range as a function of the reference value. For example, the tolerance range can be up to ±5% of the reference value. In other embodiments, the tolerance interval can also be up to ±10%, up to ±20%, or up to ±50% of the reference value.

[0035] One subset of the sensor data, in particular the above-mentioned, preferably temporally continuous subset, may cover at least one interval, each interval including at least two measurement values, and at least one, in particular all but one, of the at least two measurement values are recorded in the power supply state of the drive unit, and at least one, in particular exactly one, of the at least two measurement values is recorded in the non-power supply state of the drive unit. The above computing unit is designed to switch the drive unit to the non-driven state when at least a first predetermined number of measurement values of the subset recorded in the non-power state of the drive unit are not outside the tolerance range around the reference value. In particular, when all the measurement values of the subset recorded in the non-power state of the drive unit are within the tolerance range around the reference value, and / or when at least one of the measurement values of the subset recorded in the non-power state of the drive unit, in particular at least a first predetermined number, is outside the tolerance range, the drive unit is switched to the driven state.

[0036] One subset of the sensor data, particularly the above-mentioned, preferably temporally continuous subset, may cover at least one interval, each interval including at least two measurements, and at least one of the at least two measurements, particularly all measurements except one, are recorded with the drive unit powered on, and at least one of the at least two measurements, particularly exactly one measurement, is recorded with the drive unit powered off. The above computing unit is designed to switch the drive unit to the non-driven state when the statistical measurement of the spread of the subset of measurements recorded with the drive unit powered off is within the tolerance range around the reference value, and / or to switch the drive unit to the driven state when the statistical measurement of the spread of the subset of measurements recorded with the drive unit powered off is outside the tolerance range.

[0037] In one embodiment, the stroller frame may include a pusher part, and this pusher part may be designed to be used by the user to push the stroller frame. In one embodiment, the sensor unit may be arranged on the pusher part to contact the user's hand when the user places one hand on the pusher part.

[0038] Therefore, the sensor unit may be arranged so as to be in direct contact with the user's hand. In this way, the interaction between the user and the stroller frame can be reliably detected.

[0039] In a further embodiment, the sensor unit may be arranged at the connection part that connects the pusher unit to the frame of the stroller frame. In this case, the sensor unit may be designed to measure the force acting on the frame from the pusher part.

[0040] In the above-mentioned embodiments, since the direct interaction between the sensor unit and the user can be prevented, damage caused by misoperation can be prevented.

[0041] Note that the drive unit can be designed in various ways. For example, the drive unit can be composed of an electric motor and a brake, and when the drive unit is switched to the non-driving state, the brake unit or the brake may be activated by the arithmetic unit. However, in a further embodiment, when the drive unit is composed of an electric motor, it is also conceivable to operate the electric motor as a generator or use it as a brake, particularly a regenerative brake, and the regenerative brake is designed to supply electric energy to the accumulator. This has the advantage that in addition to the motor, no further brake or braking process is required.

[0042] In one embodiment, the baby stroller frame may include at least three wheels, and the drive unit may be arranged and designed to drive and / or lock at least one of the wheels.

[0043] The frame of the baby stroller can be designed in various ways. It is possible to provide not only three wheels but also a configuration of four wheels. In this way, a very versatile solution is provided.

[0044] In one embodiment, the baby stroller frame is composed of a framework, and a pusher part and / or at least three wheels can be arranged thereon.

[0045] The pusher part and the wheels may be attached to the framework, thereby providing stability to the baby stroller frame.

[0046] In one embodiment, the pusher part may be designed to be connectable to the framework via a connection element and / or a connection part, and the sensor unit may be arranged on the connection element or the connection part.

[0047] Therefore, the interaction between the pusher part and the user can be indirectly detected via the force between the pusher part and the framework.

[0048] In one embodiment, the framework may include at least one hinge portion, and the pusher portion may be designed to be rotatable around the hinge portion.

[0049] In order to fold the stroller frame to achieve a compact carrying size, the pusher portion may be designed to be foldable. For this purpose, the pusher portion is rotatable around the hinge portion.

[0050] In one embodiment, the sensor unit may be disposed on the hinge portion.

[0051] Therefore, it is considered that the interaction between the user and the stroller frame can be indirectly detected via the torque measured at the hinge portion. This provides a further possible way to confirm the interaction. By disposing the sensor unit on the hinge portion, there is an advantage that a compact size can be selected and it can be safely disposed without being affected by the outside. Also, there is no need to perform complicated wiring on the pusher portion.

[0052] In one embodiment, the framework may be designed to be foldable from the deployed configuration to the folded configuration, particularly using the hinge portion.

[0053] In one embodiment, the sensor unit may be communicatively and / or electrically connected to the drive unit and / or the arithmetic unit in the deployed configuration of the framework, and / or the sensor unit may not be communicatively and / or electrically connected to the drive unit and / or the arithmetic unit in the folded configuration of the framework.

[0054] In one embodiment, the deployed configuration may be a fully deployed configuration or a partially deployed configuration. In one embodiment, the folded configuration may be a fully folded configuration or a partially folded configuration.

[0055] The drive device can be easily deactivated by folding the baby stroller frame or framework.

[0056] This object is also achieved by a baby stroller comprising a baby stroller frame as described above.

[0057] Advantages similar or identical to those already described in connection with the baby stroller frame are achieved.

[0058] This object is also achieved by a computer-readable storage medium comprising instructions which, when executed by at least one processor, cause the at least one processor to perform the following steps. - Providing and / or receiving sensor data; - Determining a reference value for the sensor data; - Providing and / or receiving (at least) one measured value; - Using the sensor data and the reference value to determine control commands for a drive unit, in particular for a drive unit of a baby stroller and / or a baby stroller frame, as described above in particular.

[0059] This object is also achieved by a method for determining control commands, in particular comprising the following steps. - Providing and / or receiving sensor data; - Determining a reference value for the sensor data; - Providing and / or receiving at least one measured value; - Using the sensor data and the reference value to determine control commands for a drive device of a baby stroller and / or a baby stroller frame, as described above in particular.

[0060] In one embodiment, the control command may be designed as a command to switch to a non-driving state and / or a braking state when at least a first predetermined number of measured values are not outside the tolerance range around the reference value, particularly when all measured values of the subset are within the tolerance range around the reference value, and / or when a statistical measure of the spread of the measured values of the subset is within the tolerance range around the reference value.

[0061] In one embodiment, the control command may be designed as a driving command when at least a first predetermined number of measured values, particularly at least one measured value of the subset and / or a statistical measure of the spread of the measured values of the subset, are outside the tolerance range around the reference value.

[0062] Advantages similar or identical to those already described in connection with the baby stroller frame are achieved.

[0063] This object is also achieved by a computer-readable storage medium comprising instructions which, when executed by at least one processor, cause the at least one processor to perform the above-described method.

[0064] Advantages similar or identical to those already described in connection with this method are achieved.

[0065] Further embodiments will become apparent from the dependent claims.

[0066] Hereinafter, the present invention will be described in more detail based on exemplary embodiments. It will be described with reference to the drawings.

Brief Description of the Drawings

[0067]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

[0068] In the following, the same reference numerals are used for the same components and components having the same functions.

[0069] FIG. 1 shows a stroller 1 having four wheels 2. The two front wheels 2 are connected to the stroller 1 via respective wheel mounts 3 having front wheel suspensions 18. In the front region of the stroller 1, front wheel struts 19 are arranged between the wheel mounts 3 to stabilize the wheels 2 on the stroller 1.

[0070] The wheel mounts 3 of the front wheels 2 are connected to an adjustment device 15 via the front wheel suspensions 18. The adjustment device 15 is arranged above the front wheels 2 and offset rearward. Further, a rear wheel suspension 17 is arranged on the adjustment device 15, and the rear wheels 2 are arranged on the rear wheel axle 24 of the rear wheel suspension 17. A parking brake 20 designed to be operable by foot is arranged substantially at the center of the rear wheel axle. The parking brake 20 is for locking the rear wheels. These can be moved again only by releasing the parking brake 20.

[0071] In the illustrated exemplary embodiment, two electric motors 21 for driving the rear wheels are arranged at both ends of the rear wheel axle 24. However, in other exemplary embodiments, it is also conceivable that one motor drives both wheels via a shaft and / or a transmission.

[0072] In the exemplary embodiment shown in FIG. 1, the rear wheel axle 24 is designed as a hollow cylinder, and an accumulator 23 is arranged on the rear wheel axle 24, and this accumulator 23 is electrically connected to the electric motor 21. Alternatively, the rear wheel axle 24 may be designed as a support column, and the accumulator 23 may be partially arranged below it. The control electronics may further be arranged inside or on the rear wheel axle 24, and this control electronics is designed to control the function of the motor 21.

[0073] In addition, a holding device 25 is arranged in the adjusting device 15, and this holding device 25 is adapted to receive a receiving means (for example, a seat shell, a seat unit or a carrycot).

[0074] The adjusting devices 15 are connected to each other via lateral support columns 16 in order to ensure the stability of the entire device. In addition, a pusher receiving device 26 is arranged in the adjusting device 15, and this pusher receiving device 26 extends obliquely upward and obliquely rearward and is connected to the pusher device via a connecting element 14. The pusher device is composed of two side support columns 13, 13' displaceably arranged on the pusher receiving device 26. The side support columns 13, 13' can be fixed in position via a connecting element 14. At the ends of the side support columns 13, 13', there is arranged a pusher part 12 that can be grasped by the user to push the stroller 1.

[0075] FIG. 2 shows various possible ways of arranging the sensor units 30, 30', 30'', 30''' on the stroller 1. For example, FIG. 2 shows a first sensor area 31, which constitutes the pusher part of the stroller 1 in the illustrated exemplary embodiment. The force sensors 30, 30' may be arranged in the first sensor area 31. The force sensor 30 may be a sensor adapted to measure force. Therefore, the force sensor 30 outputs a signal convertible into force.

[0076] In an exemplary embodiment shown in the figures, the force sensor 30 is arranged in a first sensor region 31 of the pusher part of the baby stroller 1 so as to be able to detect the interaction with the user of the baby stroller 1. In one exemplary embodiment, the force sensor 30 is integrated into the pusher part 12, and the contact surface of the force sensor 30 is oriented so as to face the operator of the baby stroller 1.

[0077] In addition to attaching the sensor unit 30 to the pusher part, in a further exemplary embodiment, it is also possible to arrange a force sensor 30' in the connection region where the pusher part 12 is connected to the side struts 13, 13' of the baby stroller 1. In this case, the pusher part 12 may be arranged displaceably on the side struts 13, 13' or may be fixed in a predetermined position via a fastening element or connection element 14'. In order to measure the force applied to the pusher part 12 by the user, a sensor unit, for example the force sensor 30', may be arranged in the connection element 14'. The force sensors 30, 30' may also be designed in an elongated manner and thus may cover both the region of the pusher part 12 and the region of the connection region.

[0078] FIG. 2 also shows, in an overlapping manner, a second exemplary embodiment in which the sensor unit 30'' is arranged in the connecting element of the side struts 13, 13'.

[0079] In another exemplary embodiment, the sensor unit 30''' is arranged in a third sensor region 33 or 33' on the adjusting device 15. This is preferably a torque sensor 30'''. The torque sensor 30''' is adapted to measure the torque generated by the force exerted on the pusher part 12 or the side struts 13, 13' by the user.

[0080] An arithmetic unit 34 communicably connected to sensor units 30, 30', 30'', 30''' is arranged on the rear wheel axle 24. The arithmetic unit 34 is designed to receive and process sensor data generated by the sensor units 30, 30', 30'', 30'''. The processing of the data is shown in detail in FIGS. 3 and 4.

[0081] FIG. 3 shows the signal curves of the force sensors 30, 30', 30'', which are shown as a force diagram 40 over time. Time T [s] is plotted on the X-axis and force F is plotted on the Y-axis. A plurality of measured values 43 detected by the sensor units 30, 30', 30'' are plotted in the force diagram 40. The measured values 43 together form sensor data 41.

[0082] On the X-axis, time t0, t 0+1 , t 0+2 , t1 are plotted. In order to determine whether a person is touching the stroller 1, the arithmetic unit 34 is designed to consider a temporally continuous range of the measured values 42. As an example, FIG. 3 shows a subset of the sensor data 42 for a period of 0.5 seconds.

[0083] In order to determine whether the current measured value 43' at time t1 indicates an interaction between the user and the stroller 1, a reference value F1 is calculated for the measured values 42 located in the time interval before the measured value 43', and the reference value indicates the average value of the sensor values in the time interval. Further, a tolerance range 44 is set around the reference value F1. In the exemplary embodiment of FIG. 3, the tolerance interval 44 is set to ±30 Newtons with respect to the reference value F1.

[0084] When processing the measured value 43’, it is checked whether this measured value is within the tolerance interval 44. As shown in FIG. 3, the current measured value 43’ is outside the tolerance range 44. This means that the force has increased significantly compared to the previous value. From this, it is inferred that the user is interacting with the stroller 1. Thus, the measured value 43’ indicates that the stroller 1 is being pushed or held by a person.

[0085] The arithmetic unit 34 described in connection with FIGS. 1 and 2 is designed to switch the motor 21 to the driving state in response to finding that the measured value 43’ is outside the tolerance interval 44. This means that the motor drives the stroller frame or the stroller 1.

[0086] In other embodiments that require a plurality of measured values (e.g., two or three or five measured values) in a subset outside the tolerance range, the same data may lead to switching the motor to the non - driving state. However, basically, it is as follows. By visualizing the force curve to which the measured values belong, for example, when the sampling frequency is tripled, it can be seen that a plurality of measured values, probably about three measured values, are outside the tolerance range. In this case, it is effective to widen the tolerance range or set the first predetermined number to a value greater than 1.

[0087] In another exemplary embodiment, the arithmetic unit 34 checks whether the measured value 42 is spreading. This means that the arithmetic unit is designed to calculate a statistical measure of the spread. In the example of FIG. 3, the arithmetic unit 34 may be designed to calculate the variance of the measured value 42. If the calculated variance is outside the tolerance range, the motor 21 is switched to the driving state by the arithmetic unit 34. In the last - mentioned example, thus, the switching depends not on a single measured value, but rather on the ratio between the measured values at certain intervals. As a result, a more robust detection of user interaction becomes possible.

[0088] Figure 4 shows an example in which the motor 21 switches to the driving state. Similarly, Figure 4 shows a force diagram 41 in which force is plotted on the Y-axis and time is plotted on the X-axis. A number of measurement points 43 are shown in the force diagram 41. As already explained in connection with Figure 3, the reference value F1 is determined at a predetermined time interval prior to the currently measured measured value 43'. In the exemplary embodiment shown in Figure 4, the time interval is 0.4 seconds. Also, the sampling frequency at which the sensor records the measured value 43 is 20 Hz. Similar to the description of Figure 3, an allowable range 44' is set around the reference value F1. In the exemplary embodiment of Figure 4, the limits of the tolerance interval 44' are selected to correspond to ±20% of the value of the reference value F1. Therefore, the allowable range dynamically adapts to the reference value F1.

[0089] In the exemplary embodiment shown in Figure 4, the currently measured measured value 43' is within the allowable range 44'. However, (at least) one value within the time interval is outside the allowable range. Therefore, the arithmetic unit 34 determines that it is necessary to switch the motor to the driving state because a sufficiently varying force and / or a sufficiently varying torque is acting on the sensor unit, indicating a high likelihood that a person is interacting with the stroller 1.

[0090] Also, in a manner similar to the example described above, the arithmetic unit 34 may calculate whether the variance of the measured values 42 in a certain section is within the allowable interval 44'. If the variance of the measured values in the time interval is within the allowable interval 44', the arithmetic unit 34 is adapted to switch the motor to the non-driving state or the braking state.

[0091] In another exemplary embodiment not shown, it is conceivable that the sensor unit is designed to detect force or torque at a frequency of 50 Hz. After a certain number of measurements, for example, after 5 measurements (generally, after n measurements, where n should be between 2 and 100, or between 2 and twice the measurement frequency specified in Hertz; in the context of this application, all integer values n between 2 and 100, and all integer values between 2 and twice the measurement frequency specified in Hertz are provided to be covered by this disclosure), the power to the motor 21 is interrupted for one measurement. When the measured values are recorded at least at 5 intervals, preferably 3 intervals, without power supply to the motor 21, the average value (e.g., arithmetic mean) of the values in the non-powered state is formed. If at least a first predetermined number of the measured values in the non-powered state, in particular, all of the measured values in the non-powered state, are not outside the tolerance interval around the average value (arithmetic mean), i.e., the reference value, the motor 21 is switched to the non-driven state or the braking state.

[0092] If at least a first predetermined number of measured values, in particular at least one measured value, is outside the tolerance interval, for example, outside ±25 Newtons, it is confirmed that the user is likely interacting with the stroller 1, and the motor 21 is switched to the driving state. To calculate the arithmetic mean, the absolute values of the measured values are obtained and used.

[0093] In a manner similar to the example described above, it is also possible for the arithmetic unit 34 to calculate a statistical measure of the variance of the values in the non-powered state. If the statistical measure of the spread (variance) is within the tolerance range, the motor 21 is switched to the non-driven state. If the statistical measured value of the spread (variance) is outside the tolerance range, the motor 21 is switched to the driving state by the arithmetic unit 34.

[0094] In a fourth exemplary embodiment, not shown as well, a second tolerance interval around the reference value can be defined, for example, as ±15 Newtons. Thus, the second tolerance range is inside the first tolerance range. If at least a second predetermined number of measured values in the non-driven state are not outside the second tolerance interval, in particular if all measured values in the non-driven state are inside the second tolerance interval, the brake actively operates (in addition to switching the motor 21 to the non-driven state).

[0095] FIG. 5 is a flowchart 50 showing a method for determining whether an operator is interacting with the frame of a stroller. First, in determination step 52, sensor data is received and processed. In the determination step, a reference value 53 is calculated, which can represent, for example, the average value of the sensor data 51.

[0096] In the subsequent comparison step 55, the current measured value 54 is received and compared with the reference value. In the interval determination step 57, a tolerance interval is set around the reference value. For this purpose, the value of the reference value can be taken into account. That is, if the reference value is large, a large tolerance interval is determined, and if the reference value is small, a small tolerance interval is determined.

[0097] Furthermore, a gap 58 between the current measurement value 54 and the interval limit is determined. In a check step 59, it is checked whether at least one of the current measurement value 54 or other measurement values of the considered time interval (generally: whether the sum of at least a first predetermined number of measurement values of the considered time interval is outside the tolerance range). If all of the current measurement value 54 and all other measurement values of the considered time interval are within the tolerance range (generally: if fewer than a first predetermined number of measurement values of the considered time interval are outside the tolerance range), in a braking step 61, the motor of the baby stroller is switched to a non-driven state. In an exemplary embodiment, the motor is switched to a braking state so that the baby stroller 1 stops. If it is confirmed that at least one of the current measurement value 54 or other measurement values in the considered time interval is outside the tolerance range (generally: if the sum of at least a first predetermined number of measurement values in the considered time interval is outside the tolerance range), the motor is switched to a driven state so that the baby stroller is driven completely or assisted by the motor.

[0098] Also, the present invention explicitly includes a scenario in which the arithmetic processing device is embodied by a server communicably connected to the baby stroller frame or the baby stroller. For example, only sensor data can be transmitted to the server via a communication device, whereupon all calculation steps are executed on the server and control commands are sent back to the baby stroller and / or the communication device.

[0099] List of reference numerals 1 Baby stroller 2 Wheel 3 Wheel mount 10 Baby stroller frame 11 Framework 12 Pusher part 13, 13' Side strut 14, 14' Connecting element 15 Adjusting device 16 Lateral strut 17 Rear wheel suspension 18 Front wheel suspension 19 Front wheel strut 20 Parking brake 21 Motor 22 Braking device 23 Accumulator 24 Rear wheel axle 25 Holding device 26 Pusher receiving device 31 First sensor area 32, 32’ Second sensor area 33, 33’ Third sensor area 34 Arithmetic unit 30, 30’, 30’’ Force sensor 30’’’ Torque sensor 40 Force diagram 41 Sensor data 42 Subset of sensor data 43, 43’ Measured value 44 Tolerance range 50 Flow chart 51 Sensor data 52 Decision step 53 Reference value 54 Current measured value 55 Comparison step 56 Deviation value 57 Interval determination step 58 Gap to interval limit 59 Check step 60 Driving step 61 Braking step F1 Average value F Force axis T[s] Time axis t0 First measurement time t1 Current measurement time S1 Non - running state / Braking state S2 Running state

Claims

1. A sensor unit (30, 30', 30'', 30''') for obtaining sensor data (41), a drive unit (21), and an arithmetic unit (34) are provided, wherein the arithmetic unit (34) is designed to switch the drive unit (21) between a driving state and a non-driving state as a function of a curve of the sensor data (41) over time, characterizing a baby stroller frame (10).

2. The arithmetic unit (34) is further designed to determine at least one reference value (F1) for at least one temporally continuous subset (42) of the sensor data (41), characterizing the baby stroller frame (10) according to Claim 1.

3. The reference value (F1) is characterized by an average value, in particular a trimmed average value, a harmonic average value or a weighted harmonic average value, characterizing the baby stroller frame (10) according to any one of the preceding claims, in particular according to Claim 2.

4. The sensor data (41) represents a plurality of measured values (43), each measured value being associated with a recording time (t), and a plurality of temporally continuous measured values (43) form a temporally continuous subset (42) of the sensor data (41), characterizing the baby stroller frame (10) according to any one of the preceding claims, in particular according to Claim 2.

5. The measured value (43) is characterized by indicating a force and / or a torque, characterizing the baby stroller frame (10) according to any one of the preceding claims, in particular according to Claim 4.

6. The arithmetic unit (34) is designed to switch the drive unit (21) to the non-driving state (S1) when the measured values (43) of the subset (42) are not within the tolerance range (44) around the reference value (F1), in particular when all the measured values (43) of the subset (42) are within the tolerance range (44) around the reference value (F1), and / or when at least a predetermined number of measured values (43) of the subset (42) are within the tolerance interval (44) around the reference value (F1), in particular when at least one of the measured values (43) of the subset (42) is outside the tolerance interval (44), the drive unit (34) is switched to the driving state (S2), The baby stroller frame (10) according to any one of the preceding claims, in particular according to claim 4.

7. The arithmetic unit (34) is designed to switch the drive unit (21) to the non-driving state (S1) when a statistical measurement of the spread of the measured value (43) is within an allowable range (44) around the reference value (F1), and / or, when the statistical measurement of the spread of the measured value (43) is outside the allowable range (44), the drive unit (34) is designed to be switched to the driving state (S2). The baby stroller frame (10) according to any one of the preceding claims, in particular according to claim 4.

8. The temporally continuous subset (42) of the sensor data covers at least one interval. Each of the intervals includes at least two measured values (43). At least one of the at least two measured values (43), in particular all measured values except one, is recorded with the drive unit (21) powered on. At least one of the at least two measured values (43), in particular exactly one measured value, is recorded with the drive unit (21) in the non-powered state. The arithmetic unit (34) switches the drive unit (21) to the non-driving state (S1) when the measured values (43) of the subset (42) are not within the allowable range (44) around the reference value (F1), in particular when all measured values of the subset (42) recorded in the non-powered state of the drive unit (21) are within the allowable range (44) around the reference value (F1), and / or, when a predetermined number of measured values (43) of the subset (42) are within the allowable interval (44) around the reference value (F1), in particular when at least one of the measured values of the subset (42) recorded in the non-powered state of the drive unit (21) is outside the allowable interval (44), the drive unit (34) is designed to be switched to the driving state (S2). The baby stroller frame (10) according to any one of the preceding claims, in particular according to claim 4.

9. The temporally continuous subset (42) of the sensor data covers at least one interval. Each of the intervals includes at least two measured values (43). At least one of the at least two measured values (43), in particular all measured values except one, is recorded with the power supply of the drive unit (21) on, and at least one of the at least two measured values (43), in particular exactly one measured value, is recorded with the drive unit (21) in a non-powered state, the arithmetic unit (34) is designed to switch the drive unit (21) to the non-driven state (S1) if a statistical measure of the spread of the subset (42) of measured values recorded with the drive unit (21) in the non-powered state is within the tolerance range (44) around the reference value (F1), and / or to switch the drive unit (34) to the driven state (S2) if a statistical measure of the spread of the subset (42) of measured values recorded with the drive unit (21) in the non-powered state is outside the tolerance interval (44), characterized in that A baby stroller frame according to any one of the preceding claims, in particular according to claim 4.

10. Characterized in that it comprises a pusher part (12) designed to be used by the user to push the baby stroller frame (10). A baby stroller frame (10) according to any one of the preceding claims.

11. Characterized in that the sensor unit (30, 30’, 30’’, 30’’’) is arranged on the pusher part (12) so as to come into contact with the hand when the user places one hand on the pusher part (12). A baby stroller frame (10) according to any one of the preceding claims, in particular according to claim 7.

12. Characterized in that the drive unit consists of a brake device (22) and / or a motor (in particular an electric motor (21)). A baby stroller frame (10) according to any one of the preceding claims.

13. Characterized in that it comprises at least three wheels (34), and the drive unit is arranged and designed to drive and / or lock at least one of the wheels (34). A baby stroller frame (10) according to any one of the preceding claims.

14. Characterized in that it comprises a frame (11) on which the pusher part (12) and / or the at least three wheels (34) are arranged. A baby stroller frame (10) according to any one of the preceding claims

15. The pusher part (31) is designed to be connectable to the framework (11) via a connecting element (14) and / or a connection part, and the sensor unit (30, 30', 30'', 30''') is arranged on the connecting element (14) or the connection part, characterized in that A baby stroller frame (10) according to any one of the preceding claims.

16. The framework (11) includes at least one hinge part (15), and the pusher part (12) is designed to be rotatable around the hinge part (15), characterized in that A baby stroller frame (10) according to any one of the preceding claims.

17. The sensor unit (30, 30', 30'', 30''') is arranged on the hinge part (15), characterized in that A baby stroller frame (10) according to any one of the preceding claims.

18. The framework (11) is designed to be foldable from an unfolded configuration to a folded configuration, particularly using the hinge part (15), characterized in that A baby stroller frame (10) according to any one of the preceding claims.

19. The sensor unit (30, 30', 30'', 30''') is communicatively and / or electrically connected to the drive unit (21) and / or the arithmetic unit (34) in the unfolded configuration of the framework (11), and / or the sensor unit (30, 30', 30'', 30''') is not communicatively and / or electrically connected to the drive unit (21) and / or the arithmetic unit (34) in the folded configuration of the framework (11), characterized in that A baby stroller frame (10) according to any one of the preceding claims.

20. A baby stroller (1) comprising a baby stroller frame (10) according to any one of the preceding claims, characterized in that

21. When the instruction is executed by a processor, at least one processor is caused to - provide and / or receive sensor data; - determine a reference value of the sensor data; - provide and / or receive (at least) one measured value; - a step of determining a control command using sensor data and a reference value for a drive unit, in particular for the drive unit of a baby stroller according to claim 20, and / or for the drive unit of a baby stroller frame according to any one of claims 1 to 19, including an instruction to cause a computer-readable storage medium.

22. - a step of providing and / or receiving sensor data, - a step of determining a reference value for the sensor data, - a step of providing and / or receiving at least one measured value, - a step of determining a control command using sensor data and a reference value for a drive unit, in particular for the drive unit of a baby stroller according to claim 20, and / or for the drive unit of a baby stroller frame according to any one of claims 1 to 19 including a control command determination method.

23. The control command is designed as a command to switch to a non-driving state and / or a braking state when there are less than a predetermined number of measured values in the subset not within an allowable range around the reference value (F1), in particular when all measured values of the subset and / or a statistical measure of the spread of the measured values of the subset are within the allowable range around the reference value. The control command determination method according to claim 22.

24. The control command is designed as a drive command when at least a predetermined number of measured values, in particular at least one measured value of a subset and / or a statistical measure of the spread of the measured values of a subset, are outside an allowable range around the reference value. The control command determination method according to any one of claims 22 to 23.

25. A computer-readable storage medium storing instructions for causing at least one processor to execute the method according to any one of claims 22 to 24.

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