EP3740413A1 - Dispositif de transport, en particulier landau, comprenant une unité d'entraînement électrique - Google Patents

Dispositif de transport, en particulier landau, comprenant une unité d'entraînement électrique

Info

Publication number
EP3740413A1
EP3740413A1 EP18811162.9A EP18811162A EP3740413A1 EP 3740413 A1 EP3740413 A1 EP 3740413A1 EP 18811162 A EP18811162 A EP 18811162A EP 3740413 A1 EP3740413 A1 EP 3740413A1
Authority
EP
European Patent Office
Prior art keywords
transport device
drive unit
electric drive
control device
acceleration sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18811162.9A
Other languages
German (de)
English (en)
Inventor
Joerg Baur
Norbert Martin
Jochen Pfister
Bertram SCHILLINGER
Stefan Groh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3740413A1 publication Critical patent/EP3740413A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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

Definitions

  • Transport device in particular stroller, with an electric drive unit
  • the present invention relates to a transport device, in particular a stroller, with a chassis and with a handle for a user, wherein on the chassis at least one drivable by means of an electric drive unit driving wheel for at least partially support a manual sliding or pulling operation of the transport device is arranged by the user and the electric drive unit can be controlled by means of a control device associated with the transport device. Furthermore, the invention relates to a method for determining a respective condition of a substrate on which a transport device is moved.
  • transport devices designed as prams are known from the prior art, which have electrical drives for the active sliding support of a user.
  • electrical drives for the active sliding support of a user.
  • Optical camera systems are often used for this purpose, the images of which are preferably evaluated in real time with the aid of image evaluation algorithms for detecting various substrates.
  • the present invention provides a transport device, in particular a stroller, with a chassis and with a handle for a user wherein at least one drive wheel drivable by means of an electric drive unit is arranged on the chassis for at least partially assisting a manual shift or pull 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 By evaluating sensor signals which are detected by at least one acceleration sensor associated with the transport device, the control device is configured to detect a condition of a respective background on which the transport device is moved in order to improve one allow appropriate electronic control of the electric drive unit by means of the control device.
  • the control of the electric drive unit can be improved or optimized, where out a high ease of use for the user results.
  • the electric drive unit is integrated in the at least one drivable drive wheel.
  • the electric drive unit is integrated in the at least one drivable drive wheel.
  • At least two drive wheels each associated with a front axle and / or a rear axle of the chassis, can each be driven independently of one another by means of an associated electric drive unit.
  • the electric drive acts symmetrically or on both sides on the transport device.
  • the transport device can be used on practically all occurring substrates without loss of comfort.
  • the sensor signals detected by the at least one acceleration sensor enable at least substantially a determination of acceleration values perpendicular to the ground over time (t). As a result, a sufficient reliability of the determination of the condition of the ground is possible.
  • the at least one acceleration sensor is a 3D acceleration sensor for detecting acceleration values in three directions of the space.
  • the invention relates to a method for determining a respective condition of a substrate on which a transport device, in particular a stroller, in particular a transport device as described above, is moved.
  • a transport device in particular a stroller, in particular a transport device as described above, is moved.
  • step d) assigning the amplitude sum calculated in step c) to a preferably empirically ascertained reference amplitude sum of different frictional forces of different substrates for determining a background on which the child car is currently being moved.
  • the decomposition of the acceleration values into discrete individual frequencies takes place by means of a Fourier transformation.
  • a calculation model that is comparatively quickly numerically evaluable today is available.
  • the one amplitude sum of the acceleration values is calculated by summing n squares of n individual amplitudes of the individual frequencies and then dividing them by the number n. This results in a characteristic value of an amplitude sum for each background.
  • At least the empirically determined reference sum amplitudes of different frictional forces of different backgrounds are stored in a look-up table. This makes it possible to record the nature of a substrate very quickly and precisely.
  • the look-up table stored in the control device is preferably a value table that is well known from information technology.
  • At least acceleration values are recorded in three spatial directions.
  • 1 shows a side view of a transport device designed as a stroller with a recognition of the nature of a substrate on which the transport device is moved
  • 2 shows a greatly simplified block diagram of the sequence of the method according to the invention for determining the condition of a substrate on which a transport device is moved.
  • the stroller 100 preferably comprises e.g. scissor-type collapsible chassis 102, on which illustratively a recliner or seat pan 104 is arranged.
  • a handle 110 is generally arranged, preferably as a height-adjustable, U-shaped bracket or as a handle bar for a push or pull operation of the stroller 100 in the direction of a double arrow 112 on a substrate 1 14 by a in the Drawings not shown user is formed.
  • a pulling operation of the pushchair 100 is exemplified by a dashed section of the double arrow 112, while a corresponding pushing operation of the pushchair 100 is indicated by a portion of the double arrow 1 12 shown by a solid line.
  • the stroller 100 preferably has at least three wheels 120, 122, 124, 126.
  • two wheels on a rear axle 130 and a wheel on a front axle 128 are arranged, however, two wheels on the front axle 128 and a wheel on the rear axle 130 may be arranged.
  • Four wheels 120, 122, 124, 126 are provided here on the chassis 102 by way of example only, with the wheels 120, 124, which are only visible here and located further forward relative to the plane of the drawing, each having the two wheels 122, 126 lying further behind in relation to the plane of the drawing cover.
  • the wheels 120, 122 are preferably on both sides of the front axle 128 and the wheels 124, 126 are fastened to the rear axle 130 of the chassis 102 of the baby carriage 100.
  • At least one wheel is preferably designed as a drive wheel 132, 134.
  • the at least one drive wheel 132, 134 may be driven by an electric motor by means of at least one electric drive unit 140, 142.
  • the at least one drive wheel 132, 134 may be attached to the front axle 128 and / or the rear axle 130. orders be.
  • At least two wheels are preferably designed as drive wheels 132, 134.
  • the two wheels 124, 126 assigned to the rear axle 130 are preferably designed in each case as drive wheels 132, 134, which preferably serve to at least partially support the manual pushing or pulling operation of the pushchair 100 by the user.
  • the drive wheels 132, 134 are each preferably driven independently of one another directly or indirectly via an unillustrated transmission by means of an electric drive unit 140, 142 and can be precisely controlled by means of a control device 200 or control device arranged by way of example in the region of the rear axle 130.
  • the frictional force FR counteracting the direction of movement of the baby carriage 100 when a user force Fu is applied to the bracket 10 is, as indicated by the solid double arrow 1 12, equal to the product from the Ge in the case of the horizontally extending base 1 14 - weight force F g or in this constellation equal normal force F N and the friction coefficient m of the substrate 114.
  • the tire is bung force to a considerable extent by the means of the control device 200 and the at least one acceleration sensor 150 to be determined loading Creativity of Underground 1 14.
  • the measuring signals also to the control device 200 ggfls. for further evaluation and for consideration in the detection of the condition of the substrate 1 14 can be transmitted.
  • the stroller 100 preferably has at least one acceleration sensor 150, which is formed at least for detecting acceleration values a z along the z-axis of the coordinate system 199.
  • the acceleration sensor 150 can be realized with a 3D acceleration sensor which records a detection of acceleration values a x , a y , a z along the x-axis, the y-axis and the z-axis of the coordinate system 199, respectively and, if appropriate, additionally the measurement of rotational accelerations about the x-axis, y-axis, z-axis of the coordinate system 199 so that a complete detection of the movement of the baby carriage 100 in space during the electromagnetically assisted sliding movement. and drawing operation becomes possible.
  • Electrical measurement signals 152 of the at least one acceleration sensor 150 are fed to the control device 200 for further evaluation within the framework of the determination of the condition of the substrate 11. Notwithstanding the positioning of the acceleration sensor 150 in the region of the one drive wheel 132 of the rear axle 130, which is only shown here by way of example, it can also be arranged on the chassis 102, the lying or sitting trough 104 or at any other location on the baby carriage 100.
  • the substrate 1 14 on which the stroller 100 moves it may be, for example, asphalt, gravel, pavement of any design, screed, a green area, arable land, sand, watts, ice and / or snow.
  • the substrate 114 may also have any desired surface topography, that is, e.g. plan, wavy, partially inclined, bumpy or rippled.
  • All of these different properties of the substrate 114 can be reliably and independently of external influences, such as the weather and the user, solely by the evaluation of the process supplied by the at least one acceleration sensor 150 measurement signals in the form of at least determined acceleration values az along the z-axis of the coordinate system 199 by the control device 200.
  • the electric drive units 140, 142 in the electrically assisted pushing and pulling operation of the baby carriage 100 can be controlled or regulated in dependence on the respective current condition of the substrate 114 in such a way that the best possible driving experience or a maximum possible driving experience is achieved Ease of use for a child accommodated in the stroller 100 and the user adjusts.
  • the transport device 100 may also be designed in the manner of any other transport device having a background determination according to the invention, e.g. like a wheelbarrow, a sack truck, a garbage bin.
  • a measuring curve 170 shows the course of the vertical acceleration a z of the baby carriage along the z-axis of the coordinate system determined according to a first method step a), preferably by means of the acceleration sensor (cf., Fig. 1, reference numeral 150) (cf. 1, reference numerals 100, 199) over time t.
  • FFT Fast Fourier Transformation
  • the numerically calculated amplitude sum As is assigned a nearest reference amplitude ARI ,..., 4 .
  • the reference amplitudes ARI ,..., 4 of the substrates are determined empirically in a suitable manner by extensive experiments and are preferably in a value table 180 or a "look-up table" within the control device 200 together with likewise determined metrologically and the reference amplitudes ARI ,..., 4 line-by-line associated frictional forces
  • the look-up table 180 includes the mass mw of the baby carriage, which is generally constant and relates to the empty stroller.
  • the exemplary only four AR with respective assigned friction forces FRI ,..., 4 can be empirically determined, for example, by extensive driving tests with the child car on surfaces with different properties.
  • the value FRI stands, for example, for gravel, while FR 2 stands for asphalt or tar, for example, the value F R3 applies to a paved subsoil, while the value FR 4 stands for a substantially smooth, in particular screed-like subsoil , Accordingly, all other textures occurring in practice are handled by a wide variety of substrates.

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

L'invention concerne un dispositif de transport (100), en particulier un landau, comprenant un châssis (102) et une poignée (110) pour un utilisateur, au moins une roue motrice (132, 134) pouvant être entraînée au moyen d'une unité d'entraînement électrique (140, 142) étant disposée sur le châssis (102) pour assurer une assistance au moins partielle lors d'un actionnement manuel par poussée ou traction du dispositif de transport (100) par l'utilisateur, et l'unité d'entraînement électrique (140, 142) pouvant être commandée au moyen d'un dispositif de commande (200) associé au dispositif de transport (100). Selon l'invention, le dispositif de commande (200) est conçu pour permettre d'identifier la nature du sol (114) sur lequel se déplace le dispositif de transport (100) par évaluation de signaux (152) acquis par au moins un capteur d'accélération (150) associé au dispositif de transport (100) afin d'améliorer une régulation électronique correspondante de l'unité d'entraînement électrique (140, 142) au moyen du dispositif de commande (200).
EP18811162.9A 2018-01-18 2018-11-15 Dispositif de transport, en particulier landau, comprenant une unité d'entraînement électrique Withdrawn EP3740413A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018200771.3A DE102018200771A1 (de) 2018-01-18 2018-01-18 Transportvorrichtung, insbesondere Kinderwagen, mit einer elektrischen Antriebseinheit
PCT/EP2018/081430 WO2019141402A1 (fr) 2018-01-18 2018-11-15 Dispositif de transport, en particulier landau, comprenant une unité d'entraînement électrique

Publications (1)

Publication Number Publication Date
EP3740413A1 true EP3740413A1 (fr) 2020-11-25

Family

ID=64556852

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18811162.9A Withdrawn EP3740413A1 (fr) 2018-01-18 2018-11-15 Dispositif de transport, en particulier landau, comprenant une unité d'entraînement électrique

Country Status (5)

Country Link
EP (1) EP3740413A1 (fr)
JP (1) JP2021511251A (fr)
CN (1) CN111565994A (fr)
DE (1) DE102018200771A1 (fr)
WO (1) WO2019141402A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021206057A1 (de) 2021-06-15 2022-12-15 Robert Bosch Gesellschaft mit beschränkter Haftung Transportvorrichtung mit einer Unterstützungsvorrichtung

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1457388B1 (fr) * 2001-12-21 2015-01-21 Kabushiki Kaisha Bridgestone Procede et appareil pour l'estimation de l'etat de la surface d'une route et de l'etat de fonctionnement de pneumatiques
EP1516961B1 (fr) * 2003-09-19 2013-12-25 Ammann Aufbereitung AG Méthode de détermination de la rigidité du sol et dispositif de compactage de sol
CN101537850B (zh) * 2009-04-27 2010-07-28 吴茂盛 后双轮驱动的摇摆式童车
DE102012220312A1 (de) * 2012-11-08 2014-05-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bestimmen von Haftungsbedingungen zwischen einem Rad eines Kraftfahrzeugs und einer Fahrbahn mittels einer variierenden Radaufstandskraft
JP2015047943A (ja) * 2013-08-30 2015-03-16 船井電機株式会社 手動推進車両
JP6299167B2 (ja) * 2013-11-12 2018-03-28 富士通株式会社 凹凸分析プログラム、凹凸分析方法、および凹凸分析装置
DE102013224885A1 (de) * 2013-12-04 2015-06-11 Robert Bosch Gmbh Kinderwagen mit Antriebsunterstützung
DE102015104513A1 (de) * 2015-03-25 2016-09-29 Rolf Strothmann Fahrzeug
JP6620326B2 (ja) * 2015-07-02 2019-12-18 Ｒｔ．ワークス株式会社 手押し車
DE102016209560B3 (de) * 2016-06-01 2017-09-28 Robert Bosch Gmbh Steuerungsverfahren und Steuergerät zur Regelung des Elektromotors für die Schiebehilfe eines Elektrofahrrads
CN206606052U (zh) * 2017-04-14 2017-11-03 浙江好来喜儿童用品有限公司 一种适用于童车的变速箱安装结构

Also Published As

Publication number Publication date
JP2021511251A (ja) 2021-05-06
CN111565994A (zh) 2020-08-21
WO2019141402A1 (fr) 2019-07-25
DE102018200771A1 (de) 2019-07-18

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