EP3691948A1

EP3691948A1 - Transport device for transporting at least one transport object

Info

Publication number: EP3691948A1
Application number: EP18766175.6A
Authority: EP
Inventors: Felix Stewing; Bertram SCHILLINGER; Thomas Schroeder
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2017-10-05
Filing date: 2018-09-04
Publication date: 2020-08-12
Also published as: DE102017217650A1; WO2019068405A1

Abstract

In a transport device (100) for transporting at least one transport object (130) having an associated mass (m), comprising at least one electrical drive wheel with which at least one electric motor is associated for supporting the movement of the transport device (100), and comprising a control device for controlling the at least one electrical drive wheel, the control device is designed for controlling the at least one electrical drive wheel according to a user force (Fu1, Fu2) of a user of the transport device (100) acting on the transport device (100).

Description

Description title

Transport device for transporting at least one transport item prior art

The present invention relates to a transport device for transporting at least one transport object, which has an associated mass, with at least one electric drive wheel, which is associated with at least one electric motor for assisting movement of the transport device, and with a control device for controlling the at least one electric drive wheel.

Such a transport device for transporting at least one transport object with an assigned mass is known from the prior art. The transport device has at least one electric drive wheel for assisting movement. Here, the electric drive wheel is associated with at least one electric motor and for controlling the electric drive wheel, a control device is provided.

Disclosure of the invention

The present invention provides a transport device for transporting at least one transport object having an associated mass, with at least one electric drive wheel, which is associated with at least one electric motor for assisting movement of the transport device, and with a control device for controlling the at least one electric drive wheel. The control device is for controlling the at least one electric drive wheel as a function of a transport device. aufschlagenden user force of a user of the transport device formed.

The invention thus makes it possible to provide a transport device in which uncomplicated and reliable control of the transport device can be made possible by the control device which controls the user force of at least one electric drive wheel acting on the transport device. Thus, a drive of the transport device can be made possible in a simple manner in which unwanted support or incorrect support can be at least approximately prevented.

Preferably, the control device is designed to determine the user force as a function of the assigned mass, a friction value of the at least one electric drive wheel, a torque of the at least one electric drive wheel and / or a respective acceleration of the transport device. Thus, a safe and reliable determination of the user power can be made possible. According to one embodiment, the assigned mass, the friction value, the torque and / or the acceleration are calculated and / or measured values. Thus, an accurate and precise determination of the user power depending on the assigned mass, the friction value, the torque and / or the acceleration can be made possible.

The control device is preferably associated with at least one inertial sensor for measuring an acceleration and / or a rotational speed of the transport device. Thus, a determination of the acceleration and / or the angular velocity can be made possible in a simple manner.

Preferably, the inertial sensor is arranged on the at least one electric drive wheel. Thus, a space-saving arrangement of the inertial sensor can be made possible. A force sensor is preferably associated with the at least one electric drive wheel in order to enable a determination of the user force as a function of a force measured by the force sensor. Thus, a determination of the user power can be easily and easily made possible.

According to one embodiment, the determination of the user force takes place during a starting process of the transport device as a function of a force acting vertically to a direction of movement of the transport device. Thus, a simple and reliable determination of the user power can be made possible, in which a determination of the user power when pushing occurs, so that can be dispensed with an additional operation.

The determination of the user power preferably takes place from a predetermined rotational speed of the at least one electric drive wheel as a function of a force acting in a direction of movement of the transport device. Thus, a movement-dependent determination of the user power can be done, since different forces can act on a starting process and a movement process.

Preferably, at least one steerable wheel is provided and the control device has a steering assistance device for generating a steering torque, wherein the steering assistance device is designed to act on the at least one electric drive wheel with the steering torque for a steering assistance. Thus, a secure and reliable support can be provided, which is available to a user during a steering operation.

A determination of the steering torque is preferably carried out as a function of an angular velocity, a torque and / or a friction value of the at least one electric drive wheel. Thus, a determination of the steering torque for generating the steering assistance can be made possible in a simple manner. According to one embodiment, the control device for controlling the at least one electric drive wheel has a torque control, wherein the torque control is designed to determine a motor current of the at least one electric drive wheel on the basis of the user force and a predetermined setpoint torque. Thus, a suitable torque control can be provided easily and simply.

The movement assistance is preferably adjustable by a user of the transport device via a setting factor supplied to the control device. Thus, adjustment of the motion assistance that can be adapted to a user can be enabled.

The at least one electric drive wheel preferably has at least one electric motor, a transmission and an electronic unit, which are arranged within the at least one electric drive wheel. Thus, a compact drive wheel can be provided.

According to one embodiment, the transport device in the manner of a trolley, a wheelbarrow, a sack truck, a stroller, a kick-scooter, or an e-bike is formed. Thus, a multi-purpose transport device can be provided.

In addition, the present invention provides a control device for controlling at least one electric drive wheel of a transport device for transporting at least one transport article having an associated mass, wherein the at least one electric drive wheel is associated with at least one electric motor for assisting movement of the transport device. The control device is designed to control the at least one electric drive wheel as a function of a user force of a user of the transport device that impacts the transport device.

Brief description of the drawings The invention is explained in more detail in the following description with reference to exemplary embodiments illustrated in the drawings. Show it:

1 is a schematic side view of a transport device with a drive wheel,

2 is a schematic plan view of an underside of the transport device of Fig. 1,

3 is a schematic view of a control device for controlling the transport device of FIG. 1 and FIG. 2 associated drive wheels,

4 shows a schematic view of a control device for controlling the drive wheels of the transport device of FIG. 1 and FIG. 2, according to a further embodiment when driving straight ahead, FIG.

5 shows a schematic view of a control device for controlling the drive wheels of the transport device of FIG. 1 and FIG. 2, according to a further embodiment when cornering,

6 is a schematic view of the control device of FIG. 3 to FIG. 5 associated drive control of the drive wheels,

Fig. 7 is a schematic view of the control device of Fig. 3 to

Fig. 5 associated control of the drive wheels according to another embodiment, and

8 shows a schematic view of a user presence recognition assigned to the transport device of FIGS. 1 and 2.

Description of the embodiments

1 shows an exemplary transport device 100 for transporting at least one transport object 130, which has an associated mass m. has. The transport device 100 preferably has at least one electric drive wheel (212, 214 in FIG. 2), which is designed to assist the movement of the transport device 100. In this case, the at least one electric drive wheel (212, 214, in FIG. 2) is preferably assigned at least one electric motor (312, 314 in FIG. 3) for the movement support of the transport device 100. Furthermore, the at least one electric drive wheel (212, 214, in FIG. 2) is preferably associated with a transmission and / or electronics.

According to one embodiment, the at least one electric drive wheel (212, 214, in FIG. 2) is assigned an electric motor, a transmission and electronics. At least one element associated with the drive wheel (212, 214, in Fig. 2), i. the electric motor, the transmission or the electronics, within the drive wheel (212, 214, in Fig. 2) are arranged. However, preferably all elements associated with the drive wheel (212, 214, in Fig. 2), i. the electric motor, the transmission and the electronics, within the drive wheel (212, 214, in Fig. 2) are arranged. Therefore, the electric drive wheel may also be referred to as a "smart wheel".

Illustratively and by way of example, the transport device 100 in FIG. 1 is designed as a transport carriage. The transport cart 100 preferably has a loading section 1 12, on which the at least one transport article 130 can be arranged. The transport device 100 is preferably acted upon by a user for moving via a handle 1 14. The handle 1 14 is preferably connected to the loading section 112.

Preferably, the trolley 100 has at least one wheel. Preferably, the trolley 100 has at least one front wheel 122 and one rear wheel 124. Particularly preferably, the transport vehicle 100 has two front wheels 122 and two rear wheels 124, wherein in FIG. 1 only one front wheel 122 and one rear wheel 124 are shown.

According to one embodiment, at least one wheel 122, 124 is designed as a steering roller for steering the transport carriage 100. Preferably, the front wheels 122 are formed as castors for steering the trolley 100, wherein the Rear wheels 124 are preferably fixed or arranged for straight ahead. Illustratively, the front wheels 122 designed as castors are arranged in the region of the handle 114, however, the rear wheels 124 can also be arranged in the region of the handle 14 or the front wheels 122 designed as castors can be at the end of the transport device 100 facing away from the handle 14 be arranged. Preferably, the at least one electric drive wheel (212, 214 in FIG. 2) is designed in the manner of a rear wheel 124 or a fixed wheel designed for straight running.

It should be noted, however, that the design of the transport device 100 as a transport vehicle has only exemplary character and is not to be understood as limiting the invention. Thus, the transport device 100 can also be designed in the manner of any other transport device having at least one electric drive wheel (212, 214 in FIG. 2), e.g. like a wheelbarrow, a sack truck, a stroller, a kick-scooter, or an e-bike. In this case, the transport device 100 may have only one electric drive wheel, or a plurality of electric drive wheels. In this case, at least one wheel of a plurality of wheels assigned to the transport device 100 can be designed as an electric drive wheel. Furthermore, each wheel of a plurality of wheels assigned to the transport device 100 can also be designed as an electric drive wheel.

Furthermore, the transport device 100 is preferably associated with a control device (250 in FIG. 2) for controlling the at least one electric drive wheel (212, 214 in FIG. 2). According to the invention, the control device (250 in FIG. 2) is designed to control the at least one electric drive wheel (212, 214 in FIG. 2) as a function of a user force Fu1, Fu2 of a user of the transport device 100 acting on the transport device 100. In this case, the user force Fu1, Fu2 preferably attacks the handle 1 14 of the transport device 100.

According to one embodiment, at least one force sensor 140 is assigned to the at least one electric drive wheel (212, 214 in FIG. 2) for determining the user force Fu1, Fu2. Illustratively, a force sensor 140 is in the range of Rear wheel 124 arranged. The force sensor 140 is preferably arranged on a holder of the rear wheel 124 arranged on the loading section 112. The force sensor 140 is preferably arranged on an underside of the loading section 112 facing the rear wheel 124.

It is noted, however, that the force sensor 140 is associated with the rear wheel 124 only by way of example, however, the force sensor 140 may also be associated with the front wheel. Preferably, the force sensor 140 is associated in particular with a wheel arranged fixedly or for straight-ahead travel. The force sensor 140 is preferably assigned to a wheel associated with the electric drive motor (212, 214 in FIG. 2).

A determination of the user force Fu1, Fu2 in dependence on a force Fx, Fz measured by the force sensor 140 is preferably made possible. Here, the force Fx acts along an x-axis 101 of a coordinate system 104 and the force Fz acts along a z-axis 103. In addition, the coordinate system 104 also has a y-axis 102. The coordinate system 104 is arranged in FIG. 1 such that a movement direction 109 of the transport device 100 takes place in the direction of the x-axis 101.

When the transport device 100 is moved by the user force Fu1, Fu2 of a user in the direction of movement 109, the transport article 130 illustratively experiences an acceleration m * a in the negative direction of movement 109. Furthermore, the front wheels 122, preferably designed as castors, preferably experience a force Fex in the x direction. Direction or along the negative x-axis

101. The rear wheels 124 preferably experience a force Fsx in the direction of movement, or in the x-direction, and a force Fsz in the z-direction. The forces Fsx and Fsz are preferably determined by the at least one force sensor 140. However, one force sensor can determine the force Fsx and another force sensor the force Fsz.

FIG. 2 shows, by way of example, an underside of the transport device 100 of FIG. 1. FIG. 2 illustrates the front wheels 122 designed as castors, which are preferably arranged in the region of the handle 114. Furthermore, 2 shows the two rear wheels 124, wherein the upper rear wheel 124 in FIG. 2 as the electric drive wheel 212 and the lower rear wheel 124 in FIG. 2 as the electric drive wheel 214 are formed. In this case, the drive wheel 212 is assigned a torque M1 and a rotational speed n1, and the drive wheel 214 is assigned a torque M2 and a rotational speed n2.

Furthermore, FIG. 2 illustrates an exemplary control device 250 for controlling the at least one, illustratively, the two electric drive wheels 212, 214. Illustratively, the control device 250 is disposed between the two drive wheels 212, 214, but may also be located at any other location on the transport device 100 may be arranged. As described above, the control device 250 is preferably designed to control the drive wheels 212, 214 in response to the user force Fu1, Fu2 of a user of the transport device 100 acting on the transport device 100.

In this case, the control device 250 is preferably designed to control the user force Fu1, Fu2 as a function of the assigned mass m of the at least one transport object 130, a friction value (Fr in FIG. 3) of the respective electric drive wheel 212, 214, the torque M1, M2 respective electric drive wheel 212, 214, and / or a respective acceleration ax1, ax2 of the transport device 100 to determine. Here, preferably, the assigned mass m, the friction value (Fr in Fig. 3), the torque M 1, M2 and / or the acceleration ax1, ax2 calculated and / or measured values.

Preferably, the control device 250 is assigned at least one inertial sensor 222, 224 for measuring an acceleration ax1, ax2 and / or an angular speed w2, w2 of the transport device 100. Illustratively, an inertial sensor 222, 224 is associated with each drive wheel 212, 214, wherein the inertial sensor 222 is assigned to the drive wheel 212 and the inertial sensor 224 to the drive wheel 214. In this case, the inertial sensors 222, 224 are arranged in the region of the respectively assigned drive wheel 212, 214. The inertial sensors 222, 224 are preferably arranged on the respective drive wheel 212, 214. In this case, the inertial sensors 222, 224 are preferably designed to detect an acceleration ax1, ax2 and / or angular velocity w1, w2 in three dimensions. As a result, an acceleration ax1, ax2 in the x direction of the coordinate system 104 of FIG. 1, an acceleration ay1, ay2 in the y direction and an acceleration az1, az2 in the z direction can be detected. Analogously, an angular velocity wx1, wx2 in the x-direction, an angular velocity wy1, wy2 in the y-direction and a velocity wz1, wz2 in the z-direction can be determined.

According to one embodiment, a determination of the user force Fu1, Fu2 in a starting operation of the transport device 100 in dependence on the force acting vertically to the direction of movement 109 of the transport device 100 Fz. Furthermore, a determination of the user force Fu1, Fu2 from a predetermined speed n1, n2 of respective electric drive wheel 212, 214 in response to the force Fx acting in the direction of movement 109 of the transport device 100.

FIG. 3 shows an exemplary control device 250 of the transport device 100 of FIGS. 1 and 2, wherein the transport device 100 has by way of example only the inertial sensors 222, 224 of FIG. 2. Here, the user force Fu1, Fu2 is calculated from an estimated minimum value m #, a friction value Fr, and the measured acceleration ax1, ax2 and the estimated torque M1 #, M2 #.

Preferably, the rotational speeds n1, n2 and the accelerations ax1, ax2 and the angular speeds w1, w2 of the drive wheels 212, 214 are supplied to the control device 250. As described above, the inertial sensors 222, 224 determine the accelerations ax1, ax2 and the angular velocities w1, w2. Furthermore, each drive wheel 212, 214 is preferably individually controlled, so that preferably a respective drive wheel 212, 214, a speed sensor 398, 399 is assigned, which determines the respective speed n1, n2 of the drive wheel 212, 214. In addition, the controller 250 is preferably associated with a friction estimate 327 and / or a mass estimate 328. The friction estimate 327 preferably determines from the accelerations ax1, ax2 and the rotational speeds n1, n2 a friction value Fr of the drive wheels 212, 214, and / or the mass estimate 328 determines an estimated mass m # of the at least one transport object 130.

Furthermore, the control device 250 preferably has a steering assistance device 329 for generating a steering torque ΔΜ. The steering support device 329 is preferably designed to act on the electric drive wheels 212, 214 with the steering torque ΔΜ for steering assistance. A determination of the steering torque .DELTA.Μ is preferably carried out as a function of the angular velocity w1, w2, the torque M1, M2 and / or the friction value Fr of the electric drive wheels 212, 214. The steering torque .DELTA.Μ is a torque control 322, 324 of the drive wheels 212, 214, respectively , In this case, the steering torque .DELTA.Μ is added during cornering at a torque control 322, 324 of a drive wheel 212, 214 and subtracted at the other torque control 324, 322.

The torque control 322, 324 is preferably associated with the controller 250. Here, the torque control 322, 324 for determining a motor current l_Motor1, l_Motor2 of the respective electric drive wheel 212, 214 based on the user force Fu1, Fu2 and a predetermined setpoint torque M_Soll or M1_Soll, M2_Soll formed. The determined motor current I motor 1, I motor 2 is in each case supplied to a motor 312, 314 assigned to the respective drive wheel 212, 214. Preferably, the motor 312, 314 is designed as a permanent-synchronous motor and preferably gives an actual torque M1_lst, M2_lst to the drive wheel 212, 214 on. With the respective actual torque M1_lst, M2_lst, the respective drive wheel 212, 214 or the transport device 100 is preferably moved.

At the same time, the respective motor current I motor 1, I motor 2 is conducted to a preferably mathematical model 320 of the permanent-synchronous motors 312, 314. The mathematical model 320 of the permanent-synchronous motors 312, 314 is preferably configured to calculate the torque M1, M2 back from the respective motor current I motor 1, I motor 2, or to determine a preferably estimated torque M 1 #, M 2 #.

Furthermore, the control device 250 preferably has a user force estimation 332, 334, which is designed to determine the user force Fu1, Fu2 applied to the handle 1 14. Here, the user power estimation 332, 334 preferably determines an estimated user force Fu1 #, Fu2 # on the basis of the estimated torque M1 #, M2 #, the estimated mass m # and the acceleration ax1, ax2. The estimated user force Fu1 #, Fu2 # is then preferably applied via a function F1 with a setting factor K. The adjustment factor K is preferably adjustable by a user of the transport device 100, wherein by the adjustment factor K, the movement support, which is effected by the drive wheels 212, 214, is adjustable. The user force Fu1 #, Fu2 # combined with the setting factor K via the function F1 are then fed to the torque control 322, 324. Preferably, the user force Fu1 #, Fu2 # and the adjustment factor K are superimposed with the steering torque ΔΜ and thus form a setpoint torque M1_Soll, M2_Soll.

It should be noted that the # # sizes are estimates, which should not be construed as limiting the invention. Estimates in the context of the present invention are understood as a calculation of the respective values via physical quantities. However, these values may be e.g. be determined exactly by a measurement within predetermined tolerances.

FIG. 4 shows an exemplary control device 450 of the transport device 100 of FIGS. 1 and 2, which according to a further embodiment has the inertial sensors 222, 224 and the force sensors 140 of FIG. 1 and preferably for straight ahead travel, ie without steering operation , is designed. The control device 450 has the inertial sensors 222, 224 for determining the accelerations ax1, ax2 and the angular speeds w1, w2, and the force sensors for determining the forces Fx, Fz or Fx1, Fx2, Fz1, Fz2 of the respective drive wheels 212, 214 140 provided. The control device 450 Preferably, the user force Fu # preferably averages three different processes. An adjustment or the switching of the respective processes preferably takes place in a state machine ("finite state machine"), which preferably sets a suitable process as a function of the rotational speeds n1, n2 and / or the forces Fx, Fz.

In this case, the user force Fu # is preferably determined via the inertial sensors 222, 224 and the force sensors 140 during a starting process and a movement process. In addition, in a further process, in which a determination of the forces Fx, Fz or Fx1, Fx2, Fz1, Fz2 by the force sensors 140 is not possible, the user force Fu # is determined solely via the inertial sensors 222, 224. Such a process may e.g. after a startup operation when a given value of a speed is exceeded.

Preferably, in a start-up operation in the longitudinal direction or in the direction of movement 109, which is equal to the x-direction, a user force estimate 422 is used. The user force estimation 422 takes place in the x direction via the force Fz. The force Fz is preferably a sum of the forces Fz1 and Fz2 of the force sensors 140 of the two drive wheels 212, 214. In this case, a user request is preferably recognized discreetly. Preferably, the user power estimation 422 is supplied with the torques M1 #, M2 #, the accelerations ax1, ax2, the mass m #, and the force Fz. Is preferred from a predetermined longitudinal speed of

Transport device 100 determines the user power via a user force estimate 424. In this case, the determination takes place via the force Fx, which, analogous to the force Fz, is a sum of the forces Fx1, Fx2. The user power estimation 424 is supplied with the torques M 1 #, M2 #, the accelerations ax1, ax2, the mass m #, as well as the force Fx and the friction value Fr #.

If a force measurement via the force sensors 140 is not possible, the user force determination is preferably carried out by means of the user force estimation 426, which determines the user force without the forces Fx, Fz. The user power estimate 426 determines the User force in the x direction via the inertial sensors 222, 224 or the acceleration a. The user power estimation 426 is supplied with the torques M1 #, M2 #, the accelerations ax1, ax2, the mass m #, and the friction value Fr #.

The estimated user force Fu # then preferably determines a setpoint torque M_Soll with a setting factor Kx. By the adjustment factor Kx the movement support in the x-direction, which takes place through the drive wheels 212, 214, adjustable. The adjustment factor Kx as well as a setting factor Ky for a movement support in the y-direction is preferably used for a K-factor

Determination 412 determined. The K-factor determination 412 preferably determines the adjustment factors Kx and Ky from the accelerations ax1, ax2, the rotational speeds n1, n2 and the forces Fx1, Fx2. Furthermore, the friction estimate 327 preferably determines from the accelerations ax1, ax2, the speeds n1, n2 and the forces Fx1, Fx2 the friction value Fr # of the drive wheels

212, 214, and / or the mass estimate 328 determines an estimated mass m # of the at least one transport item 130. The target torque M_Soll is then fed to the torque control 322, 324 as M1_Soll and / or M2_Soll.

5 shows an exemplary control device 550 of the transport device 100 of FIG. 1 and FIG. 2, which analogously to the embodiment of FIG. 4 has the inertial sensors 222, 224 and the force sensors 140 of FIG. 1 and is designed for a steering operation. The user force estimation 522 takes place in the y direction via the force Fz. The force Fz is preferably a sum of the forces Fz1 and Fz2 of the force sensors 140 of the two drive wheels 212, 214. In this case, a user request is preferably recognized discreetly. Preferably, the user power estimation 522 is supplied with the torques M1 #, M2 #, the accelerations ax1, ax2, the mass m, and the force Fz.

In addition, the control device 550 is preferably associated with a steering assistance 529. The steering assist 529 is preferably supplied with the torque M1 #, the friction value Fr, and the angular speeds w1, w2. Preferably, the steering assist 529 generates the steering torque ΔΜ. at a startup process, the user request for a steering assistance can preferably be estimated or recognized on the basis of a measurement of the force Fz. If the user request is detected, then the transport device 100 automatically starts to move until a predetermined angular speed of the 5 drive wheels is exceeded. Thereafter, preferably only one rotational support by the inertial sensors 222, 224 takes place.

Switching over the user request estimation is preferably carried out via a finite state machine 532, which preferably, as described above, switches on the user power estimate 522 or the steering assistance 529 as a function of the speed w1, w2 A function F2 superimposes the steering torque ΔΜ on the setting factor Ky and preferably forms the setpoint torque M1_Soll5 or M2_Soll with the setpoint torque M_Soll analogous to the control device 450, the setpoint torques M 1_Soll and / or M2_Soll of the torque control 322 , 324 supplied.

FIG. 6 shows an optional drive 600 of preferably two drive wheels 212, 214 of the transport device 100 of FIGS. 1 and 2. Preferably, the optional drive 600 is assigned to the control device 250 of FIG. 2.

According to a further embodiment, however, the driver 600 may also be used independently of the control device 250 in a transport device 100 embodied as a smart wheel. 5 The control 600 is preferably designed to the two drive wheels

212, 214 to control the movement. Preferably, the drive 600 is designed as a master-slave control, wherein one of the two drive wheels 212, 214 is designed as a master drive wheel 602 and the other as a slave drive wheel 604. Preferably and illustratively, the drive wheel 0 212 is the master drive wheel 602 and the drive wheel 214 is the slave drive wheel

604 formed. The master drive wheel 602 is configured to control the slave drive wheel 604. This allows a simplified control of the two drive wheels 212, 214 are possible, since not every drive wheel 212, 214 must be controlled separately, but only the master drive wheel 602 is driven.

It is important to know where or on which side of the transport device 100 the master drive wheel 602 is arranged. In one embodiment, the master drive wheel 602 is disposed at a fixed position, illustratively at the left in FIG. 6. As a result, a reprogramming of the software and / or hardware associated with the electronics can be dispensed with. It should be noted, however, that the embodiment of the left in Fig. 6 drive wheel 212 as master drive 602 has only exemplary nature and is not to be understood as limiting the invention. Thus, the right in Fig. 6 illustratively right drive wheel 214 may be formed as a master drive wheel.

In FIG. 6, the inertial sensors 612, 614 assigned to the drive wheels 212, 214, 602, 604 are preferably arranged on the handle 1 14 of the transport device 100. According to the invention, the two inertial sensors 612, 614 are preferably connected via a connection 622, 624 to the master drive wheel 602.

7 shows the transport device 100 of FIG. 1 and FIG. 2 with the two front wheels 122 designed as castors and the two rear wheels 124 designed as drive wheels 212, 214, which are analogous to FIG. 6, but by means of an alternative master-slave Control are interconnected. Analogous to FIG. 6, the alternative master-slave control is assigned to the control device 250 of FIG. 2. According to a further embodiment, however, the master-slave control of FIG. 7 may also be used independently of the control device 250 in a transport device 100 embodied as a smart wheel. In this case, in the alternative master-slave control of FIG. 7, the master drive wheel 602 can be flexibly arranged on the right or left side.

To find out whether the drive wheel 212 or the drive wheel 214 is designed as a master drive wheel 602, a learning process is preferably performed. In this case, the transport device 100 is preferably along at least pushed a curve, wherein preferably the engine is turned off. Illustratively, the drive wheel 212 drives a curved path 702 and the drive wheel 704 a curved path 704, wherein the curved path 702 is illustratively longer than the curved path 704. Furthermore, a user experiences a force 712 on the handle 114 in the region of the drive wheel 212 or illustratively above, and a force 714 in the region of the drive wheel 214. The force 712 is illustratively greater than the force 714. The inertial sensors determine the position or position where the master drive wheel is located. Preferably, the inertial sensors are assigned to the drive wheels 212, 214, preferably integrated in them. The result can preferably be stored in a memory and / or feedback can be output to the user, eg via a user interface, for example via a display.

Only after a successful learning process can preferably the drive wheels 212, 214 are started. The learning process preferably has to be performed only once, e.g. after an assembly of the drive wheels 212, 214. The learning process can be repeated at any time.

FIG. 8 shows the transport device 100 of FIG. 1 and FIG. 2 and FIG. 4 and / or FIG. 5 and illustrates an optional user presence recognition 810 preferably assigned to the control device 250. The user presence recognition 810 is preferably assigned to the control device 250. According to a further embodiment, however, the user presence recognition 810 can also be used independently of the control device 250 in a transport device 100 embodied as a smart wheel. The user presence recognition 810 is preferably designed to determine the presence of a user of the transport device 100. Thereby, a functional safety and / or an improvement of a system control quality can be made possible. In this case, the user presence recognition 810 preferably recognizes at least the presence of a person in the immediate vicinity and / or a touch of a person, preferably the user, on the handle 1 14.

For this purpose, the user presence recognition 810 preferably has a radio-based sensor solution. The wireless sensor solution can simplify Serving the transport device 100 are made possible because a user no preset controls, such as in the handle 1 14 integrated sensors must operate. According to one embodiment, the user presence recognition 810 works self-sufficient in energy, but can also be operated by means of at least one battery. For example, a thermoelectric generator (TEG) and / or inductors can be provided for the power supply.

The radio-based sensor solution preferably has at least one radio unit 822, 824, 826, 828 which emits a radio signal 812, 814, 816, 818. The user presence recognition 810 is preferably designed to carry out a permanent evaluation of the radio signal 812, 814, 816, 818 of the at least one radio unit 822, 824, 826, 828 or their reception strength. The at least one radio unit 822, 824, 826, 828 preferably has a special antenna design for this purpose. Preferably, a time profile of the reception strength is generated, which is preferably evaluated by means of algorithms. Here, a presence of a person in the vicinity of the transport device 100 and / or a touch of the handle 1 14 preferably generates a characteristic pattern, which allows a conclusion on a presence. A comparison pattern is created during a calibration in which no one is in the presence of the transport device 100 and / or no contact of the handle 1 14 occurs.

The at least one radio unit 822, 824, 826, 828 is preferably arranged on the transport device 100, preferably on the handle 114 and / or on the drive wheel 212, 214. Illustratively, the transport device 100 has four radio units 822, 824, 826, 828. In this case, the handle 1 14 is preferably divided into two areas 802, 804, an illustratively left area 802 and an illustratively right area 804. Preferably, each area 802, 804 is assigned to one hand of a user. In this case, the left-hand area 802 is a radio unit 822 with a radio signal 812 and the right-hand area 804 is one

Radio unit 824 associated with a radio signal 814. Furthermore, the illustratively right drive wheel 212 is preferably assigned a radio unit 826 with a radio signal 816, and the illustratively left drive wheel 214 is assigned a radio unit 828 with a radio signal 818. The permanent evaluation of the Receiving power is preferably carried out at least at one radio unit 822, 824, 826, 828, preferably at least between two radio units 822, 824, 826, 828. In this case, the permanent evaluation of the reception strength between a range 802, 804 of the handle 1 14 to the other area 804 , 802 of the handle 114 or between their radio signals 812, 814 and / or from a range 802, 804 of the handle 114 to a drive wheel 212, 214 or between the radio signals 812, 814, 816, 818. The radio units 822 are preferred , 824, 826, 828 designed in the manner of Bluetooth transmitters.

In addition, the radio unit 822, 824 can optionally be assigned a sensor which is designed to prevent a misdetection. This sensor can e.g. a pyroelectric sensor detecting a body temperature and so e.g. activating the drive wheels 212, 214 due to an object, e.g. a towel, can prevent. It should be noted that a wired embodiment is possible, wherein the wheels associated radio units 826, 828 associated with the handle 114 radio units 822, 824 must be connected.

It should be noted that the control device 250 of the transport device 100, the drive 600 of FIG. 6, the drive of FIG. 7 and / or the user presence recognition 810 can be combined with one another. For example, the control device 250 of the transport device 100 can be combined with the drive 600 of FIG. 6 and / or the drive of FIG. 7. Furthermore, the controller 250 may be combined with the user presence detection 810. In addition, the control 600 of FIG. 6 and / or the control of FIG. 7 may also be combined with the user presence detection 810. However, the controller 250, the driver 600 of FIG. 6, the driver of FIG. 7, and / or the user presence detector 810 may also independently apply to a transport device 100 configured as a smart wheel.

Claims

claims

1. Transport device (100) for transporting at least one transport article (130) having an assigned mass (m), with at least one electric drive wheel (212, 214), the at least one electric motor (312, 314) for movement support of the transport device ( 100), and with a control device (250) for controlling the at least one electric drive wheel (212, 214), characterized in that the control device (250) for controlling the at least one electric drive wheel (212, 214) in response to a the user device (Fu1, Fu2) acting on the transport device (100) of the user

Transport device (100) is formed.

2. Transport device according to claim 1, characterized in that the control device (250) for determining the user force (Fu1, Fu2) as a function of the assigned mass (m), a friction value (Fr) of the at least one electric drive wheel (212, 214), a torque (M 1, M2) of the at least one electric drive wheel (212, 214) and / or a respective acceleration (ax1, ax2) of the transport device (100) is formed.

3. Transport device according to claim 2, characterized in that the assigned mass (m), the friction value (Fr), the torque (M1, M2) and / or the acceleration (ax1, ax2) are calculated and / or measured values.

4. Transport device according to one of the preceding claims, characterized in that the control device (250) at least one inertial sensor (222, 224) for measuring an acceleration (ax1, ax2) and / or an angular velocity (w2, w2) of the transport device ( 100) is orders.

Transport device according to claim 4, characterized in that the inertial sensor (222, 224) on the at least one electric drive wheel (212, 214) is arranged.

Transport device according to one of the preceding claims, characterized in that associated with the at least one electric drive wheel (212, 214) is a force sensor (140) for determining the user force (Fu1, Fu2) in dependence on a force measured by the force sensor (140) Force (Fx, Fz) to allow.

Transport device according to claim 6, characterized in that the determination of the user force (Fu1, Fu2) in a starting operation of the transport device (100) in response to a force acting vertically to a direction of movement (109) of the transport device (100) force (Fz).

Transport device according to claim 6, characterized in that the determination of the user force (Fu1, Fu2) from a predetermined speed (n1, n2) of the at least one electric drive wheel (212, 214) in dependence on a in a direction of movement (109) of the transport device ( 100) acting force (Fx) takes place.

Transport device according to one of the preceding claims, characterized in that at least one steerable wheel (122) is provided and the control device (250) has a steering assisting device (329; 529) for generating a steering torque (ΔΜ), wherein the steering assisting device (329; 529) for acting on the at least one electric drive wheel (212, 214) is formed with the steering torque (ΔΜ) for a steering assistance.

10. Transport device according to claim 9, characterized in that a determination of the steering torque (ΔΜ) in dependence on an angular speed (w1, w2), a torque (M1, M2) and / or a friction value (Fr) of the at least one electric drive wheel (212, 214).

1 1. Transport device according to one of the preceding claims, characterized in that the control device (250) for controlling the at least one electric drive wheel (212, 214) has a torque control (322, 324), wherein the torque control (322, 324) for determining a motor current (l_Motor1, l_Motor2) of the at least one electric drive wheel (212, 214) based on the user force (Fu1, Fu2) and a predetermined setpoint torque (Msoll) is formed.

12. Transport device according to one of the preceding claims, characterized in that the movement support via a control device (250) supplied adjustment factor (K) by a user of the transport device (100) is adjustable.

13. Transport device according to one of the preceding claims, characterized in that the at least one electric drive wheel (212, 214) has at least one electric motor, a transmission and an electronics, which are arranged within the at least one electric drive wheel (212, 214).

14. Transport device according to one of the preceding claims, which is designed in the manner of a trolley, a wheelbarrow, a sack truck, a stroller, a kick-scooter, or an e-bike.

15. A control device (250) for controlling at least one electric drive wheel (212, 214) of a transport device (100) for transporting at least one transport object (130) having an assigned mass (m), wherein the at least one electric drive wheel (212, 214) is associated with at least one electric motor (312, 314) for assisting the movement of the transport device (100), characterized in that the control device (250) for controlling the at least one electrical see drive wheel (212, 214) in response to a transport device (100) acting on the user force (Fu1, Fu2) of a user of the transport device (100) is formed.