Stroller

Abstract

The invention relates to a stroller comprising the following: at least one wheel, preferably three or four wheels; a drive device, in particular a motor, preferably an electric motor, which is designed to drive the at least one wheel; and an actuation device designed to be adjustable, wherein the drive device is controlled on the basis of the position of the actuation device, wherein a position of the actuation device and a requested drive power are non-linearly related, in particular at least for part of an adjustment range of the actuation device.

Description

[0001] stroller

[0002] Description

[0003] STATE OF THE ART

[0004] Strollers have been around for a long time in a variety of designs. Strollers with motors as an auxiliary drive are also known in principle, for example, from DE 1817722 U. EP 2332806 A2 describes a multi-seat stroller with a wheel hub motor as an auxiliary drive, with speed being controlled via a thumb throttle with linear speed control. The problem with these solutions is that there is a risk that the stroller could tip backward during rapid or abrupt acceleration, especially if the motor is not intended as an auxiliary drive but also as the sole drive. This is particularly likely if the stroller's center of gravity is above the wheels and if the motor is located behind the center of gravity.

[0005] TASK

[0006] It is an object of this invention to reduce the aforementioned risk. Another object of the invention is to propose a versatile, cost-effective, and safe stroller.

[0007] SOLUTION

[0008] The object is achieved by the subject matter according to one of the independent claims. In particular, the object is achieved by a stroller having at least one wheel, preferably three or four wheels, a drive device, in particular a motor, preferably an electric motor, a control device, and an actuating device. The motor is configured to drive the at least one wheel, and the actuating device is adjustable. The stroller, in particular its control device, is preferably configured to detect a position of the actuating device and a current value of a driving parameter. The control device is configured to control the drive device, wherein the control of the drive device is based on a position of the actuating device and a current value of the driving parameter.The drive device preferably comprises at least one or exactly one electric motor.

[0009] By additionally recording a driving parameter, it is possible to prevent (or at least reduce the risk of) the stroller from entering an unsafe (particularly one prone to tipping) driving situation. The driving parameter is indicative of the current state of the stroller, in particular of the drive mechanism and / or of at least one wheel. The solution according to the invention enables the drive to be controlled not solely based on user input, thereby significantly reducing the risk of incorrect operation.

[0010] In embodiments, the control device is designed to determine a requested drive power (i.e. a requested power of the drive device), preferably a motor power, based on the position of the actuating device, wherein the position of the actuating device and the requested drive power (motor power) are not linearly related, at least in some areas. For example, the requested drive power (motor power) can increase faster than linearly, e.g. polynomially, e.g. at least quadratically or at least cubically. If, for example, the actuating device is rotatable and can assume positions, e.g. between 0° (initial position) and 90° (maximum position), the requested drive power can more than double if the angle is doubled.

[0011] The non-linear relationship preferably applies to at least 10%, preferably at least 50%, possibly at least 95% of a maximum adjustment range, in particular adjustment angle range and / or to an adjustment range adjacent to the initial position, in particular the initial angle.

[0012] An adjustment range is understood in particular to mean the number of deflections that the actuating device can perform upon corresponding actuation. The adjustment can include both a displacement and a rotation. In one embodiment, the actuating device can be designed as a touch input device, wherein a position of the touch input device can correspond to a position on the touch input device.

[0013] A non-linear relationship between the position of the actuating device and the required drive power can enable greater operating safety and better handling in some operating areas.

[0014] For example, the relationship between the position of the actuating device and the required drive power can, at least under certain conditions, increase faster than linearly in order to achieve rapid acceleration of the stroller to the desired speed without the user having to move the actuating device over long distances.

[0015] Additionally or alternatively, it is conceivable that the relationship between the position of the actuating device and the required drive power increases more slowly than linearly, preferably in a limit range around the zero position, in order to avoid too jerky a start and thus a risk of tipping and disturbance to the child being transported.

[0016] The non-linear relationship between the actuating device and the required drive power allows for a wider range of drive power to be provided in practice than would be possible with a linear relationship, since ergonomic factors limit the user's movement interval in which to operate the actuating device. Non-linear relationships allow for larger ranges of drive power to be meaningfully mapped to this movement interval.

[0017] The object is also achieved in particular by a stroller having at least one wheel, preferably three or four wheels, a drive device, in particular a motor, preferably an electric motor, and an actuating device. The drive device is configured to drive the at least one wheel, and the actuating device is adjustable, wherein the drive device is controlled based on the position of the actuating device. In this case, a position of the actuating device and a requested drive power are not linearly related (at least in some areas). In embodiments, the stroller has a control device configured to detect the position of the actuating device and to control the drive device.The control device can be configured to determine and / or detect and / or receive a current value of a driving parameter and to control the drive device based on the position of the actuating device and the current value of the driving parameter. Alternatively or additionally, the stroller can also have a sensor that directly or indirectly detects a value of the driving parameter. For example, the control device can calculate the speed of the stroller from a motor speed, a gear ratio, and a wheel diameter.

[0018] Alternatively or additionally, the stroller includes a speed sensor for detecting the stroller's speed. This can be a sensor that measures the number of revolutions of the at least one wheel per unit of time. The speed of the stroller can thus be determined via the circumference of the at least one wheel and preferably transmitted to the control device.

[0019] The term “stroller” refers to all types of strollers, such as classic strollers, sports strollers, joggers and buggies or similar vehicles that are used to transport babies and small children by pushing them.

[0020] In some embodiments, the stroller has a child restraint and / or can be detachably connected to such a restraint, and / or the stroller comprises at least one push bar, in particular with a handle area. The child restraint can be, for example, a child seat, a carrycot, an infant carrier, or the like. The push bar preferably has a right and a left side strut, wherein the handle area can be located between the two side struts.

[0021] In embodiments, the stroller comprises a lower frame, wherein the at least one wheel can be arranged on a lower portion of the lower frame, preferably in a rear region of the lower portion.

[0022] The stroller can be configured such that the child restraint device and / or a first adapter for connecting to a child restraint device is arranged in an upper section of the lower frame or on the push bar. The push bar can be arranged in the upper section of the lower frame. The first adapter can comprise a right-side and a left-side adapter element, wherein each of the adapter elements can preferably have a coupling section, in particular one facing upwards.

[0023] In some embodiments, the drive device is arranged in or, in particular, close to the at least one wheel, wherein the drive device can be connected to the at least one wheel, in particular via a drive belt. The drive device can preferably be arranged in the lower region of the lower frame. The at least one wheel preferably comprises a right rear wheel and a left rear wheel, between which the drive device can preferably be arranged.

[0024] By arranging the drive unit in or, preferably, close to the wheel, a more compact and easier-to-store stroller can be created. Furthermore, this proximity eliminates the need to transmit drive power over long distances, increasing reliability. "Close" refers in particular to distances (between the closest sections of the drive unit and the wheel) of less than 20 cm, preferably less than 10 cm, more preferably less than 5 cm and / or more than 0.5 cm.

[0025] The drive device is preferably an electric motor, which can be designed, for example, as a hub motor. However, the drive device can also be arranged such that its axis of rotation is not identical to the wheel axis of the at least one wheel, in which case the drive device is connected to the at least one wheel via the drive belt, preferably such that the rotational frequency of the drive device is higher than the rotational frequency of the at least one wheel.

[0026] In some embodiments, the actuating device is a manual actuating device, preferably comprising a lever, a slider, and / or a rotary element. The actuating device can be connected electrically and / or wirelessly to the drive device. In further preferred embodiments, the actuating device is discretely adjustable, preferably in at least three, in particular at least five, steps. Alternatively or additionally, the actuating device is preferably continuously adjustable.

[0027] By designing the actuating device as a lever, slider and / or rotating element, the user-friendliness and, in particular, the ergonomics of the actuating device are increased, particularly when the actuation of the actuating device can be easily combined with pushing the stroller. In certain embodiments, the actuating device is arranged above the drive device, in particular on the slider, preferably in its handle area. For example, the handle area of ​​the slider can comprise a rotatable section which can, for example, be annular or cylindrical, wherein the rotatable section is preferably rotatable about a longitudinal axis of the handle area. If the actuating device is designed as a lever, the lever can be rotatably mounted on the underside or the top side of the handle area in order to be operated by hand, in particular by the thumb and / or index finger.

[0028] In some embodiments, the stroller comprises an energy storage device, in particular a (rechargeable) battery, wherein the energy storage device is electrically connected to the drive device. The energy storage device (the rechargeable battery) is preferably designed to be removable in order to be able to be charged preferably independently of the other components of the stroller. The energy storage device can be provided in or on a wheel axle connecting the two rear wheels. The electrical and / or wireless connection between the actuating device and the drive device can be made via the control device; for example, the control device can be electrically or wirelessly connected to the drive device and electrically or wirelessly connected to the actuating device. The control device is preferably arranged (directly) adjacent to the drive device or to the actuating device.

[0029] In some embodiments, the stroller comprises a front wheel frame section and a rear wheel frame section, wherein preferably the at least one wheel is a rear wheel and is arranged at a lower and / or rear end of the rear wheel frame section. Preferably, at least one front wheel is arranged at a front and / or lower end of the front wheel section; alternatively or additionally, the front wheel frame section and the rear wheel frame section can be components of the lower frame or form the lower frame. Preferably, the front wheel frame section and the rear wheel frame section are rotatably connected to one another via a first joint. Alternatively or additionally, the pusher can be rotatably connected to at least one of the front wheel frame section and the rear wheel frame section via a second joint, or the pusher can be slidably connected to the front wheel frame section.The first and second joints can also be identical to each other, so that the front wheel frame section, rear wheel frame section and slider are connected to each other in a common joint.

[0030] Specifically, the front wheel frame section may comprise a right and a left side segment, which may be connected to one another by one or more transverse segments. The rear wheel frame section may also comprise a right and a left side segment, which may also be connected to one another by one or more transverse segments. The first and / or second joint may comprise a right and a left joint section, which may be connected to one another via a transverse segment.

[0031] In some embodiments, the stroller has a second adapter for connecting to a child restraint system. The second adapter is preferably arranged below and / or in front of the first adapter, in particular near the at least one front wheel and / or in a lower / front region of the front wheel frame. The second adapter can comprise a right-side and a left-side adapter element, each of which can preferably have a coupling section.

[0032] In some embodiments, the first adapter is adjustable between an upper and / or rear position and a lower and / or front position. For this purpose, the first adapter can be slidably mounted on the side struts of the slider. Alternatively or additionally, the second adapter can be transferable between a use position and a stowed position, wherein the coupling section preferably points upwards in the use position. The transfer of the second adapter between the use position and the stowed position can be effected by rotating, folding and / or sliding, preferably in such a way that the second adapter projects further upwards in the use position than in the stowed position. The transfer can be effected for the second adapter as a whole or separately for each of the two adapter elements.

[0033] In embodiments, the actuating device has a zero position, wherein the actuating device is preferably designed to be pre-tensioned towards the zero position, for example by means of a spring (in particular a tension spring or a torsion spring) or by means of a magnet, e.g. a permanent magnet.

[0034] The zero position corresponds in particular to the position of the actuating device in which no signal for driving and / or braking the stroller by the drive device is sent from the actuating device, even during operation.

[0035] The preload towards the zero position increases the ease of use of the stroller. It also increases safety because it prevents the stroller from accelerating further, either spontaneously or unintentionally. Starting from the zero position, the actuating device can be movable in a first direction that corresponds to a requested drive power for driving the stroller forwards. Starting from the zero position, the actuating device can be movable in a second direction that corresponds to a requested drive power for driving the stroller backwards. The actuating element can comprise a first stop that corresponds to a maximum position of the actuating device in the first direction, and the actuating element can comprise a second stop that corresponds to the zero position or a maximum position of the actuating device in the second direction.The zero position can correspond to the starting position and the maximum position can correspond to the maximum position.

[0036] In some embodiments, the driving parameter is the speed of the stroller and / or a drive power. Drive power refers to the drive power at a specific point in time, in particular at a particular time (as opposed to, for example, the maximum possible power of the drive device). The driving parameter can also comprise several individual parameters. The driving parameter can be, for example, a motor speed, a gear ratio, a temperature, in particular a motor temperature, an angular velocity of at least one wheel, or a combination (e.g., a calculation or similar) of several such parameters.

[0037] In embodiments, the control device is designed to control the drive device in discrete periods, wherein each period is preferably at least one millisecond and / or at most 100 milliseconds, more preferably at least 3 milliseconds and / or at most 50 milliseconds, for example 10 or 15 or 20 milliseconds. For this purpose, the position of the actuating device and, if applicable, the driving parameters can be determined at period n and used as the basis for calculating the drive power at period n + 1 (where period n + 1 should be the period directly following period n).

[0038] A clocked control system allows discrete commands to be sent to the drive unit. The clock time is preferably selected to allow for sufficiently dynamic adjustment of the driving state without placing excessive demands on the hardware used.

[0039] In some embodiments, an adjustment of the drive power per magazine is permitted by a maximum of a predefined value. The predefined value preferably depends dynamically on the position of the actuating device and / or the driving parameter, in particular on the speed and / or the drive power. Alternatively or additionally, the predefined value depends (at least) on a difference between the requested drive power and the (current) drive power. The predefined value can be specified as a proportion of the maximum drive power.

[0040] Dynamic means, in particular, that the predefined value does not necessarily have to be the same for every starting position. This ensures that the drive power can be adjusted with sufficient flexibility, while avoiding unwanted peaks in acceleration or deceleration. In particular, limiting the extent of the adjustment prevents the stroller from responding too abruptly.

[0041] Specifically, the predefined value can depend on (MP_r - MP_c) / MP_c, where MP_r denotes the requested drive power (motor power) and MP_c denotes the drive power (motor power). If the drive power (motor power) is zero, it can be set to a small value for calculation purposes, e.g., one percent of the maximum drive power (motor power). Drive power refers specifically to the actual or determined drive power at the time of determination.

[0042] In embodiments, the predefined value depends on the speed of the stroller if the speed is within a first interval, wherein the first interval preferably lies between 0 and a (predetermined, e.g., stored in the control device) limit speed. Preferably, the predefined value does not depend on the speed if the speed is not within the first interval. The limit speed is preferably less than 2 km / h and / or greater than 0.1 km / h, in particular less than 1 km / h and / or greater than 0.5 km / h.

[0043] This makes it easy to influence the acceleration behavior of the stroller for different speed ranges.

[0044] Specifically, a control curve can be provided that describes the dependence of the predefined value on the speed. If the speed of the stroller is plotted on the x-axis and the predefined value is plotted on the y-axis, the control curve preferably increases faster than linearly. Preferably, the control curve is continuous (in the mathematical sense) in the first interval. In embodiments, the predefined value depends on the difference between the requested drive power and the drive power if the speed lies within a second interval, wherein the second interval preferably lies between 0 and a maximum speed or between the limit speed and the maximum speed. Preferably, the predefined value does not depend on the difference if the speed is not within the second interval.

[0045] The maximum speed is the maximum speed at which the stroller can and / or should travel. In particular, the maximum speed can correspond to the speed the stroller reaches on level ground at maximum drive power (especially without additional external pushing force from the user). However, the maximum speed can also correspond to a predefined speed (e.g., stored in the control unit).

[0046] Specifically, a control curve can be provided that describes the dependence of the predefined value on the difference. If (MP_r - MP_c) / MP_c is plotted on the x-axis and the predefined value is plotted on the y-axis, the control curve preferably increases linearly. Preferably, the control curve is continuous (in the mathematical sense) in the second interval, more preferably Lipschitz-continuous, with a specified Lipschitz constant.

[0047] In some designs, the predefined value can be a maximum of 4 percent of the maximum drive power (motor power) per 100 milliseconds. For a period of 20 milliseconds, this results in a maximum drive power adjustment of 0.8 percent of the maximum drive power; for a period of 10 milliseconds, this results in a corresponding 0.4 percent per period. However, in specific situations, the predefined value can also be significantly lower, for example, at low speeds or when the requested drive power deviates only slightly from the drive power.

[0048] In some embodiments, the control of the stroller's forward drive is different from the control of the stroller's rearward drive. For example, the control of the stroller's forward drive can be non-linear, but the control of the stroller's rearward drive can not be non-linear, or both directions can be non-linear but using different parameters or values, in particular using different control curves. In some embodiments, the drive power (motor power) is reduced—in particular by means of the control device—in particular to 0, when the stroller's speed reaches or exceeds the maximum speed.

[0049] This ensures that even if the stroller is operated incorrectly, it won't accelerate to unsafe speeds that could cause the user to lose control. This is particularly useful on sloping terrain, where the maximum drive power could result in a speed exceeding the maximum speed.

[0050] In some embodiments, each position of the actuating device corresponds to a constant value for the requested drive power, where "constant" means that the value is the same in every driving situation. The relationship between the position of the actuating device and the requested drive power can be linear, but a (at least partially) non-linear relationship (e.g., superlinear, e.g., polynomial, exponential, and / or logarithmic) can also be provided.

[0051] In an alternative embodiment, a holding position of the actuating device can be provided that lies between the zero position and the maximum position. When the actuating device is in the holding position, the current drive power is neither reduced nor increased. If the actuating device is deflected from the holding position in a first or second direction, the drive power is increased or reduced at a rate proportional to the deflection, whereby the requested drive power can be limited to the maximum drive power.

[0052] Furthermore, it may be provided that, starting from the zero position, the stop position must first be reached or exceeded in order to achieve a drive power other than zero. In such embodiments, it may be preferable for the actuating device to be preloaded toward the stop position.

[0053] The object is also achieved in particular by a method for controlling a drive device of a stroller, in particular a motor, preferably an electric motor. The method comprises determining a requested drive power based on a current position of an actuating device, detecting a current value of a driving parameter, and controlling the drive device based on the requested drive power and the current value of the driving parameter. The object is also achieved in particular by a method for controlling a drive device of a stroller.The method comprises determining a requested drive power based on a current position of an actuating device, and controlling the drive device based on the requested drive power, wherein the current position of the actuating device and the requested drive power are not linearly related (at least in some areas).

[0054] The object is further achieved in particular by a computer-readable storage medium which contains instructions which cause at least one processor to implement a method as described above when the instructions are executed by the at least one processor.

[0055] All described methods can be designed as computer-implemented methods.

[0056] Further embodiments and in particular the attached figures 1-12 are explained below.

[0057] Figure 1 shows an embodiment of a stroller 100 with a push bar 120, a front wheel frame section 130, and a rear wheel frame section 140. The push bar 120 has right and left side struts 121 and a handle area 122 designed as a transverse segment. Rails 102 are provided on the inside of each of the side struts 121, on which first adapters 170 are slidably arranged. The first adapters are located in a lower position in the figure. The actuating device is not visible in this figure.

[0058] The front wheel frame section 130 has right and left side segments 131 and a transverse segment 132. Second adapters 180 are provided on the inner side of the side segments 131 of the front wheel frame section 130. Two front wheels 191 are arranged at the front, lower end of the front wheel frame section 130, while an upper, rear end of the front wheel frame section is rotatably connected to a lower, front end of the slider via a first joint 150. The rear wheel frame section 140 has right and left side segments 141 and a transverse segment 142 and is rotatably connected to the front wheel frame section 130 at its front, upper end via a second joint 160. Rear wheels 192 are arranged at a lower, rear end of the rear wheel frame section, each of the rear wheels 192 being driven by a motor (drive device; not visible in the figure).Figure 2 shows an embodiment of a stroller 100 with a push bar, a front wheel frame section 130, and a rear wheel frame section 140. The push bar has right and left side struts 121 and a handle area 122 and is slidably connected to the front wheel frame section 130. The actuating device is not visible in this figure. The front wheel frame section 130 has right and left side segments and a transverse segment.

[0059] Two front wheels 191 are arranged at a front, lower end of the front wheel frame section 130. The rear wheel frame section 140 also has side segments and a transverse segment, with an energy storage device 220 configured as a battery being arranged beneath the transverse segment of the rear wheel frame section 140.

[0060] The rear wheel frame section 140 is rotatably connected at its front, upper end to the rear, upper end of the front wheel frame section 130 via the first joint 170, while two rear wheels 192 are arranged at the rear, lower end of the rear wheel frame section 140. Each of the rear wheels is designed as a wheel 190 driven by a motor 210, with a motor 210 arranged on the inside of each wheel 190 to drive the wheel 190 via a belt (not shown).

[0061] Figure 3 shows the pusher 120 of a stroller 100 according to the invention, in particular its handle area 122, on the underside of which an actuating element 230 is arranged. As can be seen in Figure 4, which shows the actuating element 230 and the handle area 122 from below, the actuating element 230 is mounted with a fastening section 234 pivotable about a rotation axis 233. Starting from the fastening section 234, a first actuating section 231 extends rearward (top in the figure) and a second actuating section 232 extends forward (bottom in the figure).

[0062] It may be provided that a user operates the first actuating section 231 with his thumb and the second actuating section 232 with his index finger.

[0063] Figure 5 shows one of the wheels 190 (a rear wheel 192) with its associated motor. The housing cover has been removed, revealing that a rotational axis of the motor 210 is spaced from the rotational axis of the wheel 190. In the embodiment shown, the energy storage device 220, again designed as a battery, is arranged between the rear wheels 192, specifically slightly above the rear wheels 192. Figure 6 schematically shows an exemplary configuration of a stroller 100 according to the invention. A control device 240 can comprise a storage device with at least one control cam 241. The control device 240 can be connected electrically or wirelessly to an actuating device 230, a motor 210, and a sensor 250. The motor can be electrically connected to an energy storage device 220. The control device 240 may be configured to receive data from the sensor 250 and / or from the actuator 230 and / or from the motor.

[0064] It can be provided that the control device uses the received data to determine a requested engine power (generally: requested drive power) and / or a new engine power (generally: drive power) by means of the at least one control curve, wherein it can be provided to control the engine to the new engine power (drive power). In particular, the method described above can run step by step, so that the received data, for example an engine power (drive power), a speed and / or a position of the actuating device, are related to a value n and can be used, for example, to calculate a drive power or engine power (new engine power) related to the value n + 1. However, embodiments according to the invention, for example without sensor 250, are also conceivable.

[0065] Figures 7 and 8 schematically show a handle area 122 of a slide in cross-section, wherein an actuating device 230 encloses the handle area 122 in the illustrated section and is rotatably mounted around the handle area 122 (about an axis perpendicular to the image plane). The actuating device 230 has a stop element, one side of which forms a first stop 235. Another side, in particular a side opposite the first stop, forms a second stop 236. The handle area 122 forms two projections that can interact with the first stop 235 and the second stop 236 to limit the rotation of the actuating device 230 about the handle area 122. In the present case, the rotation is limited to an angular range of 90°, wherein Figure 7 shows a zero position of the actuating device, so that the position of the actuating device encloses an angle of 0° with the zero position.Figure 8 shows the actuating device 230 in its maximum position, so that the position of the actuating device forms an angle of 90° with the zero position.

[0066] In general, a position parameter P can be used to specify the percentage of the maximum movement that the actuating element can travel from the zero position to the maximum position. The position parameter P can therefore assume values ​​between 0 and 1. In the above example of Figures 7 and 8, P = 0 for Figure 7 and P = 1 for Figure 8. Accordingly, an angle of 45° would result in P = 0.5, and an angle of 9° would result in P = 0.1. In other words, the position parameter P is intended to linearly parameterize the position of the actuating device. In some embodiments, the relationship between position parameter P and requested power can also be linear; in other embodiments, the relationship can be non-linear, in particular superlinear (so that doubling the value of the position parameter leads to more than a doubling of the requested power).

[0067] Figure 9 shows an example of a non-linear relationship; specifically, the requested power can depend polynomially (e.g. quadratically and / or cubically, possibly additionally with a linear part) on P near P = 0 and can change into a linear part with increasing P.

[0068] As described, the position of the actuating element can also be related to the requested motor power (drive power) in such a way that the requested motor power (drive power) is calculated as a proportion of the (current) motor power (drive power). For example, a specific position of the actuating device can correspond to an increase in motor power (drive power) by 10% of the motor power (drive power), so that with a motor power (drive power) of 40% of the maximum motor power (drive power), the requested motor power (drive power) is 44%, but with a motor power (drive power) of 75%, the requested motor power (drive power) is 82.5%.

[0069] Figure 10 shows an example of such a relationship, where MP_ch denotes the change in the requested motor power (drive power). Here, too, the relationship between MP_ch and P can be linear, or, as shown in the figure, non-linear. In particular, the curve can be flatter near the stop position H.

[0070] Figure 11 shows an example of the dependence of the predefined value ch_max on the speed v of the stroller. The boundaries of the first interval are at v = 0 and v = vjim (limit speed). In this interval, ch_max can exhibit a polynomial dependence on P near v = 0 (e.g., quadratic and / or cubic, possibly also with a linear component) and transition to a linear dependence as v increases. When the speed reaches or exceeds the limit speed, ch_max can assume a constant value (and thus be independent of v). The predefined value is specified as a percentage of the maximum motor power (drive power) per 10 milliseconds and is set here, for example, so that ch_max at vjim is 0.5% / 10 ms, meaning that the motor power (drive power) can be increased by up to 0.5% of the maximum motor power (drive power) every 10 milliseconds.

[0071] Figure 12 shows an example of a dependency of the predefined value ch_max on a value determined from the requested engine power (drive power) and the engine power (drive power) (specifically, (MP_r - MP_c) / MP_c). In this case, the relationship is shown linearly, but non-linear dependencies are also possible.

[0072] At this point, it should be noted that all parts described above, viewed individually and in any combination, particularly the details shown in the drawings, are claimed as essential to the invention. Modifications to these are familiar to those skilled in the art.

[0073] At this point, it should also be noted that all of the parts and features described above, each on its own – even without additional features described in the respective context, even if these have not been explicitly identified as optional features in the respective context, e.g. by using: in particular, preferably, for example, e.g., if necessary, round brackets, etc. – or in combination or any sub-combination, are to be regarded as independent embodiments or further developments of the invention, as defined in particular in the introduction to the description and the claims. Deviations from this are possible. Specifically, it should be noted that the words in particular or round brackets are intended to explicitly identify features that are not mandatory in the respective context.

[0074] Finally, it is pointed out that the present patent application (in the event of registration or grant: the present patent) aims to provide the broadest possible protection for the invention. Please bear this in mind when reading this document, especially with regard to (intermediate) generalizations of explicitly disclosed features or combinations of features.

[0075] Reference symbol list

[0076] 100 - Strollers

[0077] 101 - Parking brake

[0078] 102 - Rail

[0079] 120 - Slider

[0080] 121 - Side brace 122 - Handle area

[0081] 130 - Front wheel frame section

[0082] 131 - Side segment

[0083] 132 - Transverse segment

[0084] 140 - Rear wheel frame section

[0085] 141 - Side segment

[0086] 142 - Transverse segment

[0087] 150 - first joint

[0088] 160 - second joint

[0089] 170 - first adapter

[0090] 180 - second adapter

[0091] 190 - Wheel

[0092] 191 - Front wheel

[0093] 192 - Rear wheel

[0094] 210 - Engine

[0095] 220 - Energy storage

[0096] 230 - Actuating element

[0097] 231 - first operating section

[0098] 232 - second operating section

[0099] 233 - Axis of rotation

[0100] 234 - Fastening section

[0101] 235 - first attack

[0102] 236 - second attack

[0103] 240 - Control device

[0104] 241 - Control curve

[0105] 250 - Sensor

Claims

Claims 1. Stroller comprising: • at least one wheel, preferably three or four wheels, • a drive device, in particular a motor, preferably an electric motor, which is designed to drive the at least one wheel and • an adjustable actuating device, wherein the control of the drive device is based on the position of the actuating device, wherein a position of the actuating device and a requested drive power are not linearly related, in particular at least for part of an adjustment range of the actuating device.

2. Stroller according to claim 1, wherein the stroller has a control device which is configured to detect the position of the actuating device and to control the drive device.

3. Stroller according to claim 2, wherein the control device is further configured to detect and / or receive a current value of a driving parameter and to control the drive device based on the position of the actuating device and the current value of the driving parameter.

4. Stroller according to one of the preceding claims, wherein the drive device is arranged in or, preferably close to, the at least one wheel, in particular is connected to the at least one wheel via a drive belt, wherein the drive device is preferably arranged in the lower region of a lower frame of the stroller and / or wherein the at least one wheel is arranged on a section, in particular a lower section, of the frame and a right rear wheel and a left Rear wheel, between which the drive device is preferably arranged.

5. Stroller according to one of the preceding claims, wherein the actuating device is a manual actuating device and preferably comprises a lever, a slider and / or a rotary element, and / or wherein the actuating device is electrically and / or wirelessly connected to the drive device and / or the control device, and / or wherein the actuating device is designed to be discrete, preferably in at least 3, in particular at least 5, steps, and / or continuously adjustable.

6. Stroller according to one of the preceding claims, wherein the actuating device has a zero position, wherein the actuating device is preferably designed to be pretensioned towards the zero position and / or wherein the actuating device is movable from the zero position in a first direction which corresponds to a requested drive power for driving the stroller forwards, and / or wherein the actuating device is movable from the zero position in a second direction which corresponds to a requested drive power for driving the stroller backwards.

7. Stroller according to one of the preceding claims, wherein the driving parameter indicates the speed of the stroller and / or a drive power, wherein the stroller preferably comprises a speed sensor for detecting the speed of the stroller.

8. Stroller according to one of the preceding claims, wherein the control device is designed to control the drive device in discrete periods, wherein a period is preferably at least one millisecond and / or at most 100 milliseconds.

9. Stroller according to claim 8, wherein the drive power per magazine can be changed by a maximum of a predefined value, wherein the predefined value preferably depends dynamically on the position of the actuating device and / or on the driving parameter according to one of claims 3 to 8, in particular on the speed and / or on the motor power according to claim 7.

10. Stroller according to claim 9, wherein the predefined value depends on a difference between the requested drive power and the, in particular current, drive power.

11. Stroller according to one of the preceding claims, wherein the predefined value depends on the speed according to claim 7 when the speed is within a first interval, wherein the first interval is preferably between 0 and a limit speed and / or maximum speed, and wherein the predefined value does not depend on the speed when the speed is not within the first interval.

12. Stroller according to one of the preceding claims, wherein the drive power is reduced, wherein in particular the control device is designed to reduce the drive power, in particular to 0, when the speed of the stroller has reached or exceeded the maximum speed.

13. A method for controlling a motor of a child's agent, the method comprising - a requested engine power is determined based on a current position of an actuating device, - a current value of a driving parameter is recorded, - the engine is controlled based on the requested engine power and the current value of the driving parameter.

14. A method, in particular a computer-implemented method, for controlling a drive device of a stroller, the method comprising: - a requested drive power is determined based on a current position of an actuating device, - the drive device is controlled based on the requested drive power, whereby the current position of the actuating device and the requested drive power are not linearly related.

15. A computer-readable storage medium containing instructions that cause at least one processor to implement a method according to claim 13 or 14 when the instructions are executed by the at least one processor.

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