Mobility device with electrically drivable or driven wheels or casters, and method for operating the same

Abstract

The invention relates to a mobility device (1) with drivable or driven wheels (20, 21, 22, 23) or casters, at least one drive device (24) for driving the drivable or driven casters or wheels (20, 21, 22, 23), at least one handle element (2, 3) for grasping the mobility device (1) and at least one open-loop and / or closed-loop control device (30) for open-loop and / or closed-loop control of the mobility device (1), in which provision is made for at least one device for compensating the drive and / or inclination resistance of the mobility device (1), comprising at least one inclination sensor (4) and / or acceleration sensor and at least one first force sensor.

Description

[0001] Mobility device with electrically driven or powered wheels or rollers and method for operating such a device

[0002] The invention relates to a mobility device with electrically drivable or driven wheels or rollers, at least one drive device, in particular an electric drive device, for driving the electrically drivable or driven rollers or wheels, at least one handle element for engaging the mobility device and at least one control and / or regulating unit for controlling and / or regulating the mobility device, as well as a method for operating a mobility device provided with electrically drivable or driven rollers or wheels, wherein at least one drive device, in particular an electric drive device, is provided for driving the rollers or wheels.

[0003] Mobility devices and methods for their operation are known in the art. These are used, particularly in the form of a rollator, as a mobility aid for older people and people with disabilities. They usually have four wheels or rollers and can be pushed by the user to keep them upright. Such rollators also usually include a seat on which the user can sit if they want to take a break from moving. Since the known rollators usually have a noticeable weight and the resulting forces become clearly noticeable on inclines and declines, and the rollators cannot therefore be easily moved, especially when going uphill, especially by older people and people with disabilities, rollators with powered wheels or rollers are also known.

[0004] For example, DE 103 18 929 B3 discloses a mobile walking aid device for assisting persons with walking disabilities, comprising a chassis with wheels and a motorized drive device for the wheels, handles arranged on the chassis or load-bearing elements connected thereto for supporting a user while walking, and a control device for controlling the drive device with regard to drive speed and, if applicable, direction depending on the user's action on the handles or an input device arranged thereon. A data acquisition device is integrated into the device, which acquires movement data during the movement of the device and stores it for later evaluation. Thus, force control is achieved through the handles, with pushing / pulling forces as well as moments due to the weight shift of the walker user being recorded in order to adjust the speed of the walker.

[0005] From DE 20 2017 100 023 U1, a fall-proof rollator is known, comprising several wheels, a frame, handles arranged at a distance above the wheels, a seat arranged at a height between the wheels and the handles, and a brake that is movable between a braking position and a release position and blocks at least one wheel in its braking position, further comprising an electronic controller and a safety sensor, which is operatively connected on the input side to the controller in such a way that a sensor signal can be fed to the controller as an input signal, and an electrically activatable actuating device referred to as an actuator, which is operatively connected on the output side to the controller and on the other hand to the brake in such a way that a control signal output by the controller and fed to the actuator triggers the actuator, which moves the brake into its braking position.and an energy storage device supplying the controller and the actuator with electrical energy, wherein the controller is designed as a safety circuit such that it transmits the control signal to the actuator upon receipt of a sensor signal output by the safety sensor.

[0006] DE 10 2012 024 039 A1 discloses a motorized rollator with automatic braking function and intuitive control and a method for controlling a walking aid with a motorized drive, detection device and control device for increasing the mobility of persons with walking disabilities, wherein the detection device detects signals from a distance detection between the walking aid and the user in a corresponding reference area and forwards them to a control unit where they are processed and regulate the drive.

[0007] A rollator with integrated electrical support is known from DE 20 2011 104 720 U1.An electrical drive and braking assistance system for the rollator that is integrated into the frame is activated by recording and processing the force exerted by the user on the handles to switch on an electric motor as needed. The actuators for performing the drive and braking function are form-fittingly integrated into the frame of the rollator. The electronic control system for the drive and braking function is form-fittingly integrated into the frame. The central control system controls the actuator units on all drive wheels. The cabling required to connect the control system, actuators and sensors is form-fittingly integrated into the frame. Contact and force sensors (at least one sensor) are integrated into the handles (at least one handle), which record the forces exerted on them in a horizontal and / or vertical direction. At least one inclination sensor is integrated into the frame.

[0008] KR 10 2015 0068598 A discloses an electromotive assistance device for assisting a user in walking, wherein an operating unit for detecting a pressure exerted by a user and for outputting a pressure signal, a drive unit that supplies power to at least one of the plurality of wheels, a sensor unit that measures a distance and an inclination to the user are provided, wherein the operation of the drive unit is controlled, it is determined whether the user falls on the basis of the measured distance, and a condition of the road surface is determined according to the measured inclination.

[0009] From CN 110 916 988 A, an electric mobility aid is known, wherein an electric walker is characterized in that it comprises a frame, a shaft rotatably connected to the front of the frame, an electric front wheel is installed at the lower end of the shaft, and a lifting mechanism is attached to the upper end of the shaft. The lifting mechanism is connected to a handlebar that can drive the lifting of the handlebar. The rear of the frame is equipped with driven rear wheels. The lifting mechanism is provided with vertical beams on both sides, and the vertical beams are connected to a seat mechanism. The seat mechanism comprises a roller track or pulley rail attached to the vertical support, a roller or pulley embedded in the roller track or pulley rail. The roller or pulley is rotatably connected to the side surface of one end of the seat.The upper part of the roller conveyor or pulley rail is articulated and equipped with a backstop to limit the upward movement of the rollers or pulley.

[0010] Optical systems are also used in which, for example, the distance between the user and the rollator is considered a controlled system. Here, too, irregularities in gait and other external parameters, such as the type of clothing worn by the user, pose a challenge. One such system is known, for example, from CN 107 224 392 A. This discloses an electric walking aid and its control method. The position of the electric walking aid and the distance between the electric walking aid and a user are dynamically controlled and adjusted to provide the user with a static and dynamic assistance function, so that the user is supported in the static and dynamic situation of the interaction between walking and standing during gait training.Control is therefore achieved by gait detection, i.e. by recording gait, pace, step and the human-walking aid distance, more precisely the foot, stomach and shoulder distance, by video, laser, infrared or ultrasound.

[0011] KR 10 2013 0101777 A discloses an electrically powered walking aid for the safety of elderly people, which is intended to overcome the problem of an existing walking aid and improve walking safety. It comprises a drive unit, a sensor unit, an external communication unit, a processing unit, and a drive energy source. The drive unit detects and predicts a pedestrian's walking speed. It controls the walking speed and maintains an average speed. The memory records environmental information if the sensor detects at least one hazardous environmental condition and generates a danger signal. The information about the hazardous environment is transmitted to an external terminal when the external terminal establishes a connection to the external communication unit.The functions include automatic control of walking speed, detection of an incline, control of the motor operating speed, monitoring of dangerous situations, sending an alarm to a manager, saving the average walking speed, starting the operation of the walking aid, stopping the operation of the walking aid and ending walking.

[0012] CN 113 552 822 A discloses a method and a device for controlling an intelligent walker, wherein the intelligent walker comprises a body, a front wheel and a rear wheel, and the rear wheel is driven by a motor, the method comprising the steps of detecting the movement speed of the intelligent walker, detecting the body posture, and reducing a torque output value of the motor when the body posture indicates that the front end of the intelligent walker is tilted upward and the movement speed of the intelligent walker is less than a first threshold value.According to the control method of the intelligent walking aid, the intelligent walking aid can intelligently judge whether the intelligent walking aid needs to enter an intelligent threshold crossing mode or not, and the torque output value of the motor is reduced in the intelligent threshold crossing mode to avoid the torque being greatly increased due to the excessive speed during the threshold crossing and thus causing the walker to be out of control.

[0013] A self-adjusting anti-fall rollator and a working method are known from CN 111 658 453 A. The self-adjusting anti-fall rollator comprises a left lifting arm and a right lifting arm, with the lower ends of the two lifting arms being hinged to a left vertical bar and a right vertical bar, respectively. The upper parts of the two lifting arms are each connected to two sides of an upper plate, and the center of the lower base surface of the upper plate is connected to a

[0014] The lifting connecting rod is hinged. The inner sides of the upper parts of the two vertical rods are each fixedly connected to two ends of an arc-shaped connecting rod. The lower end of the lifting connecting rod is hinged to the center of the arc-shaped connecting rod. A lifting motor is hinged to the center of each lifting arm, and the lower end of a screw of each lifting motor is hinged to the lower part of the vertical rod on the same side. The rollator can lift a user from a sitting position to a standing position or assist them in transitioning from a standing to a sitting position. A chassis is equipped with electric wheels and a force sensor. The electric wheels can move forward and backward, steer left and right, and rotate in place according to the detection and judgment results of a sensor, so that the user's posture can be corrected when the user walks, steers, and falls.

[0015] CN 115 300 338 A discloses a multifunctional rehabilitation training rollator based on the simulation of mechanical balance. The multifunctional rehabilitation training rollator comprises a rollator body, left and right drive wheels, left and right drive units, and a monitoring module. The left and right drive units drive the left and right drive wheels to rotate, respectively. The monitoring module includes a rotation speed detection unit for detecting the rotation speed of the left and right drive wheels and a control unit for drive control. The control unit receives the rotation speeds of the left and right drive wheels sent from the rotation speed detection unit and calculates the rotation speed difference to obtain a user's intention and control the drive unit to drive the corresponding drive wheel for complete speed control.According to the rollator, the two independently controlled drive wheels are used, the user's intention can be judged by the speed difference of the two drive wheels, thereby achieving automatic following, improving the adaptation degree of the rollator and the user, and reducing user accidents.

[0016] KR 10 2022 0105199 A discloses an intelligent rollator comprising a lower frame equipped with four wheels and a drive motor installed on the rear wheels, an upper frame attached to the upper part of the lower frame and equipped with handles and elbow supports, a sensor device in which sensors are distributed and installed on the upper and lower frames, a control unit that detects a walking intention by the sensor device and controls the drive of the motor drive unit as intended, and a battery that supplies power to the above-mentioned components.Furthermore, a method for controlling a walker is disclosed, in which the control unit of the intelligent walker sequentially performs the following steps: a preparatory step of checking whether the battery power and the sensors are normal; a user movement detection step of determining whether a user is nearby and walking at a constant, decelerated, or accelerated speed; a road surface detection step of determining whether there is an obstacle in front of the walker and whether the road is flat, sloped upwards, or downwards; and a walking deceleration step of operating a clutch drive unit to accelerate the rotation of the motor in the case of an upward slope in the road surface detection step and to limit the drive of the motor in the case of a downward slope in the road surface detection step.As the front wheels begin to climb the slope, the rear wheels are variably accelerated to gradually increase speed. When the user slows down, the acceleration is stopped and the speed is maintained. The user's walking intention and the road surface conditions can be complexly detected, allowing the rollator to be driven autonomously.

[0017] A walking aid with an automatic drive system is known from WO 2022 / 036327 A1. The walking aid comprises a rigid frame including a left handle and a right handle, a plurality of wheels attached to the rigid frame, a plurality of drive motors integrally mounted in the plurality of wheels, and a drive motor controller configured to power the plurality of drive motors, determine the orientation of the walking aid, generate a first motor current component to compensate for the orientation of the walking aid and the resulting torque on the drive motor, determine the speed of the walking aid, generate a second motor current component for internal friction based on the speed of the walking aid, and determine a user force exerted on the left handle and the right handle.and the drive motors are supplied with energy based on the sum of the first motor current component, the second motor current component, and the third motor current component. The degree of assistance depends on the gradient or surface friction. If the walking aid user applies a greater pushing force to overcome obstacles, a difference arises between a target current supplied to the drive motors and a measured current of the drive motors.

[0018] The known control methods for electric rollators are therefore partly based on measuring forces transferred from the user to the rollator. For this purpose, sleeves or measuring strips are used that measure thrust forces on the rollator handles. The problem with this is that the forces are very small and fluctuate greatly over time due to irregularities in the user's gait. Furthermore, it is not possible to distinguish between forces applied intentionally by the user and forces applied accidentally, e.g. when walking downhill or due to tripping. In the event of a trip, the applied force can even increase the risk of falling. Therefore, these forces are unsuitable as a control variable. Furthermore, there are also applications in which forces must be applied to the rollator counterintuitively, such as when negotiating a curb. In this case, the handles must be pulled backwards to raise the front wheels.If this is interpreted by the drive control as a desire to brake or even reverse, this can result in unwanted and potentially dangerous situations for the rollator user. The present invention is therefore based on the object of providing a mobility device with drivable or driven wheels or rollers, at least one drive device for driving the drivable or driven rollers or wheels, at least one handle element for engaging the mobility device, and at least one control and / or regulating unit for controlling and / or regulating the mobility device, as well as a method for operating such a mobility device, which solves the aforementioned problems and, in particular, requires a user of the mobility device to exert very little force to move it.

[0019] The object is achieved for a mobility device according to the preamble of claim 1 in that at least one device for compensating the driving and / or gradient resistance of the mobility device is provided, comprising at least one inclination sensor and / or acceleration sensor and at least one first force sensor.For a method according to the preamble of claim 8, the object is achieved in that a basic support force for moving the mobility device is generated and regulated, wherein at least the driving and / or gradient resistance caused by the weight of the mobility device is compensated. For compensation, the position and weight of the mobility device are detected by at least one inclination sensor and / or acceleration sensor and at least one first force sensor, and the control of the at least one electric drive device for driving the rollers or wheels is changed depending on the detected position and the detected weight. Further developments of the invention are defined in the dependent claims.

[0020] This creates a mobility device and a method for its operation which enable the driving and / or gradient resistance of the mobility device, in particular in the form of a walker, to be compensated so that a user can move the mobility device forward with very little effort when walking. The driving or gradient resistance results from forces arising due to the weight of the mobility device and the surface on which it is moved, such as the downhill force and rolling resistance on an incline. The control and / or regulation unit receives measurement data from the at least one inclination sensor or from at least one position sensor or at least one acceleration sensor for determining the position of the mobility device in space or its inclination.The at least one acceleration sensor can, for example, detect the acceleration due to gravity and use this to calculate the inclination of the mobility device in space. The control and / or regulation unit also receives the weight of the mobility device, including any additional load, from the at least one first force sensor, by means of which the payload of the mobility device, such as, for example, in the form of objects carried in the mobility device, can be determined. The dead weight of the unloaded mobility device can be recorded in advance, in particular during its manufacture, so that it is known in advance and can accordingly be input to the control and / or regulation unit as an actual value. The at least one first force sensor can be used to detect the individual payload, which is formed, for example, in the form of objects carried, such as shopping in a transport device, e.g.a carrying bag that can be arranged at a suitable location on the mobility device for carrying shopping and other items. From these measured values ​​of the sensors signal-connected to the control and / or regulating unit of the mobility device, the control and / or regulating unit can drive the at least one drive device, in particular an electric drive device, such as at least one electric motor, for driving the drivable or driven wheels or rollers of the mobility device in such a way that the forces resulting from the weight of the mobility device or the driving and / or gradient resistance are compensated. In this case, the motor current and / or torque can be changed to compensate for the position and weight of the mobility device.This creates a basic support force to move the mobility device and thus to assist when pushing it, and this is controlled accordingly. The mobility device compensates for its weight, including any payload, and the resulting driving and / or gradient resistance, in such a way that the user is not put under any strain when pushing. This allows the user to focus their attention on their surroundings and does not have to constantly adjust the control parameters. This is an important factor, especially for the target group of older people and people with disabilities. For example, if the mobility device is designed as a walker, it can be ensured that it offers support when the user needs it, without becoming a burden in other situations. This means that the mobility device can be successfully used to maintain mobility and for recovery in the case of rehabilitation measures.

[0021] In this case, the assistance force exerted by the electric drive device of the mobility device is basically regulated to assist a user using the mobility device, such as a person with reduced mobility.

[0022] By driving the wheels or rollers, the gradient resistance due to the mobility device's own weight and load, among other things, can be compensated for when driving uphill, so that the user needs to exert very little force to move the mobility device uphill. Usually only some of the four wheels or rollers of the mobility device can be driven or powered, the rest not. For example, only the rear wheels of the mobility device that are close to the user when the mobility device is in operation can be driven or powered, while the front wheels that are further away from the user are not. However, it can also be the other way around, i.e. the front wheels are driven but the rear wheels are not. Likewise, all four wheels or rollers could be driven or powered.

[0023] The mobility device advantageously has at least one first setting device, by means of which different assistance levels can be manually specified by a user. Advantageously, the control of the basic assistance force for moving and / or braking the mobility device can be overridden by at least one manually operable input device for entering a desired assistance level. The control and / or regulation unit of the mobility device and the method for operating the mobility device are based on the user being able to decide for themselves whether or not they require additional assistance in addition to the basic assistance force for moving the mobility device. The control of the mobility device therefore provides a combination of an automatically generated basic assistance force and a manually requestable additional assistance force.The at least one first adjustment device for setting different support levels can prove particularly useful when riding downhill and on slippery surfaces and can be operated accordingly.

[0024] Position sensors or inclination sensors can be used to record the incline of the surface on which the mobility device is standing, being moved, or traveling. This information can be used to determine the driving resistance component resulting from the incline and to use it to control the drive system of the mobility device. However, it has been shown that this information alone is not sufficient, as other driving resistance parameters remain unknown as long as no information about the user's driving intention is available. A combination of this approach with, for example, the measurement of forces on at least one handle element could help here, but does not solve the problem of potential incorrect operation due to inadvertently introduced forces.Advantageously, therefore, when a gradient is detected by the at least one inclination sensor, i.e. when traveling downhill, the user's request for assistance can be queried, wherein a support level set on the at least one first input device designed as a support level setting device is queried and, depending on this, the level of braking force for braking the mobility device is regulated or set and / or the maximum speed of the mobility device is changed. Especially when walking downhill, a user has the need to support themselves on the mobility device, i.e. the mobility device should actively brake. The level of braking effect is user-specific and can be set using the at least one first setting device. By changing the maximum speed, the user's risk of falling can also be reduced.In any case, a user's increased support on the mobility device during downhill travel does not lead to an increase in speed, as occurs with state-of-the-art solutions. This eliminates the possibility of forces applied to the mobility device being misinterpreted, which could otherwise lead to undesired driving actions and dangerous situations.

[0025] Further advantageously, the mobility device can have at least one acceleration sensor, in particular a 3-axis acceleration sensor for determining acceleration in the lateral, translational, and rotational directions. If the at least one acceleration sensor detects an above-average acceleration or an acceleration exceeding a determined or predeterminable average speed within a short period of time, a risk of falling can be detected and a braking process can be automatically initiated by the control and / or regulating unit, sending corresponding braking signals to the at least one drive device and / or at least one braking device.

[0026] When the at least one inclination sensor or at least one acceleration sensor detects that an inclined plane is being traveled on, it is furthermore advantageous to query at least one second force sensor for detecting the normal force, and to use the normal force as the basis for and / or compensate for the current control of the at least one electric drive device. The at least one second force sensor for detecting the normal force when traveling on an inclined plane can be arranged in the region of the handle elements of the mobility device and / or in the region of the wheel suspension of at least one wheel of the mobility device. The at least one second force sensor can, for example, be in the form of a bending beam. The normal force detected by the at least one second force sensor relates to the force exerted by a user when the user is on the mobility device orwhose grip elements support the vehicle, especially when traveling on an inclined surface, such as when driving downhill. It can be used as a basis for and compensated for by the motor current control of at least one electric drive device.

[0027] As a further manually operable input device for entering a user's assistance request to override the control of the basic assistance force for moving the mobility device, the mobility device can have at least one thumb throttle actuation device, the actuation of which overrides the force control of the mobility device. The manual actuation of the at least one thumb throttle actuation device is advantageously queried, and upon detection of actuation of the at least one thumb throttle actuation device, the assistance force for moving the mobility device is increased. Advantageously, speed control or control of the torque of the at least one electric drive device is carried out. The control and / or regulating unit of the mobility device can determine part of the driving resistance of the mobility device with the aid of the at least one inclination or position sensor.However, rolling resistance, as an important component, remains unknown, so it is useful to query the user's request for assistance. At least one thumb throttle actuation device, in particular in the form of a thumb throttle lever, serves this purpose. By actuating this, a user can override the control of the mobility device in a manner of a boost function. This is particularly suitable for poor surfaces, such as gravel or forest paths. Furthermore, the boost function, i.e. the increase in assistance power for moving the mobility device, can also be used to overcome obstacles such as curbs or the edge of a bus entrance. The front wheels of the mobility device can be raised automatically. Actuating the thumb throttle actuation device when driving uphill advantageously regulates the power rather than the speed.This also increases the user's safety, as their risk of falling is reduced. The at least one thumb throttle actuation device can be provided with or be equipped with at least one actuation locking device to prevent unintentional actuation of the at least one thumb throttle actuation device. In particular, the thumb throttle actuation device can be designed in the form of a thumb throttle button. This is advantageously arranged on a handle element of the mobility device in such a way that it can be operated particularly well with the thumb of one of the user's hands. If a user sits down between the handle elements of the mobility device on an advantageously provided, in particular fold-out, seat device when the mobility device is stationary and areas of the user's body or, for example, clothing get caught on the thumb throttle button or touch it, this can lead to unintentional actuation of the thumb throttle button.In order to prevent such unintentional actuation of the thumb throttle button, at least one actuation locking device can be provided. This can in particular be designed as a web-shaped frame. Further advantageously, the actuation locking device can be designed not only in the manner of a frame, but also in the manner of a cage and arranged around the thumb throttle button. Furthermore, at least one sensor can be provided which detects the user's intention to sit down, such as a light barrier, or a hand position detection device which detects when a user's hands are resting upside down on the grip element(s). For standing up, during which the thumb throttle button could also be actuated, e.g. by the ball of the thumb or other fingers of the user, a sensory detection device can also be integrated into the seating device. If corresponding information is available from the at least one sensor orIf the sensory detection device or the at least one hand position detection device is present, the actuation of the at least one thumb throttle actuation device can be prevented by the at least one actuation blocking device. The latter can also be designed in the form of a blocking signal that is transmitted to the control and / or regulating unit and causes it to ignore the actuation of the thumb throttle actuation device, thus not reacting to it. Furthermore, the mobility device can have at least one hand detection sensor, by means of which it can be detected whether a user's hands are grasping the gripping elements.At least one hand detection sensor can detect whether a user's hands are grasping the handle elements of the mobility device. If the user's hands are not on the handle elements, the mobility device can advantageously be braked to prevent it from rolling away unintentionally. If an incline is simultaneously detected by querying the at least one incline sensor, the speed of the mobility device can be regulated to a very low value greater than zero. If the at least one grip sensor detects that a user's hands are not resting on the handle elements or that the user has not grasped them with their hands, the mobility device is advantageously automatically braked to prevent it from rolling away unintentionally.If no user is detected on an incline because their hands are not detected by at least one grip sensor, the speed of the mobility device is advantageously not reduced to zero, but rather only regulated to a very low speed value. This ensures that the mobility device is not forgotten to be switched off or a mechanical braking device is activated, which is advantageously provided, in order to avoid unnecessarily discharging a battery that is advantageously provided to power the electrical components of the mobility device.

[0028] The mobility device can be not only a medical device in the form of a walker, but also, for example, a wheelchair or a bed. It can also be a means of transport, in particular a shopping cart or a suitcase. Furthermore, it can be a means of transportation, in particular a stroller or an electric vehicle. The above features of the mobility device can thus be provided not only in a walker, but also in other medical devices, means of transport, and means of transportation.

[0029] To further explain the invention, exemplary embodiments are described in more detail below with reference to the drawings. These show: Figure 1 shows a perspective view of a first embodiment of a mobility device according to the invention in the form of a rollator,

[0030] Figure 2 is a perspective view of a first embodiment of a left handle element for a mobility device according to the invention,

[0031] Figure 3 is a perspective view of a first embodiment of a right handle element for a mobility device according to the invention,

[0032] Figure 4 is a perspective view of a second embodiment of a left handle element for a mobility device according to the invention,

[0033] Figure 5 is a perspective view of a second embodiment of a right handle element for a mobility device according to the invention,

[0034] Figure 6 shows a sketch of the force or resistance-time diagram in four different support cases, namely on a flat surface, uphill, downhill and uneven ground, with the support force (left) and driving resistance (right) plotted on the y-axis and the time course plotted on the x-axis, with a corresponding height profile of the four support cases shown below the force or resistance-time diagram,

[0035] Figure 7 is a sketch of a control and / or regulation unit according to the invention of a mobility device according to the invention,

[0036] Figure 8 shows a first flowchart for the control or regulation method of a mobility device according to the invention,

[0037] Figure 9 shows a second flowchart for the control or regulation method of a mobility device according to the invention, and

[0038] Figure 10 shows a third flow diagram for the control or regulation method of a mobility device according to the invention when detecting a gradient in the ground.

[0039] Figure 1 shows a perspective view of a first embodiment of a mobility device 1 configured as a rollator. The mobility device 1 comprises four wheels 20, 21, 22, 23, wherein the two wheels 20, 21 are rear wheels and the wheels 22, 23 are front wheels. The two rear wheels 20, 21 can each be driven by an electric drive device 24, in particular an electric motor. Furthermore, the mobility device 1 comprises a frame 25 on which the four wheels 20, 21, 22, 23 are arranged. The frame 25 is provided with two seat elements 26, 27 arranged foldably thereon. Furthermore, the frame 25 is height-adjustable via two telescopic devices 125, 126. At the end of the frame 25 opposite the arrangement of the four wheels 20, 21, 22, 23, the frame comprises a handle unit 28 with two handle elements 2, 3.Their concrete structure is shown as examples in Figures 2, 3, 4, 5 in two different embodiments.

[0040] The mobility device 1 is equipped with a number of sensors. In order to determine the position, orientation, or inclination of the mobility device 1 relative to a surface it is traveling on, the device has an inclination sensor 4, which is designed in particular in the form of an absolute angle sensor, in the region of its rear wheel 21. If the drive devices 24 are also arranged in the region of the rear wheels 20, 21, but also if at least one storage unit for electrical energy, such as a battery 34 or an accumulator, for supplying the at least one drive device 24 with electrical energy is arranged, for example, in one of the seat elements 26, 27, a temperature sensor for determining the motor temperature can be arranged in the region of the rear wheel 20 and / or the rear wheel 21 of the mobility device 1.If the storage unit for electrical energy, such as a battery or accumulator 34, is arranged in the area of ​​the seat elements 26, 27, the positioning of such a temperature sensor for determining the battery temperature in the area of ​​the seat elements 26, 27 is suitable.

[0041] In the area of ​​the seat elements 26, 27, particularly integrated therein, an acceleration sensor, particularly a 3-axis acceleration sensor for determining accelerations in the lateral, translational, and rotational directions, a 3-axis yaw rate sensor, also referred to as a gyro, and an ambient light sensor can also be arranged. The latter serves to automatically switch on a light source, which can also be arranged, for example, on the frame 25 of the mobility device 1 to enable illumination of the route in front of the mobility device 1.Furthermore, detection devices, in particular sensors, for detecting the motor currents, the state of the two seat elements 26, 27, i.e. whether they are unfolded or folded in, as shown in Figure 1, so that no one can sit on them, the voltage of the storage unit for electrical energy arranged in at least one of the seat elements 26, 27, such as the battery 34 or the accumulator, a detection device for detecting the state of charge of the battery or accumulator, a temperature measuring device for detecting the temperature of a control and / or regulating unit 30 for controlling and regulating the operation of the mobility device 1, as well as a detection device for detecting the state of a mechanical brake of the mobility device 1 can be arranged in the seat elements 26, 27.If the mobility device 1, in addition to transporting luggage such as shopping, also includes a corresponding receptacle as a transport device, such as a carrying bag and / or a basket that can be attached to the mobility device 1, at least one force or weight sensor is provided to determine the weight of the corresponding load in the basket or carrying bag. This force or weight sensor can be arranged in the area of ​​the basket or carrying bag to determine the weight of the load.

[0042] Figures 2 and 3 show the two handle elements 2, 3 in a first embodiment. The first or left handle element 2 shown in Figure 2 comprises, in the embodiment variant shown, an ON / OFF switch 200 with which the drive device 24 of the mobility device 1 can be switched on and off. Adjacent to this, the handle element 2 shown in Figure 2 comprises a display device 201 for displaying the charge level of the battery 34 or accumulator, which serves to supply power to the drive device(s) 24. The grip area 202 of the first handle element 2 according to Figure 2, which is primarily gripped with the hands, further comprises a capacitive hand recognition sensor 203. The second handle element 3, which is shown in Figure 3 and is used for gripping with the right hand, also comprises a corresponding grip area 204 with a capacitive hand recognition sensor 205 in order to be able to detect whether or notthat the second handle element 3 is grasped by the hand of a user of the mobility device 1. Furthermore, the second handle element 3 comprises a support level adjustment device 206, by means of which individual support requests in stages, i.e. a level of support made possible for the user by the mobility device 1, can be set step by step by the user. The support level adjustment device 206 can be formed by an adjusting wheel, for example. For example, four or five support levels can be set on this. The support level adjustment device 206 serves to control the braking effect when riding downhill with the mobility device 1. Therefore, for example, level 1 can offer particularly great support and accordingly a strong braking effect, while level 4 or level 5 offer little support from the mobility device 1, thus little braking effect.By adjusting the support level adjustment device 206 accordingly, the user can manually select and receive the desired individual level of support from the mobility device 1. As will be explained in more detail below with reference to Figures 6 to 10, by actuating the support level adjustment device 206 accordingly, the basic support control, thus the basic support force provided by the mobility device 1 and which compensates for the driving and / or gradient resistance caused by the weight of the mobility device 1, can be overridden.

[0043] Another option for overriding the basic assistance provided by the mobility device 1 is by actuating a thumb throttle actuation device 207. This is also arranged in the second handle element 3. The thumb throttle actuation device 207, for example in the form of a thumb throttle button on the second handle element, is generally arranged such that it can be particularly easily actuated with the thumb of the right hand. By actuating the thumb throttle actuation device 207, the activity level of the mobility device can also be changed. In particular, the maximum speed of the mobility device can be changed this way. If the thumb throttle actuation device 207 is actuated, the assistance force for moving the mobility device is increased. This can result in speed control or torque control of one or more drive devices 24 of the mobility device 1.The thumb throttle actuation device 207 can be actuated in particular when the mobility device 1 is to overcome a curb.

[0044] To prevent the thumb throttle actuation device 207 from being accidentally actuated, it is surrounded by an actuation locking device 208, here in the form of a frame that extends around the thumb throttle actuation device 207. When the mobility device 1 is stationary, when the seat elements 26, 27 are unfolded, as indicated in Figure 1, and the user can or has sat down on it, it is possible that the thumb throttle actuation device 207 is accidentally actuated either with the hands or parts of the user's body or clothing. This can also occur if clothing gets caught on it or accidentally touches it. This results in the thumb throttle actuation device 207 being accidentally actuated, with the risk that the mobility device 1 will start moving on its own.To prevent this, the actuation locking device 208 shown in Figure 3 is arranged around the thumb throttle actuation device 207. In the embodiment shown here, it is designed in the shape of a web or frame, but can also be designed in the manner of a cage or otherwise as a protective device, so that unintentional actuation of the thumb throttle actuation device 207 can be reliably prevented when the mobility device 1 is actually stationary. Another possibility or a supplementary possibility is to provide at least one sensor that detects the user's intention to sit down, such as a light barrier, which can be arranged in the area of ​​the two seat elements 26, 27 and determines whether a user sits down on the seat elements 26, 27 there.Furthermore, a hand position detection device can be provided in the area of ​​at least one of the two grip elements 2, 3, which detects when the user's hands are resting in reverse on one or both grip elements 2, 3. Furthermore, for standing up from the seat elements 26, 27, in which case the thumb throttle actuation device 207 could also be accidentally actuated, for example, by the ball of the thumb or the user's fingers, a sensory detection device can also be arranged or integrated in one or both seat elements 26, 27. This can be used to detect not only sitting down but also standing up of the user in the area of ​​the seat elements 26, 27.In each of the cases, if a corresponding signal is present from the at least one sensor, the sensory detection device, the hand position detection device, an actuation of the thumb throttle actuation device 207 by the control and / or regulating unit 30 can be evaluated as unintentional and thus disregarded.

[0045] In the embodiment shown in Figure 3, the second handle element 3 further comprises a horn 209, by means of which a user of the mobility device 1 can draw attention to themselves. For better visibility in traffic, not only the horn but also lighting can be provided. This allows users to draw attention to themselves.

[0046] Figures 4 and 5 show an alternative embodiment of the two handle elements 2, 3, with Figure 4 again showing the left handle element, i.e., the first handle element 2, while Figure 5 shows the second or right handle element 3. In this embodiment of the two handle elements 2, 3, the left or first handle element 2 in Figure 4 includes not only the ON / OFF switch 200 and the display device 201 for the battery charge level, but also the horn 209 and an emergency call button 210, via which an alarm can be sent if the user of the mobility device 1 requires external assistance. In an emergency, an emergency call with GPS data for the exact position can be sent to relatives and all stored contacts.

[0047] Both grip elements 2, 3 further comprise a grip area with a capacitive hand recognition sensor, i.e., the first grip element 2 comprises the grip area 202 with the capacitive hand recognition sensor 203, and the second grip element 3 comprises the grip area 204 with the capacitive hand recognition sensor 205. The second grip element 3 further comprises the support level adjustment device 206 and also a thumb throttle actuation device 207. However, unlike the embodiment according to Figure 3, this is lever-like, i.e., not in the form of a button. The lever-like thumb throttle actuation device 207 can also be easily operated with the thumb of the user's right hand.

[0048] Figure 6 shows a sketch of a force or resistance-time diagram for four different assistance cases, namely on a flat stretch (I), an incline (II), a decline (III), and an uneven surface (IV), with the assistance force F (left) and resistance W (driving or gradient resistance) (right) plotted on the y-axis, and the time course t plotted on the x-axis. Thus, the assistance force F provided by the mobility device 1 for a user is shown over time t and for a different elevation profile of the surface, which accordingly leads to a different driving resistance or gradient resistance or rolling resistance for the mobility device 1. The course of the elevation profile is indicated below the diagram by the elevation profile line 105.

[0049] In the case of a flat route, which is shown in the first column I of the diagram, the driving or gradient resistance or rolling resistance on the surface on which the mobility device 1 is moved is zero, so that it is sufficient to provide a basic assistance force that only compensates for the forces acting due to the weight of the mobility device itself, including any additional load in the form of shopping, etc.

[0050] The second column II shows the application of an incline, which can be transmitted by the incline sensor 4. The resistance or incline resistance W due to the incline, indicated by a resistance curve 100, is therefore no longer zero, but has a first value W1. When traveling up such an incline, the mobility device 1 provides an automatic assistance force F, which is shown by the automatic assistance force curve 101 provided with small diamonds in the second column of the diagram in Figure 6. When an incline is detected by the incline sensor 4, the control and / or regulation unit 30 of the mobility device 1 (see in particular Figure 7) therefore regulates the torque and / or the motor current of the at least one drive device 24 of the mobility device 1 such that the force required by a user to push the mobility device 1 is only low, even when walking uphill.In the second stage II, rolling resistance is not to be considered on normal ground, as indicated here, since it is assumed to be zero. The course of the rolling resistance curve 102 is indicated in Figure 6 by the line marked with crossed dots. If the at least one incline sensor 4 of the mobility device 1 detects that an incline has ended, thus there is no longer any incline in the ground, as indicated at the end of the second column II in Figure 6, there is no longer any resistance W due to the incline, so that the driving resistance curve 100 becomes zero here.

[0051] The third column III in Figure 6 shows the case of a gradient, thus driving downhill with the mobility device 1. The resistance or gradient resistance W due to the gradient thus assumes a negative resistance value -W1, which is indicated by the course of the resistance curve 100 in Figure 6. In order to provide an automatic assistance force F for a user here as well by the mobility device 1, an automatic assistance force F related to the resistance -W1 generated by the gradient is made available by the mobility device 1. This can be seen from the automatic assistance force curve 101. As soon as the gradient ends, as indicated in the last section of the third column III in Figure 6, both the resistance W and the automatic assistance force return to zero.

[0052] In the fourth application case shown in Figure 6, an uneven surface in column IV, also indicated by the height profile 105 of the surface in Figure 6, a changing rolling resistance occurs, which is also indicated by the rolling resistance curve 102 in Figure 6. For example, this can be the case with cobblestones or on a gravel path or other uneven terrain. In order to be able to offer users individual support here, the user can request a manually adjustable assistance force F by actuating the thumb throttle actuation device 207 and receive it accordingly from the mobility device 1. The course of the assistance force F is indicated in Figure 6 by the manually adjustable assistance force curve 103 provided with black triangles. It can be seen here that the assistance force F can also be changed by the user while moving, i.e. while driving on the uneven surface.A correspondingly adjusted adjustment is possible using the thumb throttle control device 207.

[0053] Figure 7 shows the control and / or regulation unit 30. This comprises a microcontroller 31 and several inputs and outputs therefrom. The measurement results of a 3-axis acceleration sensor and a 3-axis rotation rate sensor or gyro are fed to the microcontroller 31 via input 132 by an inertial measurement unit 32. Furthermore, a folding detection sensor 33 is queried as to whether the mobility device 1 is unfolded or folded. If the mobility device 1 is folded, the ON / OFF switch 200 can be actuated, but the mobility device 1 still does not start. The mobility device 1, or at least one drive device 24 thereof, can only be started if the folding detection sensor 33 reports that the mobility device 1 is fully unfolded. The signal of the folding detection sensor 33 is fed to the microcontroller 31 via an input 133.

[0054] The data on the battery voltage, system voltage, and charge level can be queried by the battery or accumulator 34 or by its corresponding measuring unit and also fed to the microcontroller 31 via an input 134. Motor position, motor temperature, motor current, motor driver temperature, and any error messages can also be detected by corresponding sensors for the at least one drive device 24 and also fed to the microcontroller 31 via an input 135.

[0055] The settings made on the handle elements 2, 3, in particular the actuation of the ON / OFF switch 200, the actuation of a mechanical brake 29 of the mobility device 1 (see Figure 1), the state of the support level setting device 206 or

[0056] Thumb throttle actuation device 207 can also be queried, as can the respective actuation state of the individual devices and the voltage applied to the individual components, which can also be fed to the microcontroller 31 via an input 136. Accordingly, the capacitive hand recognition sensors 203 and 205 on the handle elements 2, 3 can also be queried, and the result of the query can also be fed to the microcontroller 31.

[0057] The correspondingly determined actual values ​​or input signals, for example, the values ​​determined by the inclination sensor, but also the dead weight of the mobility device 1, can be stored in a memory unit 37, and the stored values ​​can also be output from the memory unit 37 to the microcontroller 31. Both can be done via the input / output 137 of the microcontroller 31. A diagnostic tool 38 can also be provided, and data exchange with it can be enabled via an input / output 138 with the microcontroller 31. Using such a diagnostic tool 38, errors can be detected and, if necessary, corrected directly.

[0058] The horn 209 can be addressed by the microcontroller 31 via an output 140 so that the horn 209 emits an audio signal. Furthermore, the battery or rechargeable battery 34 can be switched on by the microcontroller 31, an output 141 being provided on the microcontroller 31 for this purpose. Likewise, the at least one drive device 24 can be controlled by the microcontroller 31 with regard to the voltage, the switching of relays on and off, and the switching of the drive device(s) as such on and off. This is done via an output 142 of the microcontroller 31. The display devices provided on the two handle elements 2, 3, in particular the display device 201 for the battery charge level, can also be addressed by the microcontroller 31. The output of the respective states to be displayed via the at least one display device is done via an output 143 of the microcontroller 31.Figure 8 shows a flowchart for the control and regulation process of the mobility device 1. Here, the gradient of the ground on which the mobility device 1 is moving or standing is determined by querying the angle of inclination α by the inclination sensor 4, as well as the total weight or the total weight force F. Gof the mobility device 1, by determining its own weight and any payload using at least one force sensor or a weight sensor, wherein both values, i.e. gradient and weight, are fed to an internal control unit 218 of the control and / or regulating unit 30 of the mobility device 1. Likewise, a lateral inclination of the mobility device can be queried, for example by querying a normal force by arranging a further force sensor in the form of a bending beam in the area of ​​the handle unit 28 or by providing a force measurement in the area of ​​the wheel suspensions of the wheels 20, 21, 22, 23. As a result, the motor current can be changed in order to compensate for the acting forces so that the force required by the user to push the mobility device 1 is as low as possible.When driving on an inclined plane, the force introduced into the mobility device by a user supporting themselves on it can be compensated by recording the normal force (from this) and calculating it accordingly.

[0059] The average speed v is also determined dof the mobility device 1 by at least one acceleration sensor of the inertial measuring unit 32, which can be arranged in particular in one of the two seat elements 26, 27 of the mobility device 1. If a sudden acceleration occurs, a fall can be detected, so that a braking process is automatically initiated by the control and / or regulating unit 30 of the mobility device 1. Such a sudden acceleration can be determined by a deviation from an average speed, i.e., by comparing the change in speed with the average speed. If this results in an unusually high value that lies above a predeterminable threshold, a fall can be detected accordingly, and a braking process can be automatically initiated by the mobility device 1 or its control and / or regulating unit 30.The average speed value is fed to a speed limiter or a roll-away protection device 219, which can also query whether a user's hands are resting on the handle elements 2, 3 or not, by correspondingly querying the two capacitive hand recognition sensors 203, 205 of the two handle elements 2, 3. Furthermore, the settings on the two handle elements 2, 3 are queried, here in particular the setting of the support level adjustment device 206 and the thumb throttle actuation device 207. These values ​​are also fed to the internal control unit 218, which is also indicated in Figure 8 by a corresponding arrow P1.

[0060] The gradients or angles of inclination recorded by the internal control unit 218, as well as weight values, the average speed, and also the settings on the handle elements 2, 3 are combined in a summer 220. This summer determines a desired torque Msoii, which is to be adjusted in order to provide a correspondingly suitable assistance force for the user through the mobility device 1. To avoid excessive acceleration, which would pose a risk of falling for the person using the mobility device 1 or a user, a torque change limiter 221 is provided. The torque change limiter 221 can prevent excessive acceleration of the mobility device 1. For this purpose, the torque change limiter 221 can comprise a filter that enables a corresponding limitation, or a stored driving curve according to which a torque increase is carried out.

[0061] In the flow diagram in Figure 8, a dashed line L is shown downstream of the torque change limiter 221 in the direction of flow, with the additional components provided individually with a specific motor or on a specific drive device 24 being shown to the right of the dashed line L. This right-hand sequence, which follows the dashed line L to the right, can therefore be designed differently depending on the drive device 24. The components and the sequence shown in Figure 8 are therefore only one possible exemplary embodiment. In the embodiment shown in Figure 8, three different additional queries are made externally (indicated by the diamonds) or ACTUAL values ​​are fed to the control system, namely, firstly, query 227 as to whether one of the wheels 20, 21, 22, 23 of the mobility device 1 is hanging in the air.If this is the case, the torque is limited by a torque limiter 327 and both drive devices 24 of the two wheels 20, 21 communicate with each other so that a safe and tipping-free ride can take place.

[0062] Furthermore, the speed and the battery voltage are queried in query 228 and also used as a basis for the control, so that with the determined permissible torque M ZU | a corresponding pulse-width modulated forward thrust V pwm is regulated by an optimum value current controller 328. The possible actuation of the mechanical brake 29 and the pulse-width modulated forward thrust V pwm are combined as input values ​​in a further summer 222. Upon detection of a braking operation of the mechanical brake 29, the control and / or regulating unit 30 is intended to prevent the electric drive devices 24 from working against the mechanical brake 29.

[0063] If a further query 229 of the battery temperature of the battery 34 (see Figures 1 and 7) determines that the battery has exceeded a predeterminable temperature value, i.e., is too hot, a motor speed limiter 329 limits or reduces the motor speed or the current supplied to the at least one drive device 24. This is indicated on the far right in Figure 8.

[0064] Figure 9 shows a further flow chart for the control and regulation process of the mobility device 1. In a first step, the actuation of the thumb throttle actuation device 207 is queried and, in parallel, the average engine speed v m. Both are fed as input signals or actual values ​​to a thumb throttle control unit 223. The internal control unit 218 queries the inclination angle α, which is determined by the inclination sensor 4, for the control of the basic power assistance by the mobility device 1 and uses this as the basis for the control of the basic power assistance. The internal control unit 218 also receives the actuation of the thumb throttle actuation device 207 in order to enable the manually set assistance request of a user to override the automatic control of the mobility device 1 by actuating the thumb throttle actuation device 207. Furthermore, the average motor speed v m and inclination angle a are fed to the roll-away protection 219 as input signals or actual values. The average motor speed v m and the average engine acceleration a mas input signals or actual values. The throttle torque M output by the thumb throttle control unit 223 D , the control torque M output by the internal control unit 218 s , the rolling moment M output by the roll-away protection 219 w and the anti-acceleration torque M output by the acceleration control unit 226 A are fed to a summer 224 as input signals. The resulting torque M as an output signal is fed to a torque change limiter 221 as an input signal to limit excessive torque change. The limited torque M be gr is subsequently fed to the motor control unit 225 of the at least one drive device 24. Thus, torque control of the at least one drive device 24, in particular in the form of at least one electric motor, is carried out to drive the two rear wheels 20, 21 of the mobility device 1.

[0065] Figure 10 outlines the control or regulation sequence when a slope is detected in the ground on which the mobility device 1 is standing or moving. First, it is determined whether a user's hand is on at least one of the two handle elements 2, 3. This is done by querying the two capacitive hand recognition sensors 203, 205. Furthermore, the actuation of the mechanical brake 29 is queried. The output values ​​of the two queries are fed to a query unit 230, which evaluates whether at least one of the two handle elements 2, 3 is being grasped by at least one user's hand and, at the same time, whether the mechanical brake 29 is being actuated. If both are answered with YES, the anti-roll device 219 is deactivated (see box 231). If the query is answered with NO, the thumb throttle control and the internal control unit 218 are deactivated (see box 232).

[0066] Depending on the geometric conditions of the surface on which the mobility device is standing or moving, basic assistance, load assistance, a power assistance setting, or a boost is provided. The mobility device detects when a user is walking downhill and prevents them from accelerating too fast. This minimizes the risk of falling for the user.

[0067] In addition to the embodiments of mobility devices and methods for controlling or regulating them described above and shown in the figures, numerous others can be formed, including any combinations of the above-mentioned features and components thereof, wherein the mobility device is always provided with at least one device for compensating the driving and / or gradient resistance of the mobility device, comprising at least one inclination sensor and / or acceleration sensor for determining the inclination and at least one first force sensor for determining the weight of the mobility device.

[0068] List of reference symbols

[0069] 1 mobility facility

[0070] 2 first handle element

[0071] 3 second handle element

[0072] 4 Tilt sensor

[0073] 20 wheel / rear wheel

[0074] 21 wheel / rear wheel

[0075] 22 Wheel / Front wheel

[0076] 23 Wheel / Front wheel

[0077] 24 drive device

[0078] 25 frame

[0079] 26 Seat element

[0080] 27 Seat element

[0081] 28 Handle unit

[0082] 29 mechanical brake

[0083] 30 Control and / or regulation unit

[0084] 31 microcontrollers

[0085] 32 inertial measuring unit

[0086] 33 Folding detection sensor

[0087] 34 Battery / Accumulator

[0088] 37 storage unit

[0089] 38 Diagnostic tool

[0090] 100 (driving) resistance curve

[0091] 101 automatic assistance power curve

[0092] 102 Rolling resistance curve

[0093] 103 manually adjustable support force curve

[0094] 105 elevation profile line

[0095] 125 Telescopic device

[0096] 126 Telescopic device

[0097] 132 Entrance

[0098] 133 Entrance

[0099] 134 Entrance

[0100] 135 Entrance Entrance

[0101] Entrance / Exit

[0102] Entrance / Exit

[0103] Exit

[0104] Exit

[0105] Exit

[0106] Exit

[0107] ON / OFF switch

[0108] Display device (battery charge level)

[0109] Grip area capacitive hand detection sensor

[0110] Grip area capacitive hand detection sensor

[0111] Support level adjustment device

[0112] Thumb throttle control

[0113] Actuation locking device

[0114] horn

[0115] Emergency call button internal control unit

[0116] Speed ​​limiter / roll-away protection

[0117] Summer

[0118] Torque change limiter

[0119] Summer

[0120] Thumb throttle control unit

[0121] Summer

[0122] Engine control unit

[0123] Acceleration control unit

[0124] query

[0125] query

[0126] query

[0127] query unit

[0128] Deactivation of the roll-away protection 219

[0129] Deactivation of the thumb throttle control and inner control unit

[0130] Torque limiter 328 Optimum current controller

[0131] 329 Engine speed limiter

[0132] FG total weight force

[0133] F Support staff

[0134] V pwm pulse-width modulated forward thrust v d Average speed v m Average engine speed am Average engine acceleration

[0135] Msoii TARGET torque

[0136] M ZU | permissible torque

[0137] M D Throttle torque

[0138] Ms control torque

[0139] M w Rollaway moment

[0140] M A Anti-acceleration torque

[0141] M torque

[0142] Mbegr limited torque

[0143] W Resistance a Inclination angle

[0144] L dashed line

Claims

Claims 1. Mobility device (1) with drivable or driven wheels (20, 21, 22, 23) or rollers, at least one drive device (24) for driving the drivable or driven rollers or wheels (20, 21, 22, 23), at least one handle element (2, 3) for engaging the mobility device (1) and at least one control and / or regulating unit (30) for controlling and / or regulating the mobility device (1), characterized in that at least one device for compensating the driving and / or gradient resistance of the mobility device (1) is provided, comprising at least one inclination sensor (4) and / or acceleration sensor and at least one first force sensor.

2. Mobility device (1) according to claim 1, characterized in that at least one first adjustment device (206) is provided, by means of which different support levels can be manually specified by a user.

3. Mobility device (1) according to claim 1 or 2, characterized in that at least one thumb throttle actuation device (207) is provided, by the actuation of which the assistance force control of the mobility device (1) can be overridden, in particular the at least one thumb throttle actuation device (207) can be provided or is provided with at least one actuation blocking device (208) to prevent unintentional actuation of the at least one thumb throttle actuation device (207).

4. Mobility device (1) according to one of the preceding claims, characterized in that the at least one acceleration sensor or at least one acceleration sensor is a 3-axis acceleration sensor for determining an acceleration in lateral, translational and rotational directions.

5. Mobility device (1) according to one of the preceding claims, characterized in that at least one hand recognition sensor (203, 205) is provided, by means of which it can be detected whether the hands of a user are engaging the gripping elements (2, 3).

6. Mobility device (1) according to one of the preceding claims, characterized in that in the area of ​​the handle elements (2, 3) of the mobility device (1) and / or in the area of ​​the wheel suspension of at least one wheel (20, 21, 22, 23) of the mobility device (1) at least one second force sensor is arranged to detect the normal force when driving on an inclined plane, in particular the at least one second force sensor is designed in the form of a bending beam.

7. Mobility device (1) according to one of the preceding claims, characterized in that the mobility device (1) is a medical device, in particular a walker, wheelchair or bed, a means of transport, in particular a shopping trolley or suitcase, or a means of conveyance, in particular a stroller or electric vehicle.

8. A method for operating a mobility device (1) provided with drivable or driven rollers or wheels (20, 21, 22, 23), wherein at least one drive device (24), in particular an electric drive device, is provided for driving the rollers or wheels (20, 21, 22, 23), characterized in that a basic support force (F) for moving the mobility device (1) is generated and regulated, wherein at least the driving and / or gradient resistance (W) caused by the weight of the mobility device (1) is compensated, wherein for the compensation the position and weight of the mobility device (1) are detected by at least one inclination sensor (4) and / or acceleration sensor and at least one first force sensor and the control of the at least one drive device (24) for driving the rollers or wheels (20, 21, 22, 23) is changed depending on the detected position and the detected weight.

9. Method according to claim 8, characterized in that Motor current and / or torque can be changed to compensate for the position and weight of the mobility device (1).

10. Method according to claim 8 or 9, characterized in that the control of the basic assistance force (F) for moving and / or braking the mobility device (1) is overridden by at least one manually operable input device (206, 207) for entering an assistance request.

11. Method according to one of claims 8 to 10, characterized in that a part of the driving resistance of the mobility device (1) is determined from the position or inclination of the mobility device (1) detected by the at least one inclination sensor (4).

12. Method according to one of claims 8 to 11, characterized in that when a gradient is detected by the at least one inclination sensor (4), a request for assistance from the user is queried, wherein a signal is transmitted to the at least one first input device in Designed as a support level setting device (206), the set support level is queried and, depending on this, the level of the braking force for braking the mobility device (1) is regulated or set and / or the maximum speed of the mobility device (1) is changed.

13. Method according to one of claims 8 to 12, characterized in that the manual actuation of at least one thumb throttle actuation device (207) is queried, wherein upon detection of an actuation of the at least one thumb throttle actuation device (207), the assisting force for moving the mobility device (1) is increased, wherein a speed control or a control of the torque of the at least one drive device (24) takes place.

14. Method according to one of claims 8 to 13, characterized in that at least one hand detection sensor (203, 205) detects whether gripping elements (2, 3) of the mobility device (1) are grasped by the hands of a user and, if the absence of a user's hands from the gripping elements (2, 3) is detected, the mobility device (1) is braked in order to prevent it from rolling away unintentionally, and if an incline is simultaneously detected by querying the at least one inclination sensor (4), the speed of the mobility device (1) is regulated to a very low value greater than zero.

15. Method according to one of claims 8 to 14, characterized in that when the at least one inclination sensor (4) detects that an inclined plane is being traveled, at least one second force sensor is queried to detect the normal force and the normal force is used as the basis for and / or compensated for the current control of the at least one drive device (24).

6. Method according to one of claims 8 to 15, characterized in that when an acceleration occurring within a short period of time is detected which is above average or above a determined or predeterminable average speed, a risk of falling is detected and a braking process is initiated.

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