EP3999400A1

EP3999400A1 - Pram

Info

Publication number: EP3999400A1
Application number: EP20744002.5A
Authority: EP
Inventors: Jiri Hejduk
Original assignee: Cybex GmbH
Current assignee: Cybex GmbH
Priority date: 2019-07-16
Filing date: 2020-07-16
Publication date: 2022-05-25
Also published as: JP2022541205A; WO2021009286A1; KR20220032105A; US20220274638A1; CN114302841A

Abstract

The invention relates to a pram or pram frame (10), comprising: a pusher bar (11) for pushing the pram or pram frame (10); and at least one force sensor device, in particular for detecting a direction and/or a magnitude of a force and/or a force component acting on the pusher bar (11) and/or for detecting a variable derived from said force or force component, in particular a change in the force or force component over time, wherein the at least one force sensor device is designed to measure a force (component) and/or a variable derived therefrom at least over a vast majority, preferably over at least 80% or over at least 90%, of a horizontal section (101) of the pusher bar (11), and/or is designed to measure a force (component) and/or a variable derived therefrom in at least one, in particular curved and/or arcuate, transition section (103) of the pusher bar (11) between a/the horizontal section (101) of the pusher bar (11) and a connecting section (102) of the pusher bar (11).

Description

stroller

description

The invention relates to a stroller frame and a corresponding one

Strollers, in particular with motor assistance.

Motorized strollers are known in principle. These can be like that

be configured so that they can only be moved by motor power. Furthermore, it is known in principle to equip strollers with motor assistance, which assists the driving force of a person operating the stroller, but does not provide any assistance if the operator does not exert any force.

The object of the invention is to propose a simple, inexpensive and robust, in particular motorized, stroller frame and a corresponding stroller that allow the person operating the stroller to control the stroller in a simple, comfortable and precise manner.

This task is particularly carried out by a stroller or a

Stroller frame or a corresponding method according to one of the

attached claims (each individually or in combination) solved. Further, possibly also independent aspects of the invention can be found in the following description

The invention comprises a sensor unit arranged in a grip area of a slide for determining an external force acting on the slide.

According to the invention, it can optionally be determined whether or not a person encompasses the grip area of the slide. However, forces (or a parameter associated therewith) are preferably measured, on the basis of which an intervention of an assisting drive for the wheels of the stroller can be controlled.

A non-capacitive measurement method is preferred because people who

For example, wear gloves due to the weather, which are difficult to detect by capacitive sensors.

The slide is preferably provided with a sensor system which enables a force (or a related parameter or a parameter derived therefrom) to be determined with which the stroller is pushed or pulled, in particular using the smallest possible number of sensors .

The sensor system is preferably integrated into the slide of the stroller in such a way that the slide covers a predominant part of the width or the entire width of the slide and / or in a transition area between (approximately) horizontal sections and (possibly in the direction of a main body of the

Stroller (frame) s running) connecting sections of the slide (especially at corners and / or curves of the slide) is designed to be sensitive.

It is also an object of the invention to provide a simple, safe, precise and / or inexpensive alternative to those known from the prior art

Propose solutions.

The invention relates in particular to a stroller or a frame of a stroller, preferably having one or more wheels (preferably three or four wheels), a slide with at least one grip area and at least one sensor device. The stroller or the frame can also each have one or more front wheel struts, rear wheel struts and / or a child receiving device or adapter for attaching a

Have child reception facility. The stroller or the frame can also have a motor and possibly a control device for the motor.

Further configurations are possible.

The slide can have one or more approximately horizontal sections (hereinafter: horizontal sections), with an angle between

Horizontal section and the horizontal can be smaller than 30 °, preferably smaller than 15 °, in particular also smaller than 5 ° or exactly 0 °. The slide can furthermore have one or more sections (each) running in (at least approximately) vertical planes for connection to further frame elements (hereinafter: connecting sections).

The slide can be circumferential, e.g. in the form of an (upturned) U, with a horizontal section and two (at least approximately) parallel, lateral connecting sections, the grip area (possibly the grip areas) being at least partially in the horizontal section. Alternatively, the slide can also be in two parts, namely in the form of two (at least approximately) walking stick and / or crutch-shaped elements, the handle areas of the slide in the upper, curved (the

Horizontal sections comprising) areas of the elements lie. Further designs, for example with only one central connecting section, are possible. If in the following a (at least approximately) U-shaped slide is assumed, a transfer to other slide shapes is possible and should be included, unless otherwise stated. Statements about the grip area should also be understood to refer to any grip area that may be present.

An independent or further developing aspect of the invention is that forces acting on the slide from outside are measured or determined directly (directly) in the grip area of the slide (i.e. not in / on a connecting section, for example). The slide is preferably designed in several parts in the grip area.

In particular, the slide has a (in particular dimensionally stable) base part, at least one sensor unit (preferably two sensor units) and at least one (in particular dimensionally stable) sheathing part that at least partially encloses the base part and the sensor unit in the grip area of the slide.

According to the embodiment, there is a between the base part and the casing part

An intermediate space is provided which enables the sheathing part to move (at least minimally) relative to the base part under the action of external force. Without any external force, the base and

Preferably do not touch the sheathing part directly (but this is possible, for example if flexible sections are present).

According to the embodiment, the sensor unit is on the base part and on the

Sheathing part (force-conducting and / or rigid) attached, the sensor unit preferably being arranged between the base part and the sheathing part.

The sensor unit preferably comprises at least one force sensor, such as, for example, a strain gauge, which makes it possible to determine the amount of force along at least one sensitive axis that is applied to the casing part by a user.

Preferably, the via the sensor unit (or are those via the

Sensor units) the connection (s) formed is the only (force-transmitting) connection between the base part and the casing part, so that any external force acting on the casing part is transmitted to the base part via the sensor unit (if it does not work directly, e.g. in the casing part performed, such as deformation work).

It is conceivable that the base part and the sheathing part are surrounded by a covering, for example made of leather or textile. However, such a coating will not transfer forces between the two parts or only transfer them to a comparatively small extent and is the preferred embodiment apart from the

Sensor unit not provide a (force-transmitting) connection, therefore not necessarily contrary. Pushing or pulling the stroller in a grip area of the slider preferably leads to the base part and the sheathing part being (minimally) shifted relative to one another. By moving both parts, there is preferably a change in an electrical parameter (for example a change in voltage and / or resistance, depending on the sensor design) in the sensor unit. The change in the electrical parameter can be transmitted to a / the by means of a transmission device (for example, by cable or by radio)

Control unit are transmitted, whereby, depending on the displacement and applied force, an engine power can be determined that is used to support the wheels of the stroller. The stroller can therefore be supported by an auxiliary drive depending on the external force.

The grip area of the slide should preferably be predominantly (over to

at least 50% or at least 80% of its extension, in particular in a longitudinal direction), possibly everywhere, be sensitive to external forces acting on the slide.

In addition to the (or more) horizontal section (s), a transition area between horizontal section (s) and

Connection section (s) be designed to be sensitive. This is achieved by the basic part in the rounding areas by (possibly separate)

Rounding sheathing parts is at least partially surrounded.

The respective sheathing part, in particular a rounded sheathing part, can for example (inexpensively) be produced from plastic, possibly monolithically in each case, but preferably in two or more parts. In particular, it is conceivable that the respective sheathing part, in particular

Rounding sheathing part, (partially) manufactured by injection molding and / or with a 3D printer.

A (or the above) intermediate space can be provided between the rounded casing part and the base part, so that the

Can move the rounded sheathing part and the base part to each other when a user grips / embraces the stroller, for example in the rounded area of the slider and allows a pulling or pushing force to act on the slider of the stroller. The rounded casing part preferably has a first projection on a side facing the sensor unit which extends in the space between the base part and the casing part. One one

Movement (displacement) between the rounding casing part and the base part causing force is carried out according to the first

Transfer the projection of the rounded sheathing part (mechanically) to the sensor unit, so that the grip area of the slide in the rounded area is also sensitive.

The first projection of the rounded casing part is preferably part of the (possibly only) connection between the base part and the casing part, so that

A connection between the base part, the casing part, the rounded casing part and the sensor is provided (exclusively) via said first projection. The sensor unit can, however, be fastened to the base part at further points, in particular screwed to it.

The rounded sheathing part preferably has an edge region, in particular an edge, with which it is attached directly, preferably in a form-fitting manner, to the

Sheath part adjoins. In particular, the edge area can be third

Projections to interact with corresponding recesses in the

Have sheathing part.

In a specific embodiment, the respective sheathing part, in particular a rounded sheathing part, can have two shell halves which can be joined together in such a way that they can sheave the base part in a transition area between the horizontal and connecting section. The

The connection between the two shell halves can be made by material bonding (e.g. gluing) - but the connection should preferably be detachable and made by a latching, snap-in and / or screw mechanism. For this purpose, one of the two shell halves can have a second one protruding into the receiving space

Have projection through which the connection to the other shell half is made. The second projection can be a locking or

Have snap mechanism (wear) with a corresponding

Counterpart on the inside of the other shell can cooperate, and / or it can have an internal thread, which with a through a

corresponding opening provided in the other shell half Screw can interact. In any case, an opening (channel) can be provided in the base part which is (at least slightly) larger (in diameter) than the second projection in order to avoid an undesired connection between the rounded casing part and the base part.

In a preferred embodiment, two sensor units are integrated in the slide. The sensor units are adjacent to the ends of the

Horizontal section (at a distance of less than 5 cm or less than 3 cm or less than 1 cm), i.e. close to the connecting sections,

positioned.

At least one sensor unit is installed, preferably two

Sensor units (on the left and right side of the slider,

symmetrical) installed. The detection direction of the sensor unit can be inclined forward and downward with respect to the horizontal by an inclination angle of 0 ° to 45 °, preferably 3 ° to 20 °, e.g. (at least approx.) 8 °. An inclination of the sensor unit can also be directed upwards or downwards

Force components are recorded so that if necessary (e.g. if the front wheels are lifted by a force acting downwards on the slider), an assist drive by the motor cannot be permitted.

With the specific dimensioning of the sheathing part or

Rounding cladding part is a (preferably constant) space between (dimensionally stable) base part and cladding part or

Rounding sheathing part provided of preferably 0.1 mm to 5 mm, more preferably 0.5 mm to 2 mm, e.g. about 1 mm.

The force threshold above which the auxiliary drive intervenes can be between 30N and 7N, in particular between 25N and 10N, preferably (at least approximately) 15N. The sampling rate of the sensor unit can be greater than 5 Hz, in particular greater than or equal to 10 Hz. The sampling rate can furthermore be less than 1 kHz or less than 100 Hz. There is preferably no hysteresis for the

Force threshold provided.

In addition to strain gauges, capacitive and / or inductive sensors can also be used to measure the displacements between the base part and the Sheathing part / s (and rounding sheathing part / s) to be detected by sensors. Several sections that can be displaced relative to one another would also be conceivable.

As an alternative to the described version with separate

Rounding sheathing parts can also have other divisions of the

(Sheathing part / s and / or rounding sheathing part / s comprising or consisting of such) sheathing may be provided. In particular, the entire sheath can consist of (at least) two parts, none of which represents a sheath on its own, but in which the

Sheathing only results from joining the (at least) two parts. In particular, two half-shells, e.g. an upper shell and a

Lower shell, or a front shell and a rear shell, may be provided. The other features (for example, for joining) result analogously to the explanations above.

The above-mentioned object is achieved according to aspect A in particular by a stroller or stroller frame, comprising a slider for pushing the stroller or stroller frame and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component that acts on the slide, and / or to detect a variable derived from this force or force component, in particular a change in the force or force over time.

Force component, wherein the at least one force sensor device is configured to apply a force (component) and / or a variable derived therefrom at least over a predominant part (preferably at least 80% or at least 90%) of a (in particular at least substantially horizontal, possibly . At an angle of less than / equal to 30 ° or less than / equal to 10 °) horizontal section of the slide, preferably directly, to be measured and / or configured, a force (component) and / or a variable derived therefrom in at least one, in particular curved and / or arched transition section of the slide between a / the horizontal section of the slide and a connecting section (in particular from top to bottom, preferably obliquely, and / or ending on a main body of the child's carriage (frame), possibly articulated) of the slide,

preferably to measure immediately. Alternatively or additionally, the above-mentioned object is achieved according to aspect B in particular by a stroller or stroller frame, in particular according to aspect A, comprising a slide for pushing the stroller or stroller frame and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component that acts on the slide, and / or for detecting a variable derived from this force or force component, in particular a change in the force or force over time.

Force component, wherein the at least one force sensor device extends at least over a predominant part (preferably at least 80% or at least 90%) of a (in particular at least essentially horizontally extending, possibly at an angle of less than / equal to 30 ° or less / equal to) 10 ° running) horizontal section of the slide, and / or at least in sections over at least one, in particular curved and / or arched, transition section of the slide between a / the horizontal section of the slide and a (in particular from top to bottom, preferably oblique, running and / or on a main body of the

Children's carriages, possibly articulated, ending)

Connecting portion of the slide, preferably directly, extends.

Alternatively or additionally, the above-mentioned object is achieved according to aspect C in particular by a stroller or stroller frame, in particular according to at least one of aspects A or B, comprising

a slider for pushing the stroller or stroller frame and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component that acts on the slider, and / or for detecting a force or . Force component derived variable, in particular a change in the force or force component over time, the force sensor device comprising:

a base part which is preferably designed to at least partially accommodate at least one sensor unit (sensor); such as

a sheathing part, which at least partially sheaths the base part and possibly the at least one sensor unit, preferably in a grip area of the slide, and optionally with the at least one

Sensor unit, in particular fixed, is connected; the sheathing part being movable with respect to the base part,

is in particular displaceable, with an intermediate space optionally being present between the base part and the casing part, and

wherein the at least one sensor unit is designed to detect a movement, in particular a displacement, between the casing part and the base part.

At least one motor, in particular an electric motor, is preferably used for

supporting drives of the stroller or stroller frame, provided.

At least one control device is preferably provided, which is preferably connected to the at least one force sensor device in

There is an operative connection, in particular such that an output of the at least one sensor device can be used to control the at least one motor.

The control device is preferably designed to control and / or regulate the output of the at least one motor, in particular as a function of the output of the at least one sensor device, for example in discrete steps and / or continuously. Alternatively or additionally, the

Control device is designed such that at least one motor is started when a first threshold of the force and / or force component and / or the variable derived therefrom is exceeded. Alternatively or additionally, the control device is designed such that at least one motor is stopped or kept at constant power when a second threshold of the force and / or force component and / or the variable derived therefrom is exceeded.

The sensor device preferably comprises at least two sensor units (sensors), which preferably each extend at least in sections over a connecting section and / or extend adjacent to opposite ends of the horizontal section and / or extend (beyond) these ends. Preferably, the sensor device comprises at least or exactly two relatively movable, in particular displaceable, (each one-piece or multi-piece) parts (a first and a second part or, according to the embodiment, the sheathing part and the base part) and at least one sensor unit (sensor) that detects the relative movement ( or relative displacement), in particular an amount of the relative movement (relative displacement).

Preferably, the first part (according to the embodiment, the sheathing part) and the second part (according to the embodiment, the base part) are in (at least substantially) radial direction and / or (at least substantially) in a direction which lies in a plane which starts from a forward direction ( when driving straight ahead) and one / the vertical is spanned, movable, in particular displaceable, to one another.

Preferably, the first part (according to the embodiment, the casing part) and / or the second part (according to the embodiment, the base part) is / are firmly connected to at least one sensor unit.

At least one sensor unit (the at least one sensor unit) is preferably configured, an electrical resistor or an electrical one

Change in resistance to (measure). Alternatively or additionally, at least one sensor unit (the at least one sensor unit) has at least one, possibly two, three, four or more strain gauges (which are preferably in

Horizontal section and / or transition section are arranged). Alternatively or additionally, at least one sensor unit (the at least one

Sensor unit) designed as a bending beam sensor, preferably a torque exerted on a measuring body on at least one, z. B. four, strain gauges, acts, for example one or two

Strain gauges are stretched and two strain gauges are compressed, with more preferably four strain gauges being constructed in a bridge circuit to detect changes in resistance from the

Measure strain gauges.

According to the embodiment, the base part has a straight section and at least one, in particular exactly one or exactly two curved sections

Sections. The base part can be made as a solid or preferably as a hollow profile, possibly with polygonal (especially square), z. B. D-shaped, oval or round cross-section

be trained.

The sheathing part can have a straight section and at least one, in particular exactly one or exactly two curved sections.

The sheathing part can be a solid or preferably as a hollow profile, if necessary with polygonal (especially square), z. B. D-shaped, oval or round cross-section.

The basic profile can be formed in one piece (possibly monolithic).

The sheathing part can be constructed in several pieces, in particular two, three, four, five or even more pieces (in particular it can be made up of a corresponding number of individual parts, each possibly monolithic)

The sheathing part can be constructed at least in sections, in particular in a / the transition section, by two half-shells.

The sheathing part can surround the base part (at least (axially) in sections) over an angular range of at least 180 ° or at least 270 ° or at least substantially completely.

The above object is also preferably achieved by a method for controlling a stroller or stroller frame, in particular as described above and below, with a force (component) acting on the slide being measured, in particular a direction and / or an amount of a force and / or a force component that acts on a slide and / or a variable derived from this force or force component, in particular a change in the force or force component over time, is recorded. In this respect, functional features of the above and below

Stroller frame or stroller are described, these should be understood to mean that a corresponding process step is carried out can be. In this respect, the corresponding device features (such as for example force sensor device) are not necessarily decisive in terms of the method, but the method steps as such (that is to say for example the detection of a direction and / or an amount of a force). Of course, corresponding

Device features (such as a force sensor device), as described above and below, are present.

Further embodiments emerge from the subclaims.

In the following section up to the brief description of the figures, further preferred features of the invention are described. If a feature is not presented as optional in this section, this only applies to the disclosure of this section itself. In particular, this does not (necessarily) mean that the respective feature is generally essential or imperative for the present invention, as it is in particular in the claims and is explained above. Information that subsequently relates to the stroller frame should also apply to the stroller. So when it is said, for example, that the stroller frame has a motor, it should also be disclosed that the stroller has a motor.

In particular, a stroller frame is proposed, comprising at least one motor, in particular an electric motor, for driving the stroller frame, at least one slide for pushing the stroller frame and

preferably at least one sensor device, in particular a force sensor device. The sensor device, in particular a force sensor device, is preferably for detecting a direction and / or an amount of a force and / or a force component that acts on the slide and / or for detecting a variable derived from this force or force component, in particular a temporal one Change in the force or force component formed.

An optional aspect is that a force sensor device is provided which detects either the direction or the amount (or both) of a force and / or a force component (or a variable derived from this force or force component). This enables a corresponding Control can be based on the output of the sensor device. The output of a sensor device is to be understood in particular as the output of a measured value and / or the output of an average value from several measured values.

The control can then be internal (by a control device provided on or in the stroller frame) and / or externally by a separate one

Control device (such as a mobile terminal, in particular

Smartphone). In this context, however, it is initially important that any corresponding data relating to the force or from with the force

related quantities can be generated. So it is

advantageous, but not absolutely necessary, that the stroller frame (or the corresponding stroller) itself has a control device.

Overall, it will be user-friendly and easy to manufacture

Motorized stroller frame proposed.

The slide is preferably designed in one piece (if necessary with individual parts that can be moved relative to one another). The slide can in particular have a horizontal handle. Alternatively, the slide can also be made up of several pieces (e.g.

two pieces), for example be designed with several separate handles.

With the force sensor device, in particular at least two different force directions (for example forwards and backwards and / or up and down) can be determined and, if necessary, their amount can be determined or at least four directions (for example forwards, backwards, upwards and downwards) ) ascertainable and, if necessary, determinable with regard to your amount.

If necessary, at least two different amounts (> 0), preferably at least four different amounts, for example a continuum of amounts of the force (or force component or variable derived therefrom) can be detected with the force sensor device. In any case, information is provided in a simple manner by such a force sensor device, which information can advantageously be used to control the motor for driving the stroller or the stroller frame. The stroller frame or the stroller preferably has several motors, in particular electric motors, for driving the stroller frame. A motor is preferably assigned to at least two or exactly two wheels (for example a left and a right wheel or a first side wheel and a second side wheel). A control device for the individual control of the motors can preferably be provided. Alternatively or additionally, a sensor device can be provided for detecting a pushing force and / or movement of the stroller frame. A plurality of (in particular at least or exactly two) motors can improve the sliding comfort, especially when cornering, without the need for complex measures (such as, for example, with only one motor with a differential gear).

Unless otherwise stated, a slide or a

Pushing force is understood in particular as actions or forces that can be directed both forwards and backwards (even if the latter can also be referred to as pulling or pulling force).

Insofar as (two) forces are compared with one another and it is stated that the (two) forces are the same or different, this should generally be understood as an abbreviation for "identical or different with regard to the direction and / or amount of the forces" - unless it follows from that

Context that the direction is given (such as in a

"Backward force"); then there should be information about the same or

different forces relate to the amounts of forces.

The at least one (force) sensor device can be on and / or in the

Slide, in particular a handle of the slide, be arranged and / or be arranged in and / or near a slide fastening area. A slide fastening area is to be understood in particular as an area in which the slide is attached to a main body of the stroller frame. Under an arrangement close to the slider mounting area

in particular to understand an arrangement at a distance of less than 10 cm, preferably less than 5 cm with respect to the slide (whereby in the case of a relatively moving slide, the minimum distance is meant here in particular). At least one control device is preferably provided which is in operative connection with the at least one (force) sensor device,

in particular such that an output of the at least one sensor for

Control of the at least one motor is used. This enables the force (or other variable, such as the current movement, for example) to be recorded easily and reliably.

In one embodiment, the at least one sensor device is designed to detect forces acting on the slide and / or force components and / or variables derived therefrom at at least two different locations. In particular, this detection can take place on a first (e.g. left) and a second (e.g. right) side of the slide, in particular a first (e.g. left) and a second (e.g. right) side a handle and / or on two different, in particular each laterally arranged, handles. In so far as a left or right side is mentioned here and below, this means in particular a left or right side that results from the viewing direction of the person operating the stroller frame or the stroller.

In a specific embodiment, the sensor device is designed to have force components in the direction of movement and / or against

Direction of movement (in each case horizontal) and / or upward and / or downward (in each case vertically) to be determined. Alternatively or additionally, corresponding components of a time derivative (or a time change) can be determined.

If acting forces (and / or force components and / or force-dissipating quantities) are recorded at several different locations, the

Control device be designed so that the corresponding

Drive wheels (or possibly assigned motors) are controlled,

for example, depending on the size and duration of the (especially horizontal) attacking forces (and / or their changes over time) and / or depending on whether the (especially horizontal) forces (and / or their changes over time) point in the same direction. A drive wheel (or a correspondingly assigned motor) can be controlled depending on the force that is applied to its side (and / or the change in this force over time) and / or on the force (and / or its change over time) applied to the other (opposite) side.

The control device is preferably designed to control and / or regulate the power of the at least one motor, in particular on the basis of the output of the at least one sensor device, for example in discrete steps and / or continuously.

Furthermore, the control device can be designed such that at least one motor is started when a first threshold of the force and / or force component and / or the variable derived therefrom is exceeded. Starting the engine is to be understood in particular as the fact that the engine provides power to drive the stroller frame. In this sense, switching on the motor (which then runs in idle, for example) is not yet starting. However, starting can also mean the first time the motor is switched on (power supply).

The control device can be designed in such a way that at least one motor when a second threshold of the force and / or

Force component (for example a component up or down) and / or the variable derived therefrom, is stopped or is kept at constant power. Stopping the motor is to be understood in particular as putting the motor into a state in which it can

Stroller no longer drives. If necessary, the engine can still run (for example at idle). However, it can also be switched off permanently

(e.g. an energy interruption to supply the motor)

be understood. The amount of the second threshold can be greater than the first threshold.

Furthermore, the control device can be designed such that

at least one motor when a threshold F _{d of} a downward acting force is exceeded and / or when a threshold F _{u of} an upwardly acting force is exceeded, where F _d and F _{u are} possibly the same or different (in terms of amount), and / or when exceeded a threshold F _{f2 of} a forward-acting force and / or when a threshold F _{r2 of} a backward-acting force is exceeded, where F _f2 and F _{r2 are} possibly the same or different (in terms of amount), is stopped or is kept at a constant output, where F _f2 and / or F _{r2 is} preferably greater, in particular 2 times or 5 times or 20 times as large as / as F _u and / or F _d . The control device is preferably designed in such a way that the motor, if the value falls below the limit (with previous

Exceeded) by F _f2 , F _r2 , F _u or F _d (again) is started.

The control function can also be designed in such a way that at least one motor when a threshold F _{f1 of} a forward-acting force is exceeded and / or when a threshold F _{r1 of} a backward-acting force is exceeded, where F _f1 and F _{r1 are} possibly the same or different (in terms of amount) ( and / or possibly when a threshold of a downward force is exceeded and / or when a threshold of an upward force is exceeded, the threshold of the downward force and the threshold of the upward force may be the same or different) is, whereby preferably fn

is (in terms of amount) smaller than F _f2 and / or preferably Fn (in terms of amount) is smaller than F _r2 .

Alternatively or additionally, the control device can be designed such that if a (horizontal) force on one of the two sides is positive and a (horizontal) force on the other side is negative (which can correspond to a turn or curve of the stroller) and / or if a temporal

Change in the (horizontal) force on the one hand is positive and a change in the (horizontal) force over time is negative on the other side (resulting in a turn or curve of the stroller), the drive wheels (resp.

appropriately assigned motors) are controlled in such a way that only one of the drive wheels (motors) provides support and / or so that the

Support force does not exceed a predetermined value or that the support of both motors is (completely) stopped or at least significantly reduced.

The stroller frame preferably has at least one

Speed sensor and / or at least one cornering sensor. The speed sensor is designed in particular in such a way that an amount (and possibly a direction) of a current speed (of the stroller frame in relation to a ground) can be determined. The cornering sensor is preferably designed so that a curvature of a turn or curve (in the distance covered by the stroller frame) can be determined. The

Control device can then optionally be designed so that the

Support of the corresponding motor is stopped when a certain speed is exceeded and / or a certain curve curvature is undershot. This improves the overall reliability and safety when operating the stroller.

The control device can be designed in such a way that a quotient of a pushing force or a (in particular horizontal)

Pushing force component and an assisting force of the at least one motor is constant, e.g. B. 1 or greater than 1 or greater than 2 or greater than 3 or less than 1, or is variable, e.g. B. such that the support force increases more or less than linearly with the pushing force or the (especially horizontal) pushing force component. The support force can, for example, increase polynomially or exponentially or logarithmically with the pushing force.

Furthermore, the control device can be designed such that a quotient of a change over time in the pushing force or a change over time of a (in particular horizontal) pushing force component and a change over time in the support force of the at least one motor is constant, e.g. B. 1 or greater than 1 or greater than 2 or greater than 3 or less than 1 or is variable, e.g. B. in such a way that the temporal change in the support force increases more or less than linearly with the temporal change in the pushing force or the pushing force component. For example, the change in the support force over time can increase polynomially or exponentially or logarithmically, etc. with the change in the pushing force over time or the change in the pushing force component over time.

Particularly preferably, the support force (or the change in the support force over time) increases more than (only) linearly with the pushing force or

Pushing force component (or with the change in the pushing force over time or change in the pushing force component over time).

The threshold values and limits described above (and below) can have a predetermined fixed value or can be changed,

for example through a self-learning algorithm. The control device is preferably designed such that the

Drive power of the at least one motor is throttled or stopped when a brake, in particular a deceleration brake (service brake) or parking brake, is operated.

The slide and / or a section of the slide is preferably

(in particular that section of the slide which at least partially has the sensor device), preferably freely movable over a range of motion, in particular without having to unlock, preferably against a restoring force.

The movement in this sense is not to be understood as a movement for (pure) height adjustment of the slide in order to achieve the

To adapt the stroller frame to the size of the person operating it, but in particular a (free) movement, which can in particular serve to measure the force and / or can serve as feedback for the user that a motor support is working. In this respect, "double feedback" can be present here, on the one hand through the active support of the motor (which can be recognized as such by the user) and at the same time the movement of the slide (or slide section). One and the same movement can therefore in particular generate a force Measurement and a double feedback function can be implemented at the same time. If this is compared, for example, with a piezo sensor (as a comparatively compact sensor device), comparatively good feedback is given to the user in the present case, which makes it easier for the user to operate the stroller (and the user is not only dependent on recognizing the motor support as such, which can possibly be comparatively low).

The (free) movement of the slide (or slide section) can

for example at least 2 mm or at least 10 mm or at least 20 mm. If one compares such a force sensor device, for example, with a simple piezo sensor, a significant improvement is achieved since more precise information can be provided. A piezo sensor can only detect comparatively small relative movements (well below 1 mm). In the case of a translational movement, the

Meant path of movement; in the case of a rotary movement or

Pivoting means the path of a point of the pivoted section that carries out the greatest path of all points. In one embodiment, the slider or an upper portion of the slider (e.g., handle) can be pivotable about an attachment area. Alternatively (or in addition), an (upper) section of the slide can be translationally displaceable with respect to a lower section. Furthermore, the entire slide

be displaceable (translationally).

The at least one sensor device can be designed to detect a (time) curve of the force (or force component) and / or the variable derived therefrom. Thereby, the control can be further improved. For example, it can then be possible to set threshold values for forces (or

Force components) and / or their temporal changes as well as threshold values for a time, the threshold value for the time being a duration of an (applied) force (or force component) and / or its temporal change in which the threshold value (the Threshold values) of the force (resp.

Kraftkom ponte) and / or their change over time is exceeded (or not reached).

A change over time can basically be understood as the derivative of the force (or force component) over time (in the mathematical sense). A change over time can, however, also be understood as DF / Dt (with finite non-infinitesimal Dt in the range from 100 milliseconds to 1 second, for example).

The respective control device is preferably a control device, in particular a control device for continuous (possibly linear) control of the power of the at least one motor, preferably a PID control device (where PID stands for proportional integral derivative).

At least one braking device is preferably, in particular

Delay brake device and / or parking brake device are provided. The deceleration brake device is preferably designed to brake the kinetic energy of the pram frame or pram (with child) to use (and in particular to convert it into electrical energy). Alternatively or additionally, a / the control device can be provided and designed in such a way that the parking brake device automatically after a predetermined time, preferably between 3 seconds and 5 minutes

(preferably between 10 seconds and 30 seconds), after one

(complete) standstill of the stroller frame (after previous movement) is activated. Alternatively or additionally, a / the control device can be provided and designed such that the parking brake device automatically after reaching a standstill or a comparatively small one

Speed is activated after a previous journey.

The braking device can in particular be designed in two stages,

preferably such that both a deceleration brake (service brake) and a parking brake for locking a parking position (if the

Stroller is completely stopped). The deceleration brake can be designed such that the stroller is braked by friction (on one or more wheels) (with kinetic energy in heat

is converted). Preferably, however, at least one motor can be used as a generator to brake the stroller (with kinetic energy being converted into electrical energy, which in turn can be used to charge one or more batteries). Any desired actuating device can be provided for the deceleration brake, for example a hand or finger actuatable lever (on the slide or handle) or another

Device (for example a rotary handle or a foot pedal or the like). It is also possible, if necessary, for a graphical user interface (e.g. display, in particular touchscreen) to be connected to the stroller and / or to have a receiver in order to communicate with an external device (e.g. a smartphone with a corresponding app). is connectable. The actuating device (or the receiver) can be connected to the deceleration brake (by suitable means) in order to actuate the deceleration brake, i.e. to apply the braking force desired by the user (which can be zero or greater than zero, in particular more than 2 or more than 5 can take various values greater than zero). The deceleration brake can act as long as the

Actuating device is operated, or until the stroller is stopped completely and then the parking brake acts if necessary. The parking brake can be designed as a lock that prevents one or more wheels from rotating. For example, the parking brake can comprise a pin which interacts with memories or locking devices (for example grooves) which are provided in a side surface of the wheel.

The parking brake can optionally be (automatically) activated immediately after or a predetermined time after the stroller frame or the stroller has been stopped, in particular by the delay brake.

Preferably, the at least one parking brake device can (only) be activated electrically or electronically and can (only) be released manually.

The parking brake device can be preloaded in a released state and not preloaded or (only) less preloaded in an activated state. These measures improve safety during operation.

The actuation of the parking brake can be carried out in various ways, for example via a switch, e.g. B. slide switch or pressure switch or a foot pedal or the like.

In particular, when the parking brake is pre-tensioned in the activated state, the parking brake can (only) be released manually, whereas the brake can be activated (only) electronically or electrically.

A / the sensor device, in particular the force sensor device, can be provided and the / a control device can be designed such that at least one braking device, in particular the

Deceleration brake device and / or the parking brake device is activated when a person operating the stroller makes a contact, e.g. B. on the hand and the handle solves. The deceleration brake is preferably activated with increased (maximum) force and / or the parking brake is activated (emergency braking) when it is determined that the person operating the stroller is no longer in contact with the stroller and the stroller is still moving. In one embodiment, the control device is designed such that the braking device is activated when the force sensor device detects a force which is (at least partially) directed against the current direction of movement of the stroller frame. Alternatively, in such a case, motor assistance can be provided, as described above. The motor is preferably used as a power generator in the event of braking.

At least one display or signal device can be provided, which indicates to the user of the stroller frame that motor assistance is or may be present. If necessary, a first display or

Signal device indicate that motor assistance is currently available, and a second display or signal device indicates that motor assistance can be present, in the sense that depending on further parameters (for example a maximum speed or the like) either motor assistance is present or ( if the

Parameters are corresponding).

Overall, the stroller or the stroller frame of the present invention can provide comfortable support when pushing (or pulling) the stroller. In particular, it is possible to set values F _f1 and / or F _r1 which (essentially) define those forces that (at most) must be used by the user (regardless of the situation). If you start with a stroller that is stationary, the user will begin to push (or pull). Then the horizontal

Components of the pushing force or tensile force are greater than zero. At the point in time at which F _{f1 is} reached, the engine can begin to assist the user (with minimum power). For example, if the horizontal

Component of the pushing or pulling force continues to increase (ie DF _inh / Dt> 0) the assisting force will also increase (ie DF _s / Dt> 0). This allows the

horizontal component of the force (essentially) kept constant at F _f1 (at least if one does not consider overshoot).

Of course, if there is a condition to stop the motor assistance, a greater force may be necessary.

F _u can be between 0 and 25 N, preferably between 5 N and 15 N.

F _d can be between 10N and 50N, preferably between 20N and 40N. F _f1 can be between 0 and 25N, preferably between 5N and 15N. F _r1 can be between 0 and 25N, preferably between 5N and 15N. F _f2 and / or F _r2 can be between _25N and _500N , preferably between 50N and 200N. F _f1 , F _r1 , F _f2 and / or F _r2 can optionally be specified by the user, for example via an interface such as a graphic one

User interface and / or a smartphone (or a smartphone app).

If necessary, minimum and maximum values (depending on the manufacturer) can be specified in order to avoid safety problems and / or to extend the service life of a battery.

The invention is described below using exemplary embodiments, which are explained in more detail using the figures. Here show:

Fig. 1 Complete stroller including attachment in perspective

Representation so that the slide can be seen;

Fig. 2 exploded view of an upper slide area with

Rounded casing part

Fig. 3 cross section slide perpendicular to the longitudinal extension of the

Horizontal section and through the sensor and the first

Protrusion of the round casing part that is attached to the sensor

4 shows a longitudinal section through the slide (perpendicular to the horizontal) so that a sensor and a rounded part of the casing are visible.

5 shows a longitudinal section through the slide (section in the slide plane), so that a sensor and a rounded casing part are visible.

Fig. 6 is a schematic oblique view of an inventive

Stroller frame;

FIG. 7 shows a side view of the stroller frame according to FIG. 6. In the following description, the same reference numbers are used for parts that are the same and have the same effect.

Figures 1 to 5 show a stroller frame 10, a slide 11, wheels 12, front wheel struts 13, rear wheel struts 14, an adapter 15, a

Child support device 16, a motor 17, a control device 18, a horizontal section 101 of the slide 11, a (respective)

Connecting section 102 of the slide 11, a transition area 103 or transition section of the slide 11, a grip area 104, a

Intermediate space 105 (see FIGS. 4 and 5) between a base part 110 and a casing part 120 of the grip area 104, an edge region 121, a recess 122, a rounded casing part 130, a first

Shell half 131 and a second shell half 132 of the

Rounding sheathing part 130, a first projection 133, screws 134, a second projection 135, a screw 136, an opening 137, an edge area 138, a third projection 139, a sensor unit 140 and an area 141 for at least one strain gauge. In the assembled state, the third projection 139 preferably engages in a corresponding recess 122 of an edge region 121 of the casing part 120.

Fig. 1 shows a stroller with child receiving device 16. Die

Child reception device 16 is via the adapter 15 with the

Stroller frame 10 connected or connectable. The

Child support device 16 (in the present case) has a leg section, a seat section and a backrest section. Alternatively, the

Child accommodation device 16 can also be designed without a leg section or without such a subdivision into different sections (for example as a bed insert).

The stroller frame 10 has a slider 11, which in turn has a horizontal section 101 and (two) connecting sections 102 connected to the horizontal section 101 via a respective transition area 103. The horizontal section 101 is designed as a horizontal strut. The connecting portions 102 are as (in the state of use) of the

Horizontal section 101 made up of struts extending obliquely downwards (or forwards) and can preferably be angled (in particular folded) and / or changed telescopically with regard to their length.

The stroller according to FIG. 1 has four wheels. However, it is conceivable that more or fewer wheels are provided (for example three, in particular one front wheel and two rear wheels). Specifically, two rear wheels and two (rotatable, possibly lockable) front wheels are provided in FIG. 1. The respective pairs of wheels are connected to one another via connecting struts. The wheels

connecting struts are in turn connected (in particular articulated) to the connecting sections 102 via further struts - front wheel struts 13 and rear wheel struts 14, a single strut per wheel may be sufficient.

The transition sections 103 of the slide 11 are curved and preferably form (at least approximately) a quarter circle and / or preferably enclose an angle of at least approximately 90 °.

Horizontal section 101 and connecting sections 102 are designed to extend (at least approximately) at right angles to one another.

The slide 11, in particular its horizontal section 101 and its transition sections 103 are shown in more detail in FIGS. 2-5.

FIG. 2 shows a section of the grip area 104, including a section of the horizontal section 101 and one (of two) transition sections 103.

The casing part 120 is provided in the horizontal section 101. This is currently trained. This is in transition section 103

Rounding casing part 130 comprising the first shell half 131 and the second shell half 132 arranged. The rounded casing part 130 (and its shell halves 131, 132) are designed to be curved. The

Rounding casing part 130 forms a (curved) sleeve. The

Sheathing part 120 forms a (straight) sleeve.

The casing part 120 and the rounded casing part 130 cover the base part 110. The casing part 120 is opposite the base part 110 in FIG 2 shifted to the right, so that the sensor unit 140 lying within the casing part 120 and the rounded casing part 130 can be seen. In the assembled state, the two are at the end on the left in FIG. 2

Drawn openings in the casing part 120 in alignment with the recesses or openings or the screws 134 shown at the left end of the sensor unit 140 (see also FIGS. 3 and 4).

As can also be seen in FIGS. 3 and 4, the rounded sheathing part 130 or its half-shell 132, sheathing part 120 and sensor unit 140 are connected by means of the screws 134 (here two, for example). In general, another fastening means (in a different number, for example also one or more than two) can also be provided for this purpose.

The two half-shells 131, 132 are in turn connected to one another via the second projection 135 (with an internal thread) and the screw 136. Here, too, other fastening or connecting devices are conceivable. However, a releasable fastening is preferred.

In the base part 110, an opening (channel 111) can be provided which is (somewhat) larger than the second projection 135 in order to avoid an undesired connection between the rounded casing part 130 and the base part 110.

The second shell half 132 specifically has a first projection 133, which extends between the casing part 120 and the base part 110 and has two openings through which the screws 134 can be inserted.

The first projection 133 adjoins an edge region 138 of a main body of the second shell half 132 (see FIGS. 3 and 4), the edge region 138 of the main body of the second shell half 132 additionally, preferably directly, in particular in a form-fitting manner, against an edge region 121 of the casing part 120 adjoins.

An opening 137 is provided for leading the screw 136 through the second shell half 132 (see FIG. 3). The first shell half 131 has a third projection 139 (see FIG. 2) which engages with the casing part 120, in particular with a

Return 122, can be brought.

The sensor unit 140 can itself function on the principle of a strain gauge and / or (see FIG. 4) have an area 141 in which a strain gauge (not shown in detail) can be arranged. If the casing part 120 and / or the rounded casing part 130 is now subjected to pressure, the sensor unit 140 or an optional strain gauge 141 (or, if necessary, several strain gauges) can

are correspondingly stretched and / or compressed (due to the spacing provided at least in sections between sensor unit 140 and respective sheathing part 120 or rounded sheathing part 130). This expansion or compression can then be evaluated accordingly in order to determine whether the casing part 120 and / or the rounded casing part 130 was gripped by a user.

The sensor unit 140 can be configured, for example, to measure an electrical resistance or a change in electrical resistance. The

Sensor unit 140 can have at least one (possibly two, three, four or more) strain gauges. The strain gauges can be used in

Horizontal section and / or transition section can be arranged. The

Sensor unit 140 can be designed as a bending beam sensor, with a torque exerted on a measuring body preferably acting on at least one (e.g. four) strain gauges. For example, one or two strain gauges can be stretched and one or two

Strain gauges are compressed. Specifically, four can

Strain gauges to be built in a bridge circuit

Measure resistance changes of the strain gauges.

6 shows a stroller frame according to the invention in a schematic oblique view. The arrow F _d shows a handle 23 (in

Horizontal section) acting, downward force. The arrow F _u indicates an upward force acting on the handle 23. The arrows F _lat indicate sideways forces. The handle 23 is mounted pivotably with respect to a lower section of the slide 11. Specifically, the handle 23 can be pivoted (and latched) in various positions in order to adjust the height of the handle 23

perform.

A pivotable mounting 22 (with corresponding joints) is provided between the pivotable handle 23 and the lower section of the slide 11.

The (entire) slide 11 is in turn preferably pivotably mounted on a pivotable bearing 21 on a main body of the stroller frame (in particular in order to be able to fold the stroller frame together).

As an alternative or in addition to an arrangement of the sensor device according to FIGS. 1 to 5, a sensor device / sensor devices can be provided on the pivotable mounting 21 and / or on the pivotable mounting 21 in order to generate a force of a user (in particular F _{and others)} acting on the handle 23 and F _d ) to be recorded. Furthermore (see Fig. 7) can

A forward-directed force F _f and a backward-directed force F _{r can be} detected with the respective sensor device. Motors can preferably be placed in wheel hubs 31 (not recognizable in detail). Alternatively, motors can be placed on an axle 32 (in particular on sections of the axle which are adjacent to the wheel hub 31).

At this point it should be noted that all parts described above can be seen on their own and in any combination, especially those in the

Drawings shown details are claimed as essential to the invention. Changes to this are familiar to the person skilled in the art.

List of reference symbols:

10 stroller frame

11 slider

12 wheels

13 front struts 14 rear struts

15 adapters

16 Child reception facility

17 engine

18 Control device

21 Pivoting bearings

22 Pivoting bearings

23 handle

31 wheel hub

32 axis

101 horizontal section

102 connecting section

103 Transition Area

104 grip area

105 space

110 basic part

111 channel

120 sheathing part

121 border area

122 Return

130 round casing part

131 first shell half

132 second shell half

133 first lead

134 screws

135 second lead

136 screw

137 opening

138 border area

139 third lead

140 sensor unit

141 Area for strain gauges

Claims

Expectations

1. Stroller or stroller frame (10), comprising

a slide (11) for pushing the stroller or

Stroller frame (10) and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component acting on the slide (11) and / or for detecting a force or force component from this derived variable, in particular a temporal change in the force or force component, wherein the at least one force sensor device is configured, a force (component) and / or a variable derived therefrom at least over a predominant part, preferably over at least 80% or over at least 90 %, of a horizontal section (101) of the slide (11) and / or is configured to measure a force (component) and / or a quantity derived therefrom in at least one, in particular curved and / or arched, transition section (103) of the slide ( 11) between a / the horizontal section (101) of the slide (11) and a

To measure connecting portion (102) of the slide (11).

2. stroller or stroller frame (10), in particular according to claim 1, comprising a slide (11) for pushing the stroller or

Stroller frame (10) and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component acting on the slide (11) and / or for detecting a force or force component from this derived variable, in particular a temporal change in the force or force component, the at least one force sensor device at least over a predominant part, preferably at least over 80% or at least over 90%, of a horizontal section (101) of the slide (11), and / or at least in sections via at least one,

in particular curved and / or arched, transition section (103) of the slide (11) between a / the horizontal section (101) of the slide (11) and a connecting section (102) of the slide (11).

3. stroller or stroller frame (10), in particular according to claim 1 or 2, comprising

a slide (11) for pushing the stroller or

Stroller frame (10) and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component acting on the slide (11) and / or for detecting a force or force component from this derived variable, in particular a change in the force or force component over time, the force sensor device comprising:

- A base part (110) which is preferably designed to at least partially receive at least one sensor unit (sensor) (140); such as

- A sheathing part (120) which at least partially sheaths the base part (110) and possibly the at least one sensor unit (140), preferably in a grip area (104) of the slide (11), and optionally with the at least one sensor unit (140) ), especially firmly, is connected; wherein the casing part (120) is movable, in particular displaceable, relative to the base part (110), with an intermediate space (105) optionally being present between the base part (110) and the casing part (120), and

wherein the at least one sensor unit (140) is designed to detect a movement, in particular a displacement, between the casing part (120) and the base part (110).

4. stroller or stroller frame (10) according to one of the preceding claims,

characterized in that

at least one motor (17), in particular an electric motor, is provided to assist in driving the stroller or stroller frame (10).

5. stroller or stroller frame (10) according to one of the preceding claims,

marked by

at least one control device (18), which is preferably in operative connection with the at least one force sensor device, in particular such that an output of the at least one force sensor device can be used to control the at least one motor (17).

6. stroller or stroller frame (10) according to one of the preceding claims, in particular according to one of claims 3 to 5,

characterized in that

the control device (18) is designed to control and / or regulate the power of the at least one motor (17), in particular depending on the output of the at least one force sensor device, for example in discrete steps and / or continuously,

and / or is designed such that at least one motor (17) at

Exceeding a first threshold of the force and / or force component and / or the variable derived therefrom is started

and / or is designed such that at least one motor (17) at

Exceeding a second threshold of the force and / or force component and / or the variable derived therefrom, is stopped or is kept at constant power.

7. stroller or stroller frame (10) according to one of the preceding claims,

characterized in that

the sensor device comprises at least two sensor units, which preferably extend at least in sections via a connecting section (102) each and / or are adjacent to one another

opposite ends of the horizontal section (101) and / or extend beyond these ends.

8. stroller or stroller frame (10) according to one of the preceding claims,

characterized in that

the sensor device comprises at least or precisely two parts that are movable relative to one another, in particular displaceable parts, and comprises at least one sensor unit which measures the relative movement, in particular an amount of the relative movement.

9. stroller or stroller frame (10) according to one of the preceding claims,

characterized in that

the first part and the second part are movable, in particular displaceable, relative to one another in at least an essentially radial direction and / or at least essentially in a direction which lies in a plane that is spanned by a forward direction and a vertical.

10. stroller or stroller frame (10) according to one of the preceding claims,

characterized in that

the first part and / or the second part fixed to at least one

Sensor unit is / are connected.

11. stroller or stroller frame (10) according to one of the preceding claims,

d a d u r c h e k e n n n z e i c h n e t that

at least one sensor unit

is configured to be an electrical resistor or an electrical

To measure resistance change and / or

has at least one, possibly two, three, four or more strain gauges, which are preferably in the horizontal section (101) and / or

Transition section (103) are arranged, and / or

is designed as a bending beam sensor, with a torque exerted on a measuring body on at least one, z. B. four,

Strain gauge, acts, taking for example one or two

Strain gauges are stretched and two strain gauges are compressed, further preferably four strain gauges are set up in a bridge circuit in order to measure changes in resistance of the strain gauges.

12. stroller or stroller frame (10) according to one of the preceding claims,

d a d u r c h e k e n n n z e i c h n e t that

the base part has a straight section and has at least one, in particular exactly one or exactly two curved sections, and / or is designed as a solid or hollow profile, possibly with a polygonal, especially square, or round cross-section and / or the sheathing part (120 ) has a straight section and at least one, in particular exactly one or exactly two curved sections, and / or is designed as a solid or hollow profile, possibly with a polygonal, especially square, or round cross-section, and / or the basic profile is in one piece , possibly monolithic, and / or the sheathing part (120) is multi-part, in particular two-, three-, four-, five- or even multi-part, in particular is made up of a corresponding number of, possibly monolithic, individual parts , and or the casing part (120) is constructed at least in sections, in particular in a / the transition section (103), by two half-shells and / or the casing part (120) is the base part, at least axially over an angular range of at least 180 ° or at least 270 ° or at least substantially completely surrounds.

13. A method for controlling a stroller or stroller frame (10) according to one of claims 1 to 12, wherein a force (component) acting on the slide (11) is measured, in particular a direction and / or an amount of a force and / or a force component that acts on a slide (11) and / or one of this force or

Force component derived variable, in particular a temporal change in the force or force component is detected.