Stroller frame and stroller

Abstract

We offer an electric stroller frame that is easy to operate, simple, and sturdy, and a stroller that allows the operator to control it easily, conveniently, and intuitively. [Solution] A stroller frame having at least one motor, in particular an electric motor, for assisting the stroller frame's operation; a pusher bar 10 for pushing the stroller frame; and a force sensor device for detecting the direction and / or amount and / or component of the force acting on the pusher bar 10, and / or a value derived from the force or component, in particular a change in the force or component over time.

Description

Technical Field

[0001] The present invention relates to a baby stroller frame and a corresponding motor-assisted baby stroller.

Background Art

[0002] Electric baby strollers are generally known. An electric baby stroller is configured to be able to move only by the power of a motor. Further, it is generally known to equip a baby stroller with a motor assist that supports the driving force of an operator who operates the baby stroller but does not assist when no force is applied by the operator.

[0003] Furthermore, it is known to arrange a motor on an axle between two wheels of a baby stroller, and such a motor is adapted to drive both wheels attached to the axle.

[0004] There are already known concepts that provide useful assistance to the operator of a baby stroller. However, on the one hand, these known concepts are still considered not user-friendly and complex.

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide an electric baby stroller frame that is easy to operate, not complex and robust, and a corresponding baby stroller that enables a person operating the baby stroller to easily, conveniently and intuitively control the baby stroller.

[0006] This object is solved by the baby stroller frame according to claim 1.

Means for Solving the Problems

[0007] In particular, the object of the present invention is solved by a stroller frame comprising at least one motor, in particular an electric motor, for driving the stroller frame, at least one pusher bar for pushing the stroller frame, and preferably at least one sensor device, in particular a force sensor device. The sensor device, in particular the force sensor device, is preferably constructed to detect a force or force component, in particular the direction and / or amount of a force and / or force component acting on the pusher bar, and / or a value derived from the temporal change of this force or force component, in particular the force or force component.

[0008] In one aspect of the present invention, a force sensor device is provided for detecting the direction or amount (or both) of a force and / or force component (or a value derived from such force or force component). Corresponding control can be performed based on the output from such a sensor device. The output of the sensor device is understood to mean, in particular, the output of a measured value and / or the output of an average value from multiple measured values.

[0009] Subsequently, control can be performed internally (by control devices located on or inside the stroller frame) and / or externally by separate control devices (e.g., mobile devices, especially smartphones). However, in this context, the primary concern is the ability to generate any data related to the force and / or the values ​​associated with the force. In this respect, it is advantageous, if not essential, to have control devices equipped on the stroller frame (or the corresponding stroller) itself.

[0010] Overall, we recommend the stroller frame of the present invention, which is user-friendly, easy to manufacture, and equipped with motor assist.

[0011] The measurement of a quantity is particularly understood to be either the measurement of at least one specific quantity (e.g., as a specific value of xy Newtons), or at least whether a force / force component is above (or possibly equal to) a threshold, or below (or possibly equal to) a threshold.

[0012] The pusher bar is preferably configured as a single component (optionally comprising individual components that are movable relative to one another). The pusher bar may have a horizontal handle in particular. Alternatively, the pusher bar may be configured as multiple components (e.g., two components) each having a plurality of handles that are separated from one another.

[0013] In particular, the force sensor device is capable of detecting at least two different force directions (e.g., front-back and / or up-down) and, if necessary, its quantity or at least four directions (e.g., forward, backward, upward, and downward). Optionally, at least two different quantities (>0), preferably at least four different quantities, such as a continuum of force quantities (force components or values ​​derived therefrom), may be detected by the force sensor device. In any case, information is simply provided by a type of force sensor device that can be advantageously used to control motors for driving strollers and stroller frames.

[0014] According to a further (optionally independent) aspect of the present invention, a stroller frame (optionally of the aforementioned type) is proposed, which is provided with multiple motors, in particular electric motors, to drive the stroller frame. Preferably, one motor is assigned to each of at least two or exactly two wheels (e.g., one left wheel and one right wheel, or a first side wheel and a second side wheel). A control device is preferably provided to control the motors individually. Alternatively or additionally, a sensor device may be provided to detect pressing force and / or to move the stroller frame. Pushing feel, especially when turning, can be improved by multiple motors (in particular, at least two or exactly two) without the need to take complex measures (e.g., when only one motor contains a differential gear).

[0015] Here, unless otherwise specified, pushing or pushing force should be understood to mean a specific action and / or force that can be directed both forward and backward (in the latter case, it is also possible to describe pulling force or traction force).

[0016] Insofar as two forces are being compared and it is indicated that they are equal or different, this should generally be understood as an abbreviation for "equal or different in direction and / or quantity of force" unless the direction is clearly specified from the context (e.g., "opposite force"). In that case, the indication of equal or different forces must relate to the quantity of force.

[0017] At least one (force) sensor device can be positioned on the pusher bar, particularly on the handle of the pusher bar, and / or within the handle of the pusher bar, and / or within and / or near the fixed area of ​​the pusher bar. The pusher bar fastening area is understood to be the area in particular where the pusher bar is attached to the body of the stroller frame. Positioning close to the pusher bar fastening area is understood to be a position in particular at a distance of less than 10 cm, preferably less than 5 cm, relative to the pusher bar (in the case of a pusher bar that moves relative to it, this particularly means the minimum distance).

[0018] According to another aspect of the present invention, a stroller including the above-described type (and the following text of the specification), such as a child's stroller, buggy or similar vehicle, is proposed.

[0019] According to an independent aspect of the present invention, a method is proposed for controlling a stroller frame or stroller of the type described above (and hereafter described in the specification), particularly the type described above (and hereafter described in the specification), in which the direction and / or amount of force and / or force component acting on a pusher bar, and / or a value derived from the temporal change of this force and / or force component, in particular the force or force component. It should be understood that, insofar as the functional characteristics of the stroller frame and / or stroller are described above and hereafter described in the specification, they are capable of performing the steps of the corresponding method. In this regard, the device characteristics of the corresponding device (e.g., a force sensor device) are not necessarily deterministic with respect to the method of the present invention, rather the method of the present invention performs the steps as they are (e.g., detection of the direction and / or amount of force). Of course, the corresponding device characteristics (e.g., a force sensor device) as described above and hereafter described in the specification can also be within the scope of the method.

[0020] Preferably, at least one control device is provided that is operablely connected to at least one (force) sensor device such that the output of at least one sensor is used to control at least one motor. In this way, a simple and reliable detection of force (or other values ​​such as current movement, for example) can be performed.

[0021] In one variant, at least one sensor device is designed to detect the force and / or force component and / or values ​​derived therefrom acting on the pusher bar at at least two different locations. In particular, this detection can be performed on a first side (e.g., left) and a second side (e.g., right) of the pusher bar, especially on a first side (e.g., left) and a second side (e.g., right) of the handle, and / or at locations on two different handles, particularly on either one of the handles. Wherever left or right is referred to here and in the following text of the specification, this specifically refers to the left or right, respectively, as determined from the viewpoint of the operator operating the stroller frame or the stroller.

[0022] In certain modifications, the sensor device is designed to determine the force components in the direction of motion and / or opposite to the direction of motion (horizontal in each case) and / or upward and / or downward (vertical in each case). Alternatively or additionally, components of the corresponding temporal derivation (and / or change over time) may be determined.

[0023] When an applied force (and / or force component and / or force derivation) is detected at several different locations, the control device may be configured to act in accordance with the value and duration of, for example, a (particularly horizontal) impact force (and / or its change over time), and / or depending on whether the (particularly horizontal) force (and / or its change over time) acts in the same direction. The drive wheel (or the motor attached to it) acts in accordance with the force (and / or its change over time) present on its side and / or the force (and / or its change over time) on other (opposite) sides.

[0024] The control device is preferably designed to control and / or adjust the power of at least one motor, for example, in separate steps and / or sequentially, based on the output from at least one sensor device.

[0025] The control device may be further designed so that at least one motor starts when the force and / or force component and / or values ​​derived therefrom exceed a first threshold. Motor starting is particularly understood to mean the situation in which the motor receives power to drive the stroller frame. In this sense, switching on the motor (e.g., idling) is not yet considered motor starting. However, motor starting may also refer to the initial switching on of the motor (supply of energy).

[0026] The control device may be designed such that at least one motor stops or is maintained at a constant power when a second threshold value of a force and / or a force component (e.g., an upward or downward component) and / or a value derived therefrom is exceeded. The stopping of the motor is to be understood in particular as placing the motor in a state where it no longer drives the stroller. The motor can optionally continue to operate (e.g., in an idling mode). However, it can also be understood as meaning a final switch-off (e.g., interruption of the energy supply to the motor). The second threshold value may be greater than the first threshold value with respect to the quantity.

[0027] The control device is designed such that when the threshold values of the forces Fd and Fu are arbitrarily (with respect to the quantity) the same or different, when the threshold value of the downward-acting force Fd is exceeded, and / or when the threshold value of the upward-acting force Fu is exceeded, and / or when the threshold values of the acting forces Ff2 and Fr2 are arbitrarily (with respect to the quantity) the same or different, when the threshold values of the forces Fd and Fu exceed the threshold value of the forward-acting force Ff2, and / or when the threshold values of the forces Fd and Fu exceed the threshold value of the backward-acting force Fr2, at least one motor is stopped or maintained at a constant power, and when the threshold values of the acting forces Ff2 and / or Fr2 are preferably greater than the threshold values of the forces Fu and / or Fd, in particular 2 times or 5 times or 20 times greater or greater than that, it may be further designed. Such a control device is preferably designed to restart the motor when the threshold value of the acting force Ff2, the threshold value of the acting force Fr2, the threshold value of the force Fu and / or the threshold value of the force Fd falls below (after previously exceeding).

[0028] Furthermore, the control device is designed to activate at least one motor when the force threshold values Ff1 and Fr1 are arbitrarily (in terms of quantity) the same or different, when the threshold value Ff1 of the force acting forward is exceeded, and / or when the threshold value Fr1 of the force acting backward is exceeded, and / or optionally when the threshold value of the force acting downward is exceeded, and / or when the threshold value of the force acting upward is exceeded, where the threshold value of the force acting downward and the threshold value of the force acting upward are arbitrarily the same or different. Here, preferably, the force threshold value Ff1 is preferably smaller (in quantity) than the acting force threshold value Ff2, and / or preferably, the force threshold value Fr1 is designed to be further smaller (in quantity) than the acting force threshold value Fr2.

[0029] Alternatively or additionally, the control device, when the (horizontal) force on one of the two sides is positive and the (horizontal) force on the other side is negative (this may correspond to a turning trajectory or a curved trajectory), and / or when the change over time of the (horizontal) force on one side is positive and the change over time of the (horizontal) force on the other side is negative (in this case, the result is a turning trajectory or a curved trajectory of the stroller), the drive wheels (and / or the correspondingly attached motors) operate such that only one of the drive wheels (motors) provides support and / or the support force does not exceed a predetermined value, or the support from both motors is (completely) stopped, or at least significantly reduced.

[0030] The stroller frame has at least one speed sensor and / or at least one curved trajectory sensor. The speed sensor is specifically designed to determine the amount (and optionally the direction) of the current speed (of the stroller frame relative to the substrate). The curved trajectory sensor is preferably designed to determine the curvature of a turn or bend (in the path the stroller frame travels). The control device can optionally be designed to stop the support of the corresponding motor when a certain speed is exceeded and / or when the curvature of the curved trajectory falls below a certain value. This improves the overall reliability and safety when operating the stroller.

[0031] The control device may be designed such that the quotient obtained from the pushing force or the pushing force component (particularly horizontal) and the support force of at least one motor is constant, for example, 1 or greater, 2 or greater, 3 or greater, or less than 1; or it may be designed such that the support force increases or decreases substantially linearly with respect to the pushing force or the pushing force component (particularly horizontal), for example, so that the quotient obtained from the motor's support force is variable. This support force may increase, for example, polynomially, exponentially, or logarithmically with respect to the pushing force.

[0032] Furthermore, the control device may be designed such that the quotient obtained from the change over time of the pressing force or the change over time of the pressing force component (particularly horizontal) and the change over time of the support force of at least one motor is constant, for example, 1 or more, 2 or more, 3 or more, or less than 1; or the quotient obtained from the change over time of the motor's support force may be variable, for example, the change over time of the support force may increase or decrease approximately in proportion to the change over time of the pressing force or the pressing force component. For example, the change over time of the support force may increase polynomially, exponentially, or logarithmically with the change over time of the pressing force or the change over time of the pressing force component.

[0033] The bearing capacity (or the change in bearing capacity over time) is, in particular, greatly increasing in proportion to (or precisely in proportion to) the compressive force or the compressive force component (or the change in compressive force or the change in compressive force component over time).

[0034] The thresholds and limits described above (and in the following text of the specification) may have predetermined fixed values ​​or may be modified over time by, for example, a self-learning algorithm.

[0035] Preferably, the control device is designed such that the driving force of at least one motor is suppressed or stopped when the brakes, particularly the deceleration brake (service brake) or parking brake, are applied.

[0036] The pusher bar and / or portion of the pusher bar (particularly the section of the pusher bar that includes at least a sensor device) is preferably movable, preferably over a range of movement, without the need to perform a disengagement action against a restoring force.

[0037] The term "movement" in this sense should not be understood to specifically mean movement for (pure) height adjustment of the pusher bar to adjust the stroller frame to the operator's height, but rather to specifically mean (free) movement that serves as feedback to the user that the motor support is effective, which may be particularly used for force measurement. In this scope, a "dual feedback" can exist, on the one hand, with effective motor support (which the user can perceive as such) and with the movement of the pusher bar (or push section). Thus, force measurement is performed in particular, and at the same time, the dual feedback function is ensured by the same movement. Comparing this to a piezo sensor (a relatively compact sensor device), in this case, a relatively good feedback is given to the user, making it easier for the user to operate the stroller (and the user does not have to rely on detecting only relatively small motor support under certain circumstances).

[0038] The (free) movement of the pusher bar (or pusher section) can be, for example, at least 2 mm, or at least 10 mm, or at least 20 mm. For example, when comparing a force sensor device with a simple piezoelectric sensor, the present invention provides more accurate information, thus clearly achieving an improvement. Incidentally, piezoelectric sensors can only detect relatively small relative movements (less than 1 mm).

[0039] Therefore, in the case of translational movement, this specifically indicates the movement path, and in the case of rotational movement or swivel, this indicates the movement path of the points on the swivel section that move the greatest distance of all points. In one variant, the pusher bar or the upper section of the pusher bar (e.g., the handle) may be swivelable around the fastening area. Alternatively (or additionally), the (upper) section of the pusher bar may be displaceable translationally relative to the lower section. Furthermore, the entire pusher bar may be displaceable (translationally).

[0040] At least one sensor device may be designed to detect the progression of a force (or force component) and / or the (temporal) progression of a value derived therefrom. In this way, control can be further improved. For example, it may then be possible to define thresholds for the force (or force component) and / or their changes over time and time thresholds, wherein the time threshold is the duration of the (incident) force (or force component) and / or its changes over time, and is above (or below) the threshold (threshold) of the force (or force component) and / or their changes over time.

[0041] Change over time can generally be understood as the temporal derivation of a force (or force component) (in a mathematical sense). However, change over time can also be understood as ΔF / Δt (for example, terminal non-minimal Δt instances in the range of 100 milliseconds to 1 second).

[0042] At least one control device is preferably a closed-loop control device, in particular a closed-loop control device for continuous adjustment (optionally linear adjustment) of the output of at least one motor, preferably a PID closed-loop control device (PID stands for proportional-integral-derivative).

[0043] Preferably, at least one braking device, in particular a deceleration brake and / or a parking brake, is provided. The deceleration brake is preferably designed to utilize (in particular convert into electrical energy) the kinetic energy of the stroller frame or stroller (with the child) for braking. Alternatively or additionally, the control device may be provided and designed so that the parking brake is automatically activated after a predetermined time has elapsed, preferably between 3 seconds and 5 minutes (preferably between 10 and 30 seconds), after the stroller frame has come to a complete stop (following a previous movement). Alternatively or additionally, the control device may be provided and designed so that the parking brake is automatically activated after coming to a stop or reaching a relatively low speed following a previous movement.

[0044] The braking system can preferably be configured in two stages, such that both a deceleration brake (service brake) and a parking brake are present to maintain the parking position (when the brakes are completely stopped). The deceleration brake can be configured so that the stroller is braked by friction (by one or more wheels) (so that kinetic energy is converted into heat). However, preferably, at least one motor can be used as a generator to decelerate the stroller (the kinetic energy is converted into electrical energy and can charge one or more batteries). For the deceleration brake, any actuator can be provided, e.g., a manual lever or finger lever (on a pusher bar or handle), or other device (e.g., a rotatable handle or foot pedal). Optionally, a receiver can also be included that enables connection of a graphical user interface (e.g., a display, especially a touchscreen) to the stroller and / or to an external device (e.g., a smartphone with a corresponding app). The actuator (or receiver) may be connected (by appropriate means) to the deceleration brake to actuate the deceleration brake, i.e., to apply a braking force desired by the user (which may be zero or greater than zero, and in particular may be assumed to be two or more or five or more values ​​greater than zero). The deceleration brake will remain engaged as long as the actuator is activated, or until the stroller comes to a complete stop and the optional parking brake is activated.

[0045] A parking brake can be designed as a deactivation mechanism that prevents one or more wheels from rotating. For example, a parking brake may have a pin that works in cooperation with a storage or locking device (e.g., a groove) located on the side of the wheel.

[0046] The parking brake can be optionally activated (automatically) immediately after the stroller frame and stroller come to a stop or after a predetermined time, particularly by the deceleration brake.

[0047] Preferably, at least one parking brake device is electrically or electronically operable, or manually operable.

[0048] The parking brake device may have a preload applied when released, and may have no preload or only a small preload when activated. These measures improve safety during movement.

[0049] The parking brake can be activated in various ways, for example, via a switch, such as a sliding switch, a pressure switch, or a foot pedal.

[0050] In particular, when the parking brake is engaged and a preload is applied, the parking brake can only be released manually, but the brake can only be activated electronically or electrically at will.

[0051] Sensor devices, particularly force sensors, can be provided and control devices, at least one braking device, particularly a deceleration brake and / or parking brake, can be designed to be activated when the person operating the stroller releases contact, for example, through their hands and handles. The deceleration brake preferably acts with increased (maximum) force when it is determined that the person operating the stroller is no longer in contact with the stroller but the stroller is still moving, and / or the parking brake (emergency brake) is also preferably activated.

[0052] In one modified embodiment, the control device is designed so that the braking device is activated when a force sensor device detects a force directed (at least partially) to the current direction of movement of the stroller frame. Alternatively, in such a case, a motor support as described above may be provided. Preferably, the motor is used as a generator in the case of braking movement.

[0053] In some modified embodiments, a braking device can be activated to convert the kinetic energy of the stroller frame into electrical energy when a predetermined minimum speed is reached. In connection with this, it is preferable that the stroller frame is always maintained at a predetermined speed. In particular, if the design of this modified embodiment does not allow the motor to idle, high voltages may be generated at high speeds, potentially damaging the electronic equipment. Furthermore, such a mechanism improves safety by preventing unintended acceleration beyond a certain speed.

[0054] At least one display and / or signaling device can be provided to inform the user of the stroller frame whether or not motor support is enabled. Optionally, a first display and / or signaling device may indicate that motor support is currently enabled, and a second display and / or signaling device may indicate whether or not motor support is enabled (if the parameters meet the requirements), depending on further parameters (e.g., maximum speed).

[0055] The control device for the stroller or stroller frame is preferably configured to control and optionally adjust the motor in response to the rotation of at least one wheel, preferably a rear wheel. In particular, the control, especially the regulation, of the motor / motor (support drive) of the stroller or stroller frame (in addition to the force acting on the pusher bar) may depend on the rotation of any (rear) wheel (or at least one (rear) wheel). Also, it is desirable that the support is not effective when a force is applied (or when a force threshold is exceeded) if the rear wheels are not rotating.

[0056] Preferably, an A / D converter is provided, configured to digitize the analog signal detected by the sensor device, and preferably connected upstream of the sensor device. In this case, the sensor device (placed on the pusher bar) can detect the analog signal, which can then be digitized (optionally directly, without further intermediate processing) after detection (by the A / D converter) and preferably only thereafter transmitted to a motor or a control device for controlling / regulating the motor. In this regard, it can be advantageously considered that the sensor device may generate only a relatively small voltage difference, and the digital signal is less susceptible to interference from ambient influences (e.g., uncertain contact resistance between the sensor device and the motor). In this case, a microcontroller is placed together with the sensor in the pusher bar (especially in spatial proximity) to perform the A / D conversion, thereby sending the digital signal, preferably a check digit (or check digit block), along with optional control information, to one or more actual controllers (control devices for the motor (optionally multiple motors) (e.g., axles)). There, checks, particularly a checksum, are created, the signal is further processed, and the motor's operation is evaluated. In this way, invalid data packets are filtered out and may not be used for control (for example, if a transmission error occurs).

[0057] In some variations, the control device of the stroller or stroller frame may be configured to turn on the rocking function when there is no pushing force, or when the pushing force falls below a corresponding force threshold, and / or when the stroller and stroller frame are in a (complete) stop or below a certain speed.

[0058] If (drive) support is not provided, it will be provided according to variations where one or more motors are in idle mode.

[0059] Overall, the stroller and / or stroller frame of the present invention can provide convenient support when pushing (or pulling) the stroller. In particular, values ​​Ff1 and / or Fr1 can be set that (substantially) define the force that the user must (maximum) apply (regardless of the situation). Starting from a stationary stroller, the user begins to push (or pull). Immediately, the horizontal component of the pushing or pulling force becomes greater than zero. When the defined value Ff1 is reached, the motor begins to support the user (at minimum power). For example, if the horizontal component of the pushing or pulling force increases further (i.e., ΔFinh / Δt > 0), the supporting force also increases (i.e., ΔFs / Δt > 0). In this way, the horizontal component of the force is kept (substantially) constant with respect to the defined value Ff1 (at least when overshoot is ignored). Of course, if there are conditions that cause the motor support to stop, a greater force may be required.

[0060] The force threshold Fu can be in the range of 0 to 25 N, preferably 5 N to 15 N. The force threshold Fd can be in the range of 10 N to 50 N, preferably 20 N to 40 N. The specified value Ff1 can be in the range of 0 to 25 N, preferably 5 N to 15 N. The specified value Fr1 can be in the range of 0 to 25 N, preferably 5 N to 15 N. The applied force thresholds Ff2 and / or Fr2 can be in the range of 25 N to 500 N, preferably 50 N to 200 N.

[0061] Thresholds Ff1, Fr1, Ff2, and / or Fr2 may be specified by the user, for example, through an interface such as a graphical user interface and / or via a smartphone (and smartphone app). To avoid safety issues and / or to extend battery life, minimum and maximum values ​​(which may vary by manufacturer) may be specified.

[0062] Further variations are described in the dependent claims.

[0063] The present invention will be described in the following text using exemplary embodiments and in more detail with reference to the drawings. [Brief explanation of the drawing]

[0064] [Figure 1] Figure 1 is a schematic perspective view showing a stroller frame according to the present invention. [Figure 2] Figure 2 is a side view showing the stroller frame from Figure 1, viewed from the side. [Modes for carrying out the invention]

[0065] In the following descriptions, the same reference numeral is used for parts that have the same effect as the same part.

[0066] Figure 1 shows a schematic perspective view of the stroller frame according to the present invention. Arrow Fd indicates a downward force acting on the handle 13 (the horizontal portion of the pusher bar 10). Arrow Fu indicates an upward force acting on the handle 13. Arrow F1at indicates a lateral force. The handle 13 is rotatably supported relative to the lower part of the pusher bar 10.

[0067] In this invention, the handle 13 can be rotated (and locked) to various positions in order to adjust its height.

[0068] A rotary bearing 12 (with a corresponding joint) is provided between the rotatable handle 13 and the lower part of the pusher bar 10.

[0069] The pusher bar 10 (in its entirety) is preferably rotatably supported on a rotating bearing 11 on the main body of the stroller frame (particularly to allow the stroller frame to be folded).

[0070] Preferably, one or more sensor devices are provided on the rotary bearing 11 and / or rotary bearing 12 to detect user forces (particularly Fu and Fd) acting on the handle 13. In addition, forward-directed forces Ff and rearward-directed forces Fr (see Figure 2) are preferably detectable by such sensor devices or by such sensor devices. The motor (not shown in detail) is preferably located on the wheel hub 21. Alternatively, the motor may be located on the axle 22 (particularly on the portion of the axle adjacent to the wheel hub 21).

[0071] At this point, it should be noted that all of the above parts are claimed to be essential to the invention, both in their own merits and in any combination, particularly in the details shown in the drawings. Modifications thereto are generally known to those skilled in the art. [Explanation of symbols]

[0072] 10...Pusher bar, 11...Rotating bearing, 12...Rotating bearing, 13...Handle (horizontal part of the pusher bar), 21...Wheel hub, 22...Axle

Claims

1. At least one motor for auxiliary operation of a stroller frame, in particular an electric motor, A pusher bar (10) for pushing the stroller frame, A force sensor device for detecting the direction and / or amount of force and / or force component acting on the pusher bar (10), and / or for detecting a value derived from this force or force component, in particular for detecting the temporal change of the force or force component, A stroller frame characterized by having the following features.

2. The stroller frame according to claim 1, characterized in that the at least one sensor device is positioned on and / or in the pusher bar (10), particularly on and / or in the handle (12) of the pusher bar, and / or in and / or in the pusher bar fastening area.

3. The stroller frame according to claim 1 or 2, characterized in that it has at least one control device operably connected to the at least one sensor device such that the output from the at least one sensor device can be used to control the at least one motor.

4. The stroller frame according to any one of claims 1 to 3, wherein the at least one sensor device is configured to detect the force and / or force component acting on the pusher bar (10) and / or values ​​obtained therefrom at least two different locations, in particular the first and second sides of the pusher bar (10), in particular the first and second sides of the handle (13), and / or in particular two different handles arranged on both sides.

5. The stroller frame according to any one of claims 1 to 4, particularly claim 4, characterized in that the sensor device (16) includes at least one torque sensor and / or at least two sensors.

6. The control device is designed to control and / or adjust the output of the at least one motor, for example, in individual steps and / or continuously, in response to the output from the at least one sensor device. And / or, the system is designed to activate at least one of the motors when the force and / or force components and / or values ​​derived therefrom exceed a first threshold, A stroller frame according to any one of claims 1 to 5, in particular according to any one of claims 3 to 5, characterized in that it is designed to stop or maintain at a constant power when the force and / or force components and / or values ​​derived therefrom exceed a second threshold.

7. The control device is designed to stop or maintain at least one motor at a constant power when the threshold value Fd for a downward force and the threshold value Fu for an upward force are arbitrarily the same or different and exceed the threshold value Fd for a downward force, and / or exceed the threshold value Fu for an upward force, and / or when the threshold value Ff2 for a forward force and the threshold value Fr2 for a backward force are arbitrarily the same or different and exceed the threshold value Ff2 for a forward force, and / or exceed the threshold value Fr2 for a backward force. The motor is designed to start (again) if the threshold Ff2 and / or the threshold Fr2 is preferably greater than the threshold Fu and / or the threshold Fd, particularly if it is at least twice, five times, or twenty times greater than the threshold Fu and / or the threshold Fd, and / or if it falls below the thresholds Ff2, Fr2, Fu and / or Fd (after having been previously exceeded), and / or The control device is designed to activate at least one motor when the threshold value Ff1 for a forward force and the threshold value Fr1 for a backward force are arbitrarily the same or different, and when the threshold value Ff1 for a forward force exceeds the threshold value Ff1 and / or when the threshold value Fr1 for a backward force exceeds the threshold value Fr1. The stroller frame according to any one of claims 1 to 6, particularly claim 6, characterized in that the threshold Ff1 of the forward force is preferably smaller in magnitude than the threshold Ff2 of the forward force and / or smaller in magnitude than the threshold Fr2 of the backward force.

8. A stroller frame according to any one of claims 1 to 7, particularly claim 3, characterized in that it is provided with at least one speed sensor and / or at least one cornering sensor.

9. The control device is designed such that the quotient obtained from the pushing or pulling force, or in particular the horizontal pushing or pulling force component, and the support force of the at least one motor, is constant, for example, by being greater than or less than 1, or by being variable, for example, by being designed such that the support force increases approximately proportionally to the pushing or pulling force or pushing force component, and / or The control device is designed such that the quotient obtained from the change over time of the pushing or pulling force component from the change over time of the horizontal pushing or pulling force component and the change over time of the support force of the at least one motor is constant, for example, by being designed to be 1, greater than 1, or less than 1, or variable, for example by being designed so that the change over time of the support force increases substantially in proportion to the change over time of the pushing or pulling force component of the pushing or pulling force component, as described in any one of claims 1 to 8, particularly the stroller frame according to any one of claims 3 to 8.

10. The stroller frame according to any one of claims 1 to 9, particularly claim 3 to 9, characterized in that the control device is designed such that when a brake, in particular a deceleration brake or a parking brake, is operated, the driving force of the at least one motor is suppressed or stopped.

11. The stroller frame according to any one of claims 1 to 10, characterized in that the pusher bar (10) and / or a portion of the pusher bar (10), particularly the portion of the pusher bar (10) including at least a portion of the sensor device, is movable over a path of preferably at least 2 mm, more preferably at least 10 mm, in particular against a restoring force.

12. The stroller frame according to any one of claims 1 to 11, characterized in that the at least one sensor device is designed to detect the progression of force and / or force components and / or the progression of derived values.

13. The stroller frame according to any one of claims 1 to 12, wherein the at least one control device is a closed-loop control device, particularly a continuous closed-loop control device, and optionally linearly adjusts the power of the at least one motor, preferably a PID closed-loop control device.

14. The at least one brake device is provided in particular with a deceleration brake device and / or a parking brake device. The deceleration brake device is preferably designed to utilize the kinetic energy of the stroller frame or stroller for braking, particularly by converting it into electrical energy, and / or the control device is preferably designed to automatically activate the parking brake device after a predetermined time, preferably between 3 seconds and 5 minutes after the stroller frame has come to a complete stop, and / or The control device is preferably designed so that the parking brake device automatically activates after the vehicle has stopped or reached a relatively low speed since the previous drive, and / or A stroller frame according to any one of claims 1 to 13, characterized in that when a predetermined minimum speed is reached, at least one of the at least one brake devices is activated to convert the kinetic energy of the stroller frame into electrical energy, thereby preferably keeping the stroller frame constant at the predetermined speed.

15. The stroller frame according to any one of claims 1 to 14, particularly claim 14, characterized in that the at least one parking brake device can be electrically / electronically operated, manually released, and / or can be preloaded in the released state, and has no preload or a small preload in the operated state.

16. A stroller frame according to any one of claims 1 to 15, particularly claim 14 or 15, characterized in that a sensor device, in particular a force sensor device, is provided, and the control device is designed so that at least one brake device, in particular the deceleration brake device and / or the parking brake device, is activated when the person operating the stroller releases contact with their hand, for example, through the handle (13).

17. The control device is designed such that the braking device is activated when the force sensor device detects a force directed at least partially with respect to the current direction of movement of the stroller frame, as described in any one of claims 1 to 16, particularly the stroller frame according to any one of claims 14 to 16.

18. A stroller frame according to any one of claims 1 to 17, characterized in that at least one display and / or signaling device is provided which informs the user of the stroller frame of the fact that a motor support is present or may be present.

19. The stroller frame according to any one of claims 1 to 18, particularly claim 3 to 18, characterized in that the control device is configured to control a motor which is arbitrarily adjusted as a function of the rotation of at least one wheel.

20. A stroller frame according to any one of claims 1 to 19, and more particularly, any one of claims 3 to 18, is provided, characterized in that an A / D converter device is provided which is configured to digitize the analog signal detected by the sensor device and is preferably connected upstream of the sensor device.

21. A stroller frame according to any one of claims 1 to 20, Multiple motors, particularly electric motors, are provided for driving the stroller frame. Each of the plurality of motors is mounted on at least two or exactly two wheels, for example, one left wheel and one right wheel. Preferably, the stroller frame according to any one of claims 1 to 20, comprising a control device and / or sensor device for the individual operation of the motors to detect pushing or pulling forces and / or movement of the stroller frame.

22. A stroller having a stroller frame according to any one of claims 1 to 21, characterized in that it is, for example, a child's stroller, buggy or similar vehicle.

23. A method for controlling a stroller frame according to any one of claims 1 to 21 or a stroller according to claim 22, A method for controlling a stroller frame or stroller, characterized by detecting the direction and / or amount of force and / or force component acting on the pusher bar (10), and / or a value derived from this force or force component, in particular the change in the force or force component over time.

Images