A stroller having a motor and a control unit that supports driving along with calibration of a force sensor, a method for controlling the motor, and a computer-readable storage medium.

Abstract

A stroller (1) or stroller frame (10) comprising at least one motor (21), in particular an electric motor, for assisting in particular the driving of the stroller (1) or stroller frame (10), at least one pusher (4) for pushing the stroller (1) or stroller frame (10), at least one force sensor device (30) for detecting force-related variables, in particular forces and / or force components acting on the pusher (4), and / or at least one control unit (34) configured to initiate calibration of the force sensor device in response to a variable derived from this force or force component, such as torque and / or a time-dependent change in the force or force component, and in response to at least one detection result of the force-related variable, in particular a plurality of, preferably at least three, in particular consecutive detection results of the force-related variables.

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 for children are known in principle. These are configured to move only by the power of a motor. Furthermore, it is known in principle to provide a baby stroller with a motor assist that supports the driving force of the person operating the stroller but does not provide assistance when no force is applied by the operator.

[0003] From DE 20 2017 104 166 U1, a baby stroller frame provided with a force sensor device for measuring the amount or direction of a force or a force component, and a corresponding baby stroller are known. According to that, the control of the motor assist of the baby stroller can be performed based on the output of the sensor device. The force sensor device is provided on the handle of the pusher. Thus, when the user pushes or pulls the baby stroller, the force sensor device measures the amount or direction of the applied force. Next, the output measured via the force sensor device is used by the connected control device to control at least one drive motor. This is used to assist the pushing user according to the applied force.

[0004] Force sensor devices are known in principle. Such force sensor devices, particularly strain gauges, are based, for example, on changes in resistance due to changes in length and / or cross-section. Force sensor devices include devices that indirectly provide an indication of applied force, for example, by sensing torque. When a strain gauge (DMS) stretches, its resistance increases. When compressed, its resistance decreases. Because strain gauges are highly sensitive, there are disturbance variables that can affect the measurement results. Typical disturbance variables include temperature, creep, and humidity. When such force sensor devices are used in strollers, these disturbance variables can distort the output, resulting in reduced drive support. This can pose a safety risk to the child in the stroller. In general, strollers can tolerate relatively small deviations, while large deviations are problematic. [Overview of the project]

[0005] For this reason, the object of the present invention is to provide a motor-assisted stroller or stroller frame that is as simple, safe, and user-friendly to apply as possible. In particular, to reduce or eliminate (inappropriate) interruptions caused by the use of the stroller or stroller frame or its motor assist.

[0006] This objective is addressed, in particular, by the features of claim 1.

[0007] In particular, the objective is solved by a stroller or stroller frame comprising: at least one motor (prime motor), in particular an electric motor (motor), for driving (especially assisting) the stroller or stroller frame; at least one pusher for pushing the stroller frame or stroller; at least one force sensor device for detecting force-related variables, in particular the force and / or force component acting on the pusher, and / or variables derived from this force or force component, such as torque and / or the temporal change of the force or force component; and at least one control unit configured to initiate (preferably perform) calibration of the force-related variables (i.e., calibration of the force sensor device with respect to the force-related variables). Such calibration can compensate for, or at least reduce, particularly relatively large deviations (especially those caused by changes in external conditions). This improves the control and, consequently, the use of the stroller or stroller frame.

[0008] Particularly preferably, the control unit is configured to initiate calibration of the force sensor device (with respect to the force-related variables) in response to the result of detecting at least one force-related variable, and in particular in response to the result of detecting multiple force-related variables, preferably at least three (more preferably at least five, even more preferably at least eight) and / or up to 100 (or up to 50 or up to 30), particularly (preferably directly) consecutively. In this way, improving the usability of the stroller or stroller frame can be achieved in a simple manner. The fact that calibration is (only) initiated or started when results regarding the detection of force-related variables are available reduces the likelihood that calibration will be performed when, for example, this would be inconvenient for the user (in terms of the current use of the stroller or stroller frame). In particular, calibration is (not necessarily) performed when (and simultaneously with) the motor assist is turned on. Such calibration (inevitably) takes place immediately after the start of the motor assist, and then a certain amount of time elapses before the user can use the stroller or stroller frame (with motor assist).

[0009] For example, the user does not need to keep the stroller or stroller frame upright after the motor assist starts, and calibration can be performed before the stroller, including the motor assist, is actually used. In general, there is no need to wait for the force sensor device to be calibrated before the stroller or stroller frame is put into use. The corresponding pause (without applying force to the force sensor device, or only applying a small force) is not (necessarily) required. In particular, even in situations where the user wants to use the (electric) stroller or stroller frame initially without motor assist and then be supported by the motor (for example, for inclines), this user does not (necessarily) need to wait for the force sensor device to be calibrated first after switching on the motor. Overall, a simple, safe, user-friendly, and / or time-saving application of electric strollers can be achieved.

[0010] Preferably, the control unit is configured to initiate calibration of the force sensor device (with respect to the force-related variables) if the results (of detecting force-related variables) indicate that no human push is being performed (and / or immediately). This enables particularly user-friendly or time-saving operation.

[0011] In this specification, when it is stated that a start occurs as soon as certain conditions are met, this means in particular that the calibration begins or is initiated (and preferably also performed, particularly immediately thereafter) after a period of no later than 1 minute, preferably up to 10 seconds, more preferably up to 1 second, and even more preferably up to 0.5 seconds.

[0012] In principle, calibration is preferably performed immediately after the occurrence of each predetermined condition. However, it is also conceivable that the results of detections, particularly the results of multiple detections, are initially stored, and then, possibly later, calibration (e.g., zero-point determination) is performed with the help of these results (e.g., by forming an average of multiple detections). The average is preferably an arithmetic mean, geometric mean, harmonic mean, weighted mean, trimmed mean, or other suitable mean.

[0013] Calibration specifically means determining at least one reference point, preferably a zero point, between which preferably there is a force-free state (i.e., no user pressure is applied). If necessary, the relationship between the actually applied force and the measured force can be determined by measurement (e.g., by a simple method well known to those skilled in the art).

[0014] Preferably, the control unit is configured to initiate calibration of the force sensor device (with respect to the force-related variable) only when multiple detected values ​​of the force-related variable fall within a predetermined value interval (or a value interval of a predetermined width) with respect to the force-related variable, preferably at least 0.1 N, more preferably at least 0.3 N, more preferably 0.5 N and / or up to 10 N, preferably up to 5 N, and more preferably up to 2 N. Wherein herein, if the force-related variable is not directly a force or force component, the value given in Newtons is intended to correspond to that force corresponding to a variable that is actually (possibly directly) detected, such as torque. This shall apply hereafter whenever values ​​are given in Newtons. For example, if torque is detected (directly), the force applied to the pusher can be derived from there, in this case from the fact that the lever play (in meters) is known or defined for an existing stroller or stroller frame.

[0015] Alternatively or additionally, the control device may be configured to initiate calibration of the force sensor device (with respect to force-related variables) (only) in the case of statistical parameters (in that case and / or immediately), in particular, such that the statistical spread, preferably variance, of multiple detections is within a predetermined range of the statistical parameter, preferably at least 0.1N, more preferably at least 0.3N, even more preferably at least 0.5N and / or up to 10N, preferably up to 5N, and even more preferably up to 2N, thus easily improving user-friendliness.

[0016] Statistical spread should be understood, in particular, as a measure of the variance of the detected measurements. Calibration is preferably not performed if the statistical parameter or statistical spread falls outside a given interval or exceeds a given value.

[0017] A corresponding speed sensor can be provided to determine the speed of the stroller or the rotation speed of at least one wheel. This sensor is preferably configured to detect at least two, and more preferably at least five, different values ​​(greater than zero) to detect whether the stroller or at least one wheel is stationary or moving.

[0018] According to the embodiment, the control unit is configured to initiate calibration of the force sensor device (with respect to force-related variables) when a predetermined speed of the stroller frame, particularly a predetermined rotational speed of at least one wheel, is assumed or undershoots (in which case, and / or as soon as possible), preferably configured to initiate calibration only when at least one wheel is stationary. The predetermined speed may be ≤5 cm / s, preferably ≤1 cm / s, and optionally (at least approximately) 0 cm / s.

[0019] According to the embodiment, the control unit is configured to initiate calibration of the force sensor device (with respect to the force-related variable) when the detected value of the force-related variable is less than or equal to a predetermined value, the predetermined value being preferably at least 1N, optionally at least 2N or at least 5N and / or up to 10N). This reduces the risk of miscalibration, for example, when a static force is acting (e.g., a jacket resting on the pusher). In particular, this reduces the risk of confusing a state in which a static force is acting (which is usually not the case in the case of pushing, which is a very dynamic process) with a state in which no force is acting on the pusher at all.

[0020] Preferably, the control unit is configured to prevent motor assist (i.e., not allow it to start in the first place) or to stop motor assist (if it has already been done), and / or to initiate an error indication (e.g., by sound, preferably a beep, or by a light, e.g., by a visual indication such as an LED or indicator and / or an acoustic indication) if the detected value of a force-related variable is greater than or equal to a predetermined value, which is preferably at least 10N, more preferably at least 20N, even more preferably at least 25N and / or up to 100N, preferably up to 50N, and even more preferably up to 40N. Particularly preferably, in this case, neither calibration nor motor assist is performed. In this way, (critical) malfunctions of the force sensor device can be minimized or not lead to harmful consequences, in particular, that motor assist is not performed as desired by the user or does not even lead to a dangerous situation. Particularly preferably, in such a case, no motor assist is performed at all. In particular, this condition is checked by the control unit (in the first check step) before any further conditions (regarding the start of calibration) are checked.

[0021] The force sensor device and / or control unit may be configured to detect force-related variables at a predetermined frequency, preferably at least 2 Hz, more preferably at least 5 Hz, even more preferably at least 8 Hz and / or up to 100 Hz, preferably up to 50 Hz, even more preferably up to 30 Hz, and even more preferably up to 20 Hz, at least until calibration begins. Such detection frequencies allow for relatively accurate knowledge of the current usage of the stroller or stroller frame to be obtained in an effective manner.

[0022] The number of detections is preferably at least 5, more preferably at least 8, and / or at most 500, preferably at most 100. Alternatively or additionally, the number of detections is at least 0.3 times, preferably at least 0.5 times, and / or up to 50 times, preferably up to 10 times, more preferably up to 5 times, and even more preferably up to 2 times, relative to the frequency (Hz) of detection of the force-related variable. Thus, relatively meaningful results can be effectively derived.

[0023] The control unit is preferably designed such that, in order to perform calibration, in particular to determine a new reference point (especially a zero point) for the force-related variables, in accordance with the value(s) of the force-related variables considered for the start, the mean of multiple values ​​of the force-related variables considered for the start is determined as the new reference point (zero point). Alternatively, another control unit (and possibly an external control unit) may perform the actual calibration. The mean is preferably an arithmetic mean or geometric mean or harmonic mean or weighted mean or trimmed mean or another suitable mean.

[0024] Calibration can be performed, at least partially, and possibly completely, with the values ​​that were also used to initiate the calibration. However, alternatively or additionally, other values ​​(which may be measured initially) can also be used for calibration.

[0025] The stroller or stroller frame or its control unit preferably includes at least one (electronic) memory unit for storing (previously performed) calibrations. The memory unit may consist of a (micro) chip.

[0026] The control unit is preferably designed to control the motor based on a stored calibration until a new calibration is performed. This is especially true if individual or all components of the stroller or stroller frame, such as force sensor devices and / or control devices, are switched off in between.

[0027] In particular, it is possible to consciously choose a compromise between detection accuracy (at a given point in time) and user convenience (at the corresponding point in time). It is especially preferable to consciously accept lower detection accuracy for at least a certain period (because it reverts to the "old" calibration), so that the user is not restricted (temporarily) in terms of specific use and does not have to wait for a pause. Calibration is preferably performed when the user is not actively using the stroller or stroller frame anyway (e.g., waiting at a traffic light).

[0028] In an embodiment, the control unit is designed to check whether calibration can be started, particularly (immediately) after starting the motor (and optionally subsequent initial calibration), preferably at a predetermined interval of at least 5 minutes, more preferably at least 10 minutes and / or up to 12 hours, preferably up to 2 hours. If calibration can be started, the control unit preferably also starts (or is configured accordingly) the execution of the calibration. Alternatively, the control unit can be designed not to start further calibration after calibration has been started (particularly until the engine is turned off).

[0029] In an embodiment, the control unit checks whether calibration can be started, particularly (immediately) after starting the motor (and optionally subsequent initial calibration), for example, if there is a change in temperature compared to the temperature at the previous calibration, and / or a change in (relative) humidity compared to the (relative) humidity at the previous calibration, and / or another change in ambient conditions, particularly a predetermined one from the outside. If calibration can be started, the control unit preferably also starts (or is configured accordingly) the execution of the calibration. In particular, thus, if the environmental conditions have changed accordingly (strongly), an updated calibration can be performed, which means an efficient use of the resources required for this (computing power or electronic memory and / or electrical memory for operating current). The above object is further preferably achieved by a computer-readable storage medium containing instructions for causing at least one processor to execute a method for controlling a baby stroller (especially of the above type), which when the instructions are executed by the processor, comprises at least one motor, especially an electric motor, for assisting the driving of the baby stroller frame, and at least one pusher for pushing the baby stroller frame, and in this method at least one force-related variable is as follows. In particular, a force and / or a force component (acting on the pusher) and / or a variable derived from this force or force component, such as a torque and / or a change over time of the force or force component, is detected, and a calibration of the force sensor device (relating to the force-related variable) is initiated in response to at least one detection result of the force-related variable, especially in response to a plurality of, preferably at least three, especially (directly) consecutive detection results of the force-related variable.

[0030] Further method steps that can be implemented as appropriate can be derived from the above and following descriptions and the appended claims relating to the baby stroller frame or the baby stroller. The configurations or functionalities specified therein can be implemented as specific process steps.

[0031] The above-mentioned objective is particularly, preferably, a method for controlling the above-described type of stroller, comprising at least one motor, particularly an electric motor, for auxiliary propulsion of the stroller, and at least one pusher for pushing the stroller, further resolved by at least one force-related variable, particularly a force and / or force component acting on the pusher, and a variable derived from this force or force component. For example, a change in torque and / or force or force component over time is detected, and calibration of a force sensor device (with respect to the force-related variable) is initiated in response to at least one detection result of the force-related variable, particularly in response to a plurality of preferably at least three, particularly (preferably direct) consecutive detection results of the force-related variable. Further method steps that can be carried out accordingly can be derived from the above and below descriptions, as well as from the appended claims relating to the stroller frame or stroller. The configurations or functionalities shown herein can be realized as specific process steps.

[0032] The force sensor device can be positioned (at least partially) directly on and / or within the pusher (e.g., the horizontally extending and / or upper pusher section). Alternatively or additionally, the force sensor device can be positioned at the connection point of the pusher unit to the stroller frame. In this regard, the force sensor device may be configured to measure the force acting from the pusher (or pusher section) to the frame.

[0033] Furthermore, the drive unit may have various configurations. For example, the drive unit may consist of an electric motor and a brake, and when the drive unit is switched to a non-driven state, the brake unit or brake may be switched by the control unit. However, in a further embodiment, if the drive unit includes an electric motor, the electric motor may be switched to function as a generator and / or used as a regenerative brake, and the regenerative brake may be designed to supply electrical energy to an accumulator. This has the advantage that, in addition to the motor, further brakes or braking processes may not be required.

[0034] In one embodiment, the stroller frame may include at least three wheels, and the drive unit may be positioned and configured to drive and / or block at least one of the wheels.

[0035] The stroller frame may be constructed in various ways. Not only a three-wheel configuration, but also a four-wheel configuration may be offered.

[0036] In one embodiment, the stroller frame may constitute a frame to which a pusher section and / or at least three wheels are arranged and which may be attached.

[0037] In one embodiment, the pusher portion may be configured to be connectable to a frame via a connecting member and / or a connecting portion, and the force sensor device may be at least partially located on the connecting member or connecting portion.

[0038] The interaction between the user and the pusher can be indirectly detected through the force between the pusher and the frame.

[0039] In one embodiment, the frame may include at least one joint portion, and the pusher portion may be configured to rotate around the joint portion.

[0040] To fold the stroller frame and achieve a compact, portable size, the pusher section may be configured to be foldable. For this purpose, the pusher section may be configured to rotate around a joint.

[0041] In one embodiment, the force sensor device may be placed in the joint.

[0042] Therefore, the interaction between the stroller frame and the user can be indirectly detected via torque measured at the joint. This provides an alternative method for detecting the interaction. Placing the force sensor device at the joint has the advantage of allowing for compact structural dimensions and a safe placement protected from external influences. In addition, it eliminates the need for complex wiring in the pusher section.

[0043] At least one (force) sensor device may be positioned on the pusher, particularly on the handle of the pusher, and / or in the pusher mounting area and / or nearby. The pusher mounting area means, in particular, the area where the pusher is attached to the body of the stroller frame. Positioning near the pusher mounting area means, in particular, positioning at a distance of less than 10 cm, preferably less than 5 cm, from the pusher (wherein the case of a relatively mobile pusher, this means the minimum distance in particular).

[0044] In one embodiment, the frame may be configured to be foldable from an unfolded configuration to a folded configuration, particularly using joints.

[0045] In one embodiment, in a configuration where the frame is unfolded, the force sensor device may be communicatively and / or electrically connected to the drive unit and / or the control unit, and / or in a configuration where the frame is folded, the force sensor device may not be communicatively and / or electrically connected to the drive unit and / or the control unit.

[0046] In one embodiment, the unfolded configuration may be fully unfolded or partially unfolded. In one embodiment, the folded configuration may be fully folded or partially folded.

[0047] The drive mechanism can be easily released by folding the stroller frame or the frame itself.

[0048] The pusher is preferably formed as a one-piece unit (and possibly having individual parts that are movable relative to each other). In particular, the pusher may have a horizontal handle. Alternatively, the pusher may be formed of multiple pieces (e.g., two pieces) and may have, for example, multiple handles that are separated from each other.

[0049] Preferably, the force sensor device is configured to detect multiple different values, for example, at least 10 different values ​​(>0), preferably at least 100 different values ​​(>0).

[0050] Preferably, the stroller or stroller frame is equipped with a battery (preferably rechargeable) consisting of at least two, at least four, or at least ten battery cells.

[0051] The control unit may consist of at least one (micro) processor and / or at least one (micro) controller and / or at least one (electronic) chip.

[0052] Further embodiments will become apparent from the dependent claims.

[0053] The present invention will be described below with reference to the following embodiments, which are shown here. [Brief explanation of the drawing]

[0054] [Figure 1] Figure 1 is a perspective view of a stroller. [Figure 2] Figure 2 is a schematic diagram of the stroller frame according to Figure 1, highlighting the possibility of different arrangements of the force sensor device. [Figure 3] Figure 3 is a flowchart showing the steps to start and perform the calibration. [Modes for carrying out the invention]

[0055] In the following, the same reference numeral will be used for identical parts and parts with the same effect.

[0056] Figure 1 shows a stroller 1 having four wheels 2. Two front wheels 2 are each attached to the stroller 1 via wheel mounts 3 having front wheel suspensions 18. In the front area of ​​the stroller 1, front wheel struts 19 are positioned between the wheel attachments 3 to stabilize the wheels 2 on the stroller 1. A pusher 4 allows the stroller 1 to be pushed (or pulled). Note that in Figure 1, a child receiving device 5 that can accommodate a child (e.g., a seat and / or reclining attachment, e.g., a seat shell, seat unit, or recliner tab) is shown only schematically.

[0057] The wheel mounts 3 of the front wheels 2 are attached to an adjustment device 15 via the front suspension 18. The adjustment device 15 is positioned above the front wheels 2 and offset to the rear. The rear suspension 17, on which the two rear wheels are positioned on the rear axle 24, is also positioned on the adjustment device 15. A parking brake 20 is positioned at least approximately in the center of the rear axle and is designed to be operated by foot. The parking brake 20 is designed to lock the rear wheels. They can then only be moved again by releasing the parking brake 20.

[0058] In the illustrated embodiment, two electric motors 21 for driving the rear wheels are positioned at both ends of the rear axle 24. However, in further embodiments, a single motor may drive both wheels via a shaft and / or gearbox.

[0059] In the embodiment shown in Figure 1, the rear axle 24 is designed as a hollow cylinder, and an accumulator 23 electrically connected to an electric motor 21 is disposed on the rear axle 24. The rear axle 24 can also be designed as a strut and accumulator 23, possibly partially beneath it. Furthermore, control electronics for controlling the function of the motor 21 can also be placed inside or above the rear axle 24.

[0060] An additional holding device 25, designed to receive the child receiving device 5, is positioned on top of the adjustment device 15.

[0061] The adjustment devices 15 are connected to each other via cross struts 16 to ensure the overall stability of the device. Furthermore, a pusher receiving device 26 extending diagonally upward and backward is positioned on the adjustment device 15 and connected to the pusher device via connecting elements 14. The pusher device consists of two side struts 13, 13' that are displaceablely positioned on the pusher receiving device 26. The side struts 13, 13' can be fixed via connecting elements 14. A (horizontal) pusher section 12 is positioned at the ends of the side struts 13, 13', which the user can grip to push the stroller 1.

[0062] Figure 2 shows different ways of positioning the force sensor devices 30, 30', 30'', 30'''' on the stroller 1. For example, in the embodiment illustrated in Figure 2, a first sensor area 31 is shown that constitutes the pusher portion of the stroller 1. Force sensors 30, 30' may be positioned in the first sensor area 31. Force sensor 30 may be a sensor configured to measure force. Thus, force sensor 30 emits a signal that can be converted into force.

[0063] In the illustrated embodiment, the force sensor 30 is positioned in the pusher portion of the stroller 1 in the first sensor area 31 so as to be able to detect interaction with the user of the stroller 1. In this regard, in one embodiment, the force sensor 30 is embedded in the pusher portion 12, and the contact surface of the force sensor 30 is oriented in the direction of pointing to the user of the stroller 1.

[0064] In addition to attaching the force sensor device 30 to the pusher portion, in further embodiments, a force sensor 30' may also be placed in a second sensor area 32 in the connection area of ​​the pusher portion 12 with the side struts 13, 13' of the stroller 1. In this case, the pusher portion 12 is displaceably positioned on the side struts 13, 13' and fixed via fastening elements or connecting elements 14'. A force sensor device, such as a force sensor 30', for measuring the force applied to the pusher portion 12 by the user may be mounted on the connecting element 14'. The force sensors 30, 30' are also elongated so as to cover both the area of ​​the pusher portion 12 and the area of ​​the connecting portion.

[0065] Figure 2 also shows a second embodiment in which the force sensor device 30'' is located on the connecting element of the side struts 13, 13'.

[0066] In further embodiments, the force sensor device 30'' is located in a third sensor area 33 or 33' on the adjustment device 15. Preferably, this is a torque sensor 30''. The torque sensor 30'' is configured to measure the torque generated by the force exerted by the user on the pusher portion 12 or the side struts 13, 13'.

[0067] A control unit 34 is positioned on the rear axle 24, which is communicatively connected to force sensor devices 30, 30', 30'', 30''''. The control unit 34 is configured to receive and process sensor data generated by the force sensor devices 30, 30', 30'' and / or 30''''.

[0068] Figure 3 is a flowchart for initiating and performing calibration of a force sensor device.

[0069] After the motor is turned on (by the user), the control unit first checks in step S10 whether a force greater than the limit value, for example, 10N to 100N, preferably 20N to 50N, and more preferably (at least approximately) 30N, is acting on the force sensor device. In this case, an error message is output in step S15. In this case, calibration is not performed, and in some cases, motor assistance is also not provided.

[0070] If the force is less than the limit value, in step S20, it is checked whether at least one wheel of the stroller 1 or the stroller frame 10 is rotating. In this case, the stroller is pre-operated with the last stored calibration value (step S25). If at least one wheel is not rotating, in the next step S30, the control unit checks whether all of the values ​​of a plurality of final measurements (e.g., 3 to 10, preferably 5 to 20, particularly preferably 10) (or alternatively or additionally, a plurality of final measurements corresponding to 0, rounded to the nearest integer) are 0. It is possible to determine whether 3 to 10 times the frequency measured in Hertz (more preferably 0.5 to 2 times) are within a predetermined interval (i.e., an interval of a predetermined width or size) and / or whether the statistical parameters of the plurality of measured values, e.g., variance or other statistical spread, do not exceed a predetermined value.

[0071] The range of values ​​(width) is preferably 0.1N to 5N, more preferably at least 0.3N to 2N, and particularly preferably (at least approximately) 0.6N, if this is the case, calibration is performed in step S40. In particular, the average of the last measured values ​​is formed and can be used as the (new) zero point, so the average can preferably be the arithmetic mean or geometric mean or harmonic mean or weighted mean or trimmed mean or another suitable mean. Otherwise, the stroller's preliminary operation is performed using the last stored calibration value.

[0072] To conserve memory resources, the motor can then be operated at this value until it is switched off. However, calibration can also be performed at predetermined intervals (e.g., 5 to 15 minutes, preferably 10 minutes to 2 hours) and / or under predetermined conditions (e.g., when the temperature has changed by at least 3°C, at least 6°C, or at least 10°C compared to the previous calibration).

[0073] The next time the motor is powered on, this entire cycle may be repeated.

[0074] At this point, it should be noted that all of the above-mentioned components, considered individually or in any combination, particularly the details shown in the drawings, are claimed as further embodiments of the present invention. Modifications are possible. (Note 1) At least one motor (21), particularly an electric motor, for particularly auxiliary driving of a stroller (1) or stroller frame (10). At least one pusher (4) for pushing the stroller (1) or stroller frame (10), Force-related variables, particularly the force and / or force component acting on the pusher (4), and / or variables derived from this force or force component, such as torque and / or a force sensor device (30) for detecting the temporal change of the force or force component, and At least one control unit (34) configured to initiate calibration of the force sensor device in response to the result of detecting at least one of the force-related variables, and in particular in response to the results of detecting multiple, preferably at least three, force-related variables, and especially consecutively. A stroller (1) or stroller frame (10) equipped with the following. (Note 2) The control unit (34) is configured to initiate calibration of the force sensor device when the result indicates that there is no human pressure. The stroller (1) or stroller frame (10) as described in Appendix 1. (Note 3) The control unit (34) is configured to initiate calibration of the force sensor device when multiple detected values ​​of the force-related variables are within a predetermined interval, preferably at least 0.1N, more preferably at least 0.1N, and is characterized in that it initiates calibration of the force sensor device when the force-related variables and / or the statistical parameters of the multiple detected values, particularly the statistical spread, preferably the variance, are within a predetermined range of 3N and / or at most 10N, preferably at most 2N, for the statistical parameters, more preferably at least 0.1N, more preferably at least 0.3N and / or at most 10N, preferably at most 2N. A stroller (1) or stroller frame (10) as described in Appendix 1 or 2. (Note 4) The control unit (34) is configured to initiate calibration of the force sensor device when a predetermined speed of the stroller frame (10), particularly a predetermined rotational speed of at least one wheel (2), is estimated or undershoots, and is preferably configured to initiate calibration when at least one wheel (2) is stationary. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 5) The control unit (34) is configured to start calibration of the force sensor device when the detected value of the force-related variable is less than or equal to a predetermined value, wherein the predetermined value is preferably at least 1N and optionally at least 5N. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 6) The control unit (34) is configured to suppress or stop the motor assist and / or display an error when the detected value of the force-related variable is greater than or equal to a predetermined value, wherein the predetermined value is preferably at least 10N, more preferably at least 20N, and / or a maximum of 100N, and preferably a maximum of 50N. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 7) The force sensor device (30) and / or the control unit (34) are configured to detect the force-related variables at a predetermined frequency, preferably at least 2 Hz, more preferably at least 5 Hz and / or up to 100 Hz, and preferably up to 30 Hz, at least until calibration begins. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 8) Multiple detection values ​​are at least 5, preferably at least 8, and / or at most 500, preferably at most 100, and / or The plurality of detected values ​​are characterized in that they are at least 0.3 times, preferably at least 0.5 times, and / or up to 50 times, preferably up to 10 times, and more preferably up to 2 times, the detection frequency a / Hz of the force-related variable. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 9) The control unit (34) is designed to perform calibration, preferably, in particular, to determine a new reference point, in particular a zero point, for the force-related variable, in accordance with the value(s) of the force-related variable considered for the start, and particularly preferably, the average value of the multiple values ​​of the force-related variable considered for the start is defined as the new reference point, and the control unit (34) is designed to determine the new reference point, in particular a zero point, in which case it is preferable that the force-related variable is the average value(s) of the multiple values ​​for the start. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 10) The control unit (34) is characterized in that it is designed to control the motor based on the stored calibration until a new calibration is performed. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 11) The control unit (34) is designed to check, preferably at predetermined intervals of at least 5 minutes and / or up to 12 hours, whether calibration can be started, particularly after the motor is started and, optionally, after the initial calibration that follows, and preferably to start such calibration if it is possible, or, once calibration has started, to not start any further calibration until the motor is switched off. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 12) The control unit (34) is characterized in that, particularly after the motor (21) is started and, if possible, after the initial calibration, it checks whether calibration can be started when predetermined conditions exist, especially, for example, a change in temperature compared to the temperature at the time of the previous calibration, and preferably starts the calibration in this case as well. A stroller (1) or stroller frame (10) as described in one of the above appendices. (Note 13) A computer-readable storage medium comprising instructions causing at least one processor to implement a method for controlling a stroller (1) or stroller frame (10) as described in one of the preceding appendices, the storage medium comprising at least one motor, in particular an electric motor, for auxiliaryly driving the stroller or stroller frame (10), and at least one pusher (4) for pushing the stroller (1) or stroller frame (10), wherein when the instructions are executed by the processor, at least one force-related variable is detected, in particular a force and / or force component acting on the pusher, and / or a variable derived from this force or force component, in particular a change in time between torque and / or force or force component, and the calibration of the force sensor device is initiated in response to at least one detection result of the force-related variable, in particular a plurality, preferably at least three, in particular a series of detection results of the force-related variable. (Note 14) A method for controlling a stroller (1) or stroller frame (10), comprising, in particular, one of appendices 1 to 12, at least one motor (21), in particular an electric motor, for assisting the driving of the stroller (1) or stroller frame (10), and at least one pusher (4) for pushing the stroller or stroller frame (10), wherein at least one force-related variable, in particular a force and / or force component acting on the pusher, and / or a variable derived from this force or force component, e.g., torque and / or a change in the force or force component over time, and the calibration of the force sensor device is initiated in response to at least one detection result of the force-related variable, in particular a plurality, preferably at least three, in particular consecutive detection results of the force-related variable.

[0075] List of reference symbols S10 Step S15 Step S20 Step S25 Step S30 Step S40 Step 1 Stroller 2 wheels 3 Wheel Attachments 4 Pusher 5. Child acceptance device 10 Stroller Frames 11 frames 12 Pusher part 13,13' Side strut 14,14' connecting element 15 Adjustment device 16 Cross Strut 17 Rear suspension 18 Front suspension 19 Front 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 Control Unit 30,30',30'' force sensor 30'' Torque Sensor

Claims

1. In stroller (1), A stroller frame (10) equipped with multiple wheels (2) for moving the stroller (1), At least one motor (21) for assisting the stroller (1), Connected to the stroller frame (10), at least one pusher (4) for pushing the stroller (1), At least one force sensor device (30) for detecting the temporal change of force-related variables acting on the pusher (4), and The system includes at least one control unit (34) configured to initiate calibration of the force sensor device (30) in accordance with a plurality of detected values ​​of the force-related variables, The stroller (1) is characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when a plurality of detected values ​​of the force-related variables are within a predetermined width interval of at least 0.1 N or a maximum of 10 N, and / or when the statistical parameters of the plurality of detected values ​​do not exceed the predetermined width interval of at least 0.1 N or a maximum of 10 N.

2. The stroller (1) according to claim 1, characterized in that the motor (21) is an electric motor.

3. The stroller (1) according to claim 1 or 2, characterized in that the force-related variables are the force and / or force component acting on the pusher (4), and / or variables derived from this force and / or force component.

4. The stroller (1) according to claim 1 or 2, characterized in that the force-related variables are torque and / or force and / or force components with respect to time.

5. The stroller (1) according to any one of claims 1 to 4, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when three or more detected values ​​of the force-related variable, or multiple or three or more consecutive detected values ​​of the force-related variable, are within the interval.

6. The stroller (1) according to any one of claims 1 to 5, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when the detected value of the force-related variable indicates that there is no human pushing.

7. The stroller (1) according to any one of claims 1 to 6, characterized in that the control unit (34) starts calibrating the force sensor device (30) when the statistical parameters of the multiple detected values ​​of the force-related variables are within a predetermined interval of at least 0.1 N or a maximum of 10 N.

8. The stroller (1) according to claim 7, characterized in that the statistical parameter is a parameter of statistical spread or variance.

9. The stroller (1) according to any one of claims 1 to 8, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when the speed of the stroller frame (10) is estimated to be at or below a predetermined speed.

10. The stroller (1) according to claim 9, characterized in that the predetermined speed of the stroller frame (10) is the predetermined rotational speed of at least one of the wheels (2).

11. The stroller (1) according to any one of claims 1 to 3, characterized in that the control unit (34) is configured to start calibrating the force sensor device (30) when at least one of the wheels (2) is stationary.

12. The stroller (1) according to any one of claims 1 to 11, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when the multiple detected values ​​of the force-related variables are at least 5N or less.

13. The stroller (1) according to any one of claims 1 to 12, characterized in that the control unit (34) is configured to suppress or stop the assisting force of the motor (21) and / or display an error when the detected value of the force-related variable is in the range of at least 10 N or a maximum of 100 N.

14. The stroller (1) according to any one of claims 1 to 13, characterized in that the force sensor device (30) and / or the control unit (34) are configured to detect the force-related variables at a frequency of at least 2 Hz or up to 100 Hz, at least until the calibration of the force sensor device (30) is initiated.

15. The stroller (1) according to any one of claims 1 to 14, characterized in that the number of detections of the force-related variable is at least 5 or at most 500, and / or at least 0.3 times or at most 50 times the detection frequency a / Hz of the force-related variable.

16. The stroller (1) according to any one of claims 1 to 15, characterized in that the control unit (34) is designed to determine a new reference point for the force-related variable in accordance with a plurality of detected values ​​of the force-related variable in order to perform calibration of the force sensor device (30).

17. The stroller (1) according to claim 16, characterized in that the control unit (34) is designed to determine the average value of a plurality of detected values ​​of the force-related variable, which has been considered for the initiation of calibration of the force sensor device (30), as a new reference point for the force-related variable.

18. The stroller (1) according to claim 16 or 17, characterized in that the reference point is the zero point.

19. The stroller (1) according to any one of claims 1 to 18, characterized in that the control unit (34) is designed to control the motor based on a stored calibration of the force sensor device (30) until a new calibration of the force sensor device (30) is performed.

20. The stroller (1) according to any one of claims 1 to 19, characterized in that the control unit (34) is designed to check at predetermined intervals whether it is possible to start the calibration of the force sensor device (30), and if possible, to start the calibration of the force sensor device (30).

21. The stroller (1) according to claim 20, characterized in that the control unit (34) is designed to check at intervals of at least 5 minutes or up to 12 hours whether it is possible to start the calibration of the force sensor device (30).

22. The stroller (1) according to claim 20, characterized in that the control unit (34) is designed not to initiate further calibration once the calibration of the force sensor device (30) has started until the motor (21) is switched off.

23. The stroller (1) according to any one of claims 1 to 22, characterized in that the control unit (34) is designed to check whether it is possible to start the calibration of the force sensor device (30) when predetermined conditions exist.

24. The stroller (1) according to claim 23, characterized in that the aforementioned predetermined conditions are externally predetermined conditions, including a change in temperature compared to the temperature at the time of the previous calibration.

25. A computer-readable storage medium that stores instructions causing at least one processor to perform control processing for the stroller (1) according to any one of claims 1 to 24.

26. The storage medium according to claim 25, characterized in that the force-related variables are the force and / or force component acting on the pusher (4), and / or variables derived from this force and / or force component.

27. The storage medium according to claim 25, characterized in that the force-related variables are the time change of torque and / or force and / or force component acting on the pusher (4).

28. The storage medium according to claim 25, characterized in that the instruction causes the processor to start calibration of the force sensor device (30) when three or more detected values ​​of the force-related variable, or three or more consecutive detected values ​​of the force-related variable, are within the interval.

29. A method for controlling the stroller (1) according to any one of claims 1 to 24 by causing the processor to execute an instruction stored in the storage medium described in claim 25.

30. The method according to claim 29, characterized in that the force-related variables are the force and / or force component acting on the pusher (4), and / or variables derived from this force and / or force component.

31. The method according to claim 29, characterized in that the force-related variables are the torque and / or force and / or force component acting on the pusher (4) over time.

32. The method according to claim 29, characterized in that when the instruction is executed by the processor, the calibration of the force sensor device (30) is started when multiple or three or more detected values ​​of the force-related variable, or three or more consecutive detected values ​​of the force-related variable, are within the interval.

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