CN111565994A - Transport device, in particular a buggy, having an electric drive unit - Google Patents
Transport device, in particular a buggy, having an electric drive unit Download PDFInfo
- Publication number
- CN111565994A CN111565994A CN201880086883.9A CN201880086883A CN111565994A CN 111565994 A CN111565994 A CN 111565994A CN 201880086883 A CN201880086883 A CN 201880086883A CN 111565994 A CN111565994 A CN 111565994A
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- ground
- transport device
- electric drive
- drive unit
- buggy
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/004—Arrangements of motors in wheels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Handcart (AREA)
- Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)
Abstract
In the case of a transport device (100), in particular a buggy, having a frame (102) and having a handle (110) for a user, wherein at least one drive wheel (132, 134) which can be driven by means of an electric drive unit (140, 142) is arranged at the frame (102) for at least partially assisting the manual pushing or pulling operation of the transport device (100) by the user, and the electric drive unit (140, 142) can be actuated by means of a control device (200) assigned to the transport device (100), the control device (200) being configured to: the characteristics of the respective ground (114) on which the transport device (100) is moving can be identified by evaluating a sensor signal (152) detected by at least one acceleration sensor (150) assigned to the transport device (100), so that a corresponding electronic regulation of the electric drive unit (140, 142) by means of the control device (200) is improved.
Description
Technical Field
The invention relates to a transport device, in particular a buggy, having a frame and having a handle for a user, wherein at least one drive wheel which can be driven by means of an electric drive unit is arranged on the frame for at least partially assisting the manual pushing or pulling operation of the transport device by the user, and the electric drive unit can be actuated by means of a control device assigned to the transport device. The invention also relates to a method for determining respective characteristics of a ground on which a transportation device is moving.
Background
Transport devices designed as strollers are known in particular from the prior art, which have an electric drive for active pushing assistance by the user. In order to optimize the corresponding electronic regulation of the electric drive of such a buggy, it is desirable to: the characteristics of the ground on which the buggy respectively moves are detected as accurately as possible. For this purpose, optical camera systems are often used, the images of which are analyzed, preferably in real time, by means of image analysis algorithms for identifying different ground surfaces.
Disclosure of Invention
The invention relates to a transport device, in particular a buggy, having a frame and having a handle for a user, wherein at least one drive wheel which can be driven by means of an electric drive unit is arranged on the frame for at least partially assisting the manual pushing or pulling operation of the transport device by the user, and the electric drive unit can be actuated by means of a control device assigned to the transport device. The control device is configured to: the characteristics of the respective ground on which the transport device is moving can be identified by evaluating the sensor signals detected by at least one acceleration sensor assigned to the transport device, so that the corresponding electronic regulation of the electric drive unit by means of the control device is improved.
Based on a robust detection of the characteristics of the ground, the adjustment of the electric drive unit can be improved or optimized, whereby a high operating comfort for the user is obtained.
Preferably, the electric drive unit is integrated into at least one drivable driving wheel. A particularly compact design of the drive unit is thus possible while at the same time reducing the mechanical components required.
According to a preferred embodiment, at least two drive wheels, which are each assigned to a front wheel axle and/or a rear wheel axle of the vehicle frame, can each be driven independently of one another by means of an assigned electric drive unit. The electric drive thereby acts symmetrically on the transport device or on both sides of the transport device.
Preferably, by means of the control device, at least the ground surfaces having properties at least similar to those of asphalt, gravel, stone, seamless, green, sand, ice and/or snow can be distinguished from one another by a numerical evaluation of the sensor signals detected by the at least one acceleration sensor. The transport device can thereby be used for almost all existing floors without losing comfort.
In a further embodiment, the sensor signal detected by the at least one acceleration sensor enables at least substantially the determination of the acceleration values perpendicular to the ground over time (t). Thus, sufficient reliability of the determination of the characteristics of the ground is possible.
According to a further embodiment, the at least one acceleration sensor is a 3D acceleration sensor for detecting acceleration values in three spatial directions. By means of the at least one acceleration sensor, it is possible to determine rotational accelerations of the buggy about the x, y and z axes in addition to linear accelerations of the buggy along the x, y and z axes.
The subject of the invention is also a method for determining the respective characteristics of a transporter, in particular a buggy, in particular a ground on which a transporter is moving as described above. In the method according to the invention, the following steps are specified:
a) detecting acceleration values at least substantially perpendicular to the ground by means of at least one acceleration sensor assigned to the transport device;
b) decomposing the acceleration values into discrete single frequencies;
c) calculating a sum of amplitudes from at least n tones; and is
d) The sum of the reference amplitudes calculated in step c) and the different friction forces assigned to the different ground surfaces, which are as close in value as possible, determined empirically in advance, is used to determine the ground surface on which the buggy is currently moving.
It is thus possible to assign the amplitude values determined in a computer manner and the friction forces determined beforehand by means of a practical test sequence to the transport device on different floors in a simple and rapid manner by means of a so-called "Look-Up" table stored in the control device and known from the information technology, which table also contains the generally constant mass m of the transport device without the object to be transported, for example without a child, depending if necessary on the inclination α of the floor relative to the horizontal, according to the relationship Fg= FN= m × g (where α = 0 °) or FNAnd (α) (wherein 0 DEG < α DEG.ltoreq.90 DEG).
According to one embodiment, the acceleration values are decomposed into discrete individual frequencies by fourier transformation. In this way, there are computational models that can perform numerical analysis relatively quickly as in the past.
In a further embodiment, one of the amplitude sums of the acceleration values is calculated by summing the n squares of the n individual amplitudes of the individual frequencies and subsequently dividing by the number n. In this way, a characteristic value of the amplitude sum is obtained for each surface.
According to one embodiment of the method, at least empirically determined reference amplitude sums of different frictional forces of different ground surfaces are stored in a look-up table. In this way, a particularly fast and accurate detection of the properties of the ground is possible. The look-up table stored in the control device is preferably a table of values well known from information technology.
In a further technically advantageous embodiment, acceleration values are detected at least in three spatial directions. In this way, more or less complete motion detection of the buggy over time is possible.
Drawings
In the following description, the invention is explained in detail on the basis of embodiments shown in the drawings. Wherein:
FIG. 1 shows a side view of a transporter configured as a stroller, the transporter having an identification of characteristics of a ground upon which the transporter is moving; and
fig. 2 shows a strongly simplified block diagram of the flow of the method according to the invention for determining the characteristics of the ground over which the transport device is moving.
Detailed Description
Fig. 1 shows a transporter 100, which is configured diagrammatically and exemplarily as a buggy 100 and is subsequently referred to as "buggy 100". The stroller 100 preferably has a frame 102, e.g., a scissor-type fold, on which a lying or sitting basket 104 is illustratively disposed. At the frame 102 there is generally arranged a handle 110, preferably configured as a height-adjustable U-shaped bracket or as a grab bar, for a push or pull operation of the buggy 100 on the ground 114 in the direction of the double arrow 112 by a user not shown in the figures. Illustratively, the pulling motion of the stroller 100 is characterized by the dashed portion of the double arrow 112, while the corresponding pushing motion of the stroller 100 is characterized by the portion of the double arrow 112 shown in solid lines.
Preferably, the stroller 100 has at least three wheels 120, 122, 124, 126. Here, preferably two wheels are arranged at the rear wheel axle 130 and one wheel is arranged at the front wheel axle 128, however it is also possible that two wheels are arranged at the front wheel axle 128 and one wheel is arranged at the rear wheel axle 130. Here, four wheels 120, 122, 124, 126 are provided on the frame 102 only by way of example, wherein the wheels 120, 124 which are visible here and which are located further forward relative to the plane of the drawing each shield the two wheels 122, 126 which are located further rearward relative to the plane of the drawing. Preferably, the wheels 120, 122 are secured to both sides of a front axle 128 of the frame 102 of the stroller 100, while the wheels 124, 126 are secured to both sides of a rear axle 130 of the frame 102 of the stroller 100. Of the at least three wheels 120, 122, 124, 126, preferably at least one wheel is configured as a drive wheel 132, 134. The at least one drive wheel 132, 134 is preferably drivable in an electric manner by means of at least one electric drive unit 140, 142. Here, the at least one drive wheel 132, 134 may be arranged at the front axle 128 and/or the rear axle 130. Preferably, at least two wheels are configured as drive wheels 132, 134. Preferably, the two wheels 124, 126 assigned to the rear wheel axle 130 are embodied as drive wheels 132, 134, respectively, which are preferably used to at least partially assist a user in a manual push or pull operation of the stroller 100. Preferably, the drive wheels 132, 134 can each be driven independently of one another by means of the electric drive units 140, 142 directly or indirectly via a transmission, not shown, and can be set precisely by means of the control device 200 or the setting device, which is arranged in the region of the rear axle 130 by way of example.
Unlike the conventional stroller 100, this is merely exemplaryIn the exemplary embodiment shown, the buggy can also be embodied as a sports car or a buggy or as a twin or tandem buggy or as a two-seater buggy. A rectangular coordinate system 199 having x, y and z axes with assigned accelerations a illustrates the orientation of all components in spacex、ay、azAn empty, unoccupied stroller has a constant mass m, whereby an effective maximum gravitational force F is obtained with a level ground 114 (wherein the inclination α of the ground 114 is substantially equal to 0 °)g= m * g。
On-user force F with stroller 100UThe friction force F occurring when acting on the carriage 110 and having an opposite direction of movementRIn the case of a horizontally extending ground surface 114, as outlined by the solid double arrow 112, is equal to the gravitational force FgOr normal force F as large in this situationNThe product of the coefficient of friction mu with the ground 114. As a result, the frictional force depends to a large extent on the properties of the ground 114 to be determined by means of the control device 200 and the at least one acceleration sensor 150.
The angle of inclination α of the slightly inclined ground surface 114, which is only depicted in a point-like manner here, is about 7RAnd equal to the coefficient of friction mu of the ground 114 and according to equation FNNormal force F obtained by = m × g × cos (α)NFor determining the inclination α, an electronic inclination sensor, not shown, can be used, for example, whose measurement signal can likewise be transmitted to the control device 200, if necessary for further analysis and for taking into account when detecting properties of the ground 114.
In order to detect characteristics of the ground 114, the stroller 100 preferably has at least one acceleration sensor 150, which is at least designed to detect acceleration values a along the z-axis of the coordinate system 199z. Furthermore, the acceleration sensor 150 may be implemented with a 3D acceleration sensor that allows detecting acceleration values a along the x-axis, y-axis and z-axis of the coordinate system 199, respectivelyx、ay、azAnd additionally also, if necessary, allows rotational accelerations about the x-, y-, z-axes of the coordinate system 199 to be measured, so that a complete detection of the movement of the buggy 100 in space during the electrically assisted push and pull operation becomes possible.
The electrical measurement signals 152 of the at least one acceleration sensor 150 are fed to the control device 200 for further analysis within the framework of determining the properties of the ground 114. Instead of the acceleration sensor 150 being positioned in the region of one of the drive wheels 132 of the rear wheel axle 130, which is shown here only by way of example, it can also be arranged at the frame 102, the lying or sitting basket 104 or at any other point of the buggy 100.
The ground 114 on which the stroller 100 travels can be, for example, asphalt, gravel, stone of any embodiment, seamless ground, greens, cropland, sand, mud flat, ice, and/or snow. The ground 114 may also have any surface topography, that is to say, for example, flat, wavy, locally inclined, undulating or grooved.
All these different properties of the ground 114 can be determined reliably and independently of external influences, such as weather and user, only by the evaluation, according to the method, of the measurement signal provided by the at least one acceleration sensor 150 by the control device 200, said measurement signal having at least the determined acceleration value a along the z-axis of the coordinate system 199zIn the form of a capsule. In this way, the electric drive units 140, 142 can be controlled or adjusted during the electrically assisted push and pull operation of the buggy 100 as a function of the respectively prevailing characteristics of the ground 114, so that the best possible driving experience or the highest possible operating comfort is achieved for the child and the user accommodated in the buggy 100.
Note that: the design of the transporter 100 as a stroller is merely exemplary in nature and should not be construed as limiting the invention. In this way, the transport device 100 can also be constructed in any other type of transport device, for example in the type of wheelbarrow, trolley, dustbin, with a ground determining device according to the invention.
Fig. 2 shows a simplified block diagram of the flow of the method according to the invention for determining the characteristics of a transport means, in particular the ground on which a buggy is moved. The measurement curve 170 shows the position of the buggy along the coordinate system (see fig. 1; reference numerals 100, 199) of the vertical acceleration a of the z-axiszOver time t. In a second method step b), the acceleration value azIs decomposed over time into a number n of discrete harmonic tones a, preferably by means of a fast fourier Transformation 172 (so-called "fast fourier Transformation" = "FFT") into a number n of discrete harmonic tones ak1, ..., nWhere n =5 is only exemplarily chosen here. These single frequencies AK1, ..., 5Are added to obtain a measurement curve Az。
Preferably, n ≧ 2, and the maximum value of n is limited only by the computational power available for command within the control of the stroller. Generally, sufficiently accurate results are obtained already in terms of the characteristics of the ground on which the buggy moves for values of n between 5 and 100.
In a third method step c), the summation formula with reference numeral 174 is used
To calculate here, only exemplarily, five acceleration values a according to the measurement curve 170 during the fast fourier transformation 172zDetermined single frequency ak1, ..., 5Amplitude of (A) andS. In a final method step d), the numerically calculated amplitude sum A is givenSAssign the closest reference amplitude AR1, ..., 4. Reference amplitude A of the groundR1, ..., 4In a suitable manner, the reference amplitudes a are determined empirically by large-scale testing and are preferably determined likewise in a measurement-related manner and assigned to the reference amplitudes a row by rowR1, ..., 4Frictional force FR1, ..., 4Value tables 180 orIn a "look-up table". The value table 180 also contains the mass m of the buggyWThe mass is usually constant and relates to an empty buggy.
Respectively having assigned determined frictional forces FR1, ..., 4Here only exemplarily four aRFor example, can be determined empirically by extensive driving tests with a buggy on a ground having different characteristics. Value FR1For example, representing a gravel road surface, and FR2For example representing asphalt or bituminous paving, value FR3For example, for stone-paved floors, and a value FR4Exemplary represents a substantially flat, in particular seamless, floor. All other characteristics of the different ground surface that occur in practice are treated correspondingly.
In the exemplary embodiment shown here, the amplitude sum a, which is numerically calculated by means of the mathematical relation 174, is merely exemplarySWith the empirically determined reference amplitude a from table 180R2A clear maximum agreement between them, which can be derived within the control device by means of suitable program algorithms; the buggy in this case moves on a ground surface having the characteristics of an asphalt or bituminous pavement. If the characteristics of the ground on which the buggy moves during the highest electrically assisted pushing or pulling operation are unambiguously determined, an improved and preferably optimum control or adjustment of the electric drive units of the drive wheels of the buggy, adapted to these realistic conditions, can be achieved by means of the control device (see fig. 1; reference numerals 100, 132, 134, 140, 142, 200), whereby optimum operating comfort is obtained for the child and the user who are present in the buggy.
For amplitude sum ASThe calculation of (d) and the determination of the respectively current ground on which the buggy is moving are preferably carried out in real time, so that the adjustment of the electric drive units 140, 142 by means of the control device 200 can also be made to react to the rapidly changing characteristics of the ground over time with a suitable adaptation of the driving characteristics of the buggy obtained by means of the electric drive units 140, 142.
Claims (11)
1. Transport device (100), in particular a buggy, having a frame (102) and having a handle (110) for a user, wherein at least one drive wheel (132, 134) which can be driven by means of an electric drive unit (140, 142) is arranged at the frame (102) for at least partially assisting the manual pushing or pulling operation of the transport device (100) by the user, and the electric drive unit (140, 142) can be actuated by means of a control device (200) assigned to the transport device (100), characterized in that the control device (200) is configured to: the characteristics of the respective ground (114) on which the transport device (100) is moving can be identified by evaluating a sensor signal (152) detected by at least one acceleration sensor (150) assigned to the transport device (100), so that a corresponding electronic regulation of the electric drive unit (140, 142) by means of the control device (200) is improved.
2. Transport device according to claim 1, characterized in that the electric drive unit (140, 142) is integrated into at least one drivable drive wheel (132, 134).
3. Transport device according to claim 1 or 2, characterized in that at least two drive wheels (132, 134) which are respectively assigned to a front wheel axle (128) and/or a rear wheel axle (130) of the vehicle frame (102) can be driven independently of one another by means of the assigned electric drive unit (140, 142), respectively.
4. Transport device according to one of the preceding claims, characterized in that by means of the control device (200) by means of a sensor signal (a) detected by at least one acceleration sensor (150)z) The numerical analysis of (a) enables at least the ground (114) having properties at least similar to those of asphalt pavement, gravel pavement, stone pavement, seamless ground, greenery, sand, ice and/or snow to be distinguished from each other.
5. Transport unit according to any of the preceding claims, characterized in that the sensor signal (a) detected by at least one acceleration sensor (150)z) Capable of at least substantially achieving an acceleration value (a) over time (t) perpendicular to the ground (114)z) And (4) determining.
6. Transport unit according to any of the preceding claims, characterized in that at least one acceleration sensor (150) is a 3D acceleration sensor for detecting acceleration values (a) in three spatial directionsx、ay、az）。
7. Method for determining respective characteristics of a transportation device (100), in particular of a buggy, in particular of a ground (114) on which a transportation device is moving according to any of claims 1 to 6, characterized in that:
a) detecting acceleration values (a) at least substantially perpendicular to the ground (114) by means of at least one acceleration sensor (150) assigned to the transport device (100)z）；
b) Comparing the acceleration value (a)z) Decomposition into discrete tones (a)k1, ..., n）；
c) According to at least n single frequencies (a)k1, ..., n) To calculate the sum of the amplitudes (A)S) (ii) a And is
d) The sum of the amplitudes (A) calculated in step c)S) Different frictional forces (F) distributed to different ground surfaces (114)R) Is as close as possible in value, is a sum of reference amplitudes (A) determined empirically beforehandR) For determining the ground (114) on which the transportation device (100) is currently moving.
8. The method according to claim 7, characterized in that the acceleration value (a) is transformed by a Fourier transform (172)z) Is decomposed into ionsScattered single frequency (a)k1, ..., n）。
9. Method according to claim 8, characterized in that said acceleration value (a)z) Of (a) is calculatedS) By modulating the single frequency (a)k1, ..., n) N single amplitudes (a)k) Is calculated by summing the n squares and immediately dividing by the number n.
10. Method according to claim 9, characterized in that at least the different friction forces (F) of different ground surfaces (116)R) Is empirically determined with reference to the sum of the amplitudes (A)R) Is stored in a look-up table (180).
11. Method according to any one of claims 7 to 10, characterized in that at least the acceleration values (ax, ay, az) in three spatial directions are detected and analyzed.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018200771.3 | 2018-01-18 | ||
| DE102018200771.3A DE102018200771A1 (en) | 2018-01-18 | 2018-01-18 | Transport device, in particular stroller, with an electric drive unit |
| PCT/EP2018/081430 WO2019141402A1 (en) | 2018-01-18 | 2018-11-15 | Transport device, particularly a baby carriage, comprising an electrical drive unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111565994A true CN111565994A (en) | 2020-08-21 |
Family
ID=64556852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880086883.9A Pending CN111565994A (en) | 2018-01-18 | 2018-11-15 | Transport device, in particular a buggy, having an electric drive unit |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP3740413A1 (en) |
| JP (1) | JP2021511251A (en) |
| CN (1) | CN111565994A (en) |
| DE (1) | DE102018200771A1 (en) |
| WO (1) | WO2019141402A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021206057A1 (en) | 2021-06-15 | 2022-12-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Transport device with a support device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537850A (en) * | 2009-04-27 | 2009-09-23 | 吴茂盛 | Swing-type baby carriage driven by two rear wheels |
| DE102013224885A1 (en) * | 2013-12-04 | 2015-06-11 | Robert Bosch Gmbh | Stroller with drive support |
| DE102016209560B3 (en) * | 2016-06-01 | 2017-09-28 | Robert Bosch Gmbh | Control method and control unit for controlling the electric motor for the pushing aid of an electric bicycle |
| CN206606052U (en) * | 2017-04-14 | 2017-11-03 | 浙江好来喜儿童用品有限公司 | A kind of speed change tank mounting structure suitable for perambulator |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1457388B1 (en) * | 2001-12-21 | 2015-01-21 | Kabushiki Kaisha Bridgestone | Method and apparatus for estimating road surface state and tire running state |
| EP1516961B1 (en) * | 2003-09-19 | 2013-12-25 | Ammann Aufbereitung AG | Method for determining soil rigidity and soil compaction device |
| DE102012220312A1 (en) * | 2012-11-08 | 2014-05-08 | Robert Bosch Gmbh | Method for determining adhesion conditions between driven or braked wheel of motor car and road surface in driving slip regulation system, involves determining slip change by measuring change of speed of wheel with respect to force |
| JP2015047943A (en) * | 2013-08-30 | 2015-03-16 | 船井電機株式会社 | Manual propulsion vehicle |
| JP6299167B2 (en) * | 2013-11-12 | 2018-03-28 | 富士通株式会社 | Concavity and convexity analysis program, concavity and convexity analysis method, and concavity and convexity analysis apparatus |
| DE102015104513A1 (en) * | 2015-03-25 | 2016-09-29 | Rolf Strothmann | vehicle |
| JP6620326B2 (en) * | 2015-07-02 | 2019-12-18 | Ｒｔ．ワークス株式会社 | Wheelbarrow |
-
2018
- 2018-01-18 DE DE102018200771.3A patent/DE102018200771A1/en not_active Withdrawn
- 2018-11-15 JP JP2020539811A patent/JP2021511251A/en active Pending
- 2018-11-15 CN CN201880086883.9A patent/CN111565994A/en active Pending
- 2018-11-15 EP EP18811162.9A patent/EP3740413A1/en not_active Withdrawn
- 2018-11-15 WO PCT/EP2018/081430 patent/WO2019141402A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537850A (en) * | 2009-04-27 | 2009-09-23 | 吴茂盛 | Swing-type baby carriage driven by two rear wheels |
| DE102013224885A1 (en) * | 2013-12-04 | 2015-06-11 | Robert Bosch Gmbh | Stroller with drive support |
| DE102016209560B3 (en) * | 2016-06-01 | 2017-09-28 | Robert Bosch Gmbh | Control method and control unit for controlling the electric motor for the pushing aid of an electric bicycle |
| CN206606052U (en) * | 2017-04-14 | 2017-11-03 | 浙江好来喜儿童用品有限公司 | A kind of speed change tank mounting structure suitable for perambulator |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3740413A1 (en) | 2020-11-25 |
| JP2021511251A (en) | 2021-05-06 |
| WO2019141402A1 (en) | 2019-07-25 |
| DE102018200771A1 (en) | 2019-07-18 |
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