EP3999400A1 - Poussette - Google Patents

Poussette

Info

Publication number
EP3999400A1
EP3999400A1 EP20744002.5A EP20744002A EP3999400A1 EP 3999400 A1 EP3999400 A1 EP 3999400A1 EP 20744002 A EP20744002 A EP 20744002A EP 3999400 A1 EP3999400 A1 EP 3999400A1
Authority
EP
European Patent Office
Prior art keywords
force
stroller
slide
stroller frame
section
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.)
Pending
Application number
EP20744002.5A
Other languages
German (de)
English (en)
Inventor
Jiri Hejduk
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.)
Cybex GmbH
Original Assignee
Cybex 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 Cybex GmbH filed Critical Cybex GmbH
Publication of EP3999400A1 publication Critical patent/EP3999400A1/fr
Pending 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
    • 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
    • B62B9/20—Handle bars; Handles
    • 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
    • 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
    • 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
    • B62B5/0073—Measuring a force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
    • B62B7/04—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor
    • B62B7/06—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable

Definitions

  • the invention relates to a stroller frame and a corresponding one
  • Strollers in particular with motor assistance.
  • the object of the invention is to propose a simple, inexpensive and robust, in particular motorized, stroller frame and a corresponding stroller that allow the person operating the stroller to control the stroller in a simple, comfortable and precise manner.
  • This task is particularly carried out by a stroller or a
  • the invention comprises a sensor unit arranged in a grip area of a slide for determining an external force acting on the slide.
  • a non-capacitive measurement method is preferred because people who are who
  • the slide is preferably provided with a sensor system which enables a force (or a related parameter or a parameter derived therefrom) to be determined with which the stroller is pushed or pulled, in particular using the smallest possible number of sensors .
  • the sensor system is preferably integrated into the slide of the stroller in such a way that the slide covers a predominant part of the width or the entire width of the slide and / or in a transition area between (approximately) horizontal sections and (possibly in the direction of a main body of the
  • Stroller (frame) s running) connecting sections of the slide (especially at corners and / or curves of the slide) is designed to be sensitive.
  • the invention relates in particular to a stroller or a frame of a stroller, preferably having one or more wheels (preferably three or four wheels), a slide with at least one grip area and at least one sensor device.
  • the stroller or the frame can also each have one or more front wheel struts, rear wheel struts and / or a child receiving device or adapter for attaching a
  • the stroller or the frame can also have a motor and possibly a control device for the motor.
  • the slide can have one or more approximately horizontal sections (hereinafter: horizontal sections), with an angle between
  • Horizontal section and the horizontal can be smaller than 30 °, preferably smaller than 15 °, in particular also smaller than 5 ° or exactly 0 °.
  • the slide can furthermore have one or more sections (each) running in (at least approximately) vertical planes for connection to further frame elements (hereinafter: connecting sections).
  • the slide can be circumferential, e.g. in the form of an (upturned) U, with a horizontal section and two (at least approximately) parallel, lateral connecting sections, the grip area (possibly the grip areas) being at least partially in the horizontal section.
  • the slide can also be in two parts, namely in the form of two (at least approximately) walking stick and / or crutch-shaped elements, the handle areas of the slide in the upper, curved (the
  • An independent or further developing aspect of the invention is that forces acting on the slide from outside are measured or determined directly (directly) in the grip area of the slide (i.e. not in / on a connecting section, for example).
  • the slide is preferably designed in several parts in the grip area.
  • the slide has a (in particular dimensionally stable) base part, at least one sensor unit (preferably two sensor units) and at least one (in particular dimensionally stable) sheathing part that at least partially encloses the base part and the sensor unit in the grip area of the slide.
  • An intermediate space is provided which enables the sheathing part to move (at least minimally) relative to the base part under the action of external force. Without any external force, the base and
  • the sensor unit is on the base part and on the
  • Sheathing part (force-conducting and / or rigid) attached, the sensor unit preferably being arranged between the base part and the sheathing part.
  • the sensor unit preferably comprises at least one force sensor, such as, for example, a strain gauge, which makes it possible to determine the amount of force along at least one sensitive axis that is applied to the casing part by a user.
  • a force sensor such as, for example, a strain gauge
  • the via the sensor unit (or are those via the
  • connection (s) formed is the only (force-transmitting) connection between the base part and the casing part, so that any external force acting on the casing part is transmitted to the base part via the sensor unit (if it does not work directly, e.g. in the casing part performed, such as deformation work).
  • the base part and the sheathing part are surrounded by a covering, for example made of leather or textile.
  • a covering for example made of leather or textile.
  • such a coating will not transfer forces between the two parts or only transfer them to a comparatively small extent and is the preferred embodiment apart from the
  • Sensor unit not provide a (force-transmitting) connection, therefore not necessarily contrary.
  • Pushing or pulling the stroller in a grip area of the slider preferably leads to the base part and the sheathing part being (minimally) shifted relative to one another.
  • an electrical parameter for example a change in voltage and / or resistance, depending on the sensor design
  • the change in the electrical parameter can be transmitted to a / the by means of a transmission device (for example, by cable or by radio)
  • Control unit are transmitted, whereby, depending on the displacement and applied force, an engine power can be determined that is used to support the wheels of the stroller.
  • the stroller can therefore be supported by an auxiliary drive depending on the external force.
  • the grip area of the slide should preferably be predominantly (over to
  • Connection section (s) be designed to be sensitive. This is achieved by the basic part in the rounding areas by (possibly separate)
  • Rounding sheathing parts is at least partially surrounded.
  • the respective sheathing part in particular a rounded sheathing part, can for example (inexpensively) be produced from plastic, possibly monolithically in each case, but preferably in two or more parts.
  • the respective sheathing part in particular
  • Rounding sheathing part (partially) manufactured by injection molding and / or with a 3D printer.
  • a (or the above) intermediate space can be provided between the rounded casing part and the base part, so that the
  • the rounded casing part preferably has a first projection on a side facing the sensor unit which extends in the space between the base part and the casing part.
  • the first projection of the rounded casing part is preferably part of the (possibly only) connection between the base part and the casing part, so that
  • a connection between the base part, the casing part, the rounded casing part and the sensor is provided (exclusively) via said first projection.
  • the sensor unit can, however, be fastened to the base part at further points, in particular screwed to it.
  • the rounded sheathing part preferably has an edge region, in particular an edge, with which it is attached directly, preferably in a form-fitting manner, to the
  • the edge area can be third
  • the respective sheathing part in particular a rounded sheathing part, can have two shell halves which can be joined together in such a way that they can sheave the base part in a transition area between the horizontal and connecting section.
  • connection between the two shell halves can be made by material bonding (e.g. gluing) - but the connection should preferably be detachable and made by a latching, snap-in and / or screw mechanism.
  • one of the two shell halves can have a second one protruding into the receiving space
  • the second projection can be a locking or
  • Counterpart on the inside of the other shell can cooperate, and / or it can have an internal thread, which with a through a
  • an opening (channel) can be provided in the base part which is (at least slightly) larger (in diameter) than the second projection in order to avoid an undesired connection between the rounded casing part and the base part.
  • two sensor units are integrated in the slide.
  • the sensor units are adjacent to the ends of the
  • At least one sensor unit is installed, preferably two
  • the detection direction of the sensor unit can be inclined forward and downward with respect to the horizontal by an inclination angle of 0 ° to 45 °, preferably 3 ° to 20 °, e.g. (at least approx.) 8 °.
  • An inclination of the sensor unit can also be directed upwards or downwards
  • Rounding cladding part is a (preferably constant) space between (dimensionally stable) base part and cladding part or
  • Rounding sheathing part provided of preferably 0.1 mm to 5 mm, more preferably 0.5 mm to 2 mm, e.g. about 1 mm.
  • the force threshold above which the auxiliary drive intervenes can be between 30N and 7N, in particular between 25N and 10N, preferably (at least approximately) 15N.
  • the sampling rate of the sensor unit can be greater than 5 Hz, in particular greater than or equal to 10 Hz.
  • the sampling rate can furthermore be less than 1 kHz or less than 100 Hz. There is preferably no hysteresis for the
  • capacitive and / or inductive sensors can also be used to measure the displacements between the base part and the Sheathing part / s (and rounding sheathing part / s) to be detected by sensors.
  • capacitive and / or inductive sensors can also be used to measure the displacements between the base part and the Sheathing part / s (and rounding sheathing part / s) to be detected by sensors.
  • Several sections that can be displaced relative to one another would also be conceivable.
  • Rounding sheathing parts can also have other divisions of the
  • sheathing part / s and / or rounding sheathing part / s comprising or consisting of such sheathing may be provided.
  • the entire sheath can consist of (at least) two parts, none of which represents a sheath on its own, but in which the
  • Lower shell or a front shell and a rear shell, may be provided.
  • the other features for example, for joining
  • a stroller or stroller frame comprising a slider for pushing the stroller or stroller frame and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component that acts on the slide, and / or to detect a variable derived from this force or force component, in particular a change in the force or force over time.
  • the at least one force sensor device is configured to apply a force (component) and / or a variable derived therefrom at least over a predominant part (preferably at least 80% or at least 90%) of a (in particular at least substantially horizontal, possibly .
  • a stroller or stroller frame in particular according to aspect A, comprising a slide for pushing the stroller or stroller frame and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component that acts on the slide, and / or for detecting a variable derived from this force or force component, in particular a change in the force or force over time.
  • the at least one force sensor device extends at least over a predominant part (preferably at least 80% or at least 90%) of a (in particular at least essentially horizontally extending, possibly at an angle of less than / equal to 30 ° or less / equal to) 10 ° running) horizontal section of the slide, and / or at least in sections over at least one, in particular curved and / or arched, transition section of the slide between a / the horizontal section of the slide and a (in particular from top to bottom, preferably oblique, running and / or on a main body of the
  • Connecting portion of the slide preferably directly, extends.
  • the above-mentioned object is achieved according to aspect C in particular by a stroller or stroller frame, in particular according to at least one of aspects A or B, comprising
  • a slider for pushing the stroller or stroller frame and at least one force sensor device, in particular for detecting a direction and / or an amount of a force and / or a force component that acts on the slider, and / or for detecting a force or .
  • Force component derived variable in particular a change in the force or force component over time, the force sensor device comprising:
  • a base part which is preferably designed to at least partially accommodate at least one sensor unit (sensor); such as
  • a sheathing part which at least partially sheaths the base part and possibly the at least one sensor unit, preferably in a grip area of the slide, and optionally with the at least one
  • Sensor unit in particular fixed, is connected; the sheathing part being movable with respect to the base part,
  • the at least one sensor unit is designed to detect a movement, in particular a displacement, between the casing part and the base part.
  • At least one motor in particular an electric motor, is preferably used for
  • At least one control device is preferably provided, which is preferably connected to the at least one force sensor device in
  • the control device is preferably designed to control and / or regulate the output of the at least one motor, in particular as a function of the output of the at least one sensor device, for example in discrete steps and / or continuously.
  • the control device is preferably designed to control and / or regulate the output of the at least one motor, in particular as a function of the output of the at least one sensor device, for example in discrete steps and / or continuously.
  • Control device is designed such that at least one motor is started when a first threshold of the force and / or force component and / or the variable derived therefrom is exceeded. Alternatively or additionally, the control device is designed such that at least one motor is stopped or kept at constant power when a second threshold of the force and / or force component and / or the variable derived therefrom is exceeded.
  • the sensor device preferably comprises at least two sensor units (sensors), which preferably each extend at least in sections over a connecting section and / or extend adjacent to opposite ends of the horizontal section and / or extend (beyond) these ends.
  • the sensor device comprises at least or exactly two relatively movable, in particular displaceable, (each one-piece or multi-piece) parts (a first and a second part or, according to the embodiment, the sheathing part and the base part) and at least one sensor unit (sensor) that detects the relative movement ( or relative displacement), in particular an amount of the relative movement (relative displacement).
  • the first part (according to the embodiment, the sheathing part) and the second part (according to the embodiment, the base part) are in (at least substantially) radial direction and / or (at least substantially) in a direction which lies in a plane which starts from a forward direction (when driving straight ahead) and one / the vertical is spanned, movable, in particular displaceable, to one another.
  • the first part (according to the embodiment, the casing part) and / or the second part (according to the embodiment, the base part) is / are firmly connected to at least one sensor unit.
  • At least one sensor unit (the at least one sensor unit) is preferably configured, an electrical resistor or an electrical one
  • At least one sensor unit (the at least one sensor unit) has at least one, possibly two, three, four or more strain gauges (which are preferably in
  • At least one sensor unit (the at least one
  • Sensor unit designed as a bending beam sensor, preferably a torque exerted on a measuring body on at least one, z. B. four, strain gauges, acts, for example one or two
  • Strain gauges are stretched and two strain gauges are compressed, with more preferably four strain gauges being constructed in a bridge circuit to detect changes in resistance from the
  • the base part has a straight section and at least one, in particular exactly one or exactly two curved sections
  • the base part can be made as a solid or preferably as a hollow profile, possibly with polygonal (especially square), z.
  • the sheathing part can have a straight section and at least one, in particular exactly one or exactly two curved sections.
  • the sheathing part can be a solid or preferably as a hollow profile, if necessary with polygonal (especially square), z. B. D-shaped, oval or round cross-section.
  • the basic profile can be formed in one piece (possibly monolithic).
  • the sheathing part can be constructed in several pieces, in particular two, three, four, five or even more pieces (in particular it can be made up of a corresponding number of individual parts, each possibly monolithic)
  • the sheathing part can be constructed at least in sections, in particular in a / the transition section, by two half-shells.
  • the sheathing part can surround the base part (at least (axially) in sections) over an angular range of at least 180 ° or at least 270 ° or at least substantially completely.
  • the above object is also preferably achieved by a method for controlling a stroller or stroller frame, in particular as described above and below, with a force (component) acting on the slide being measured, in particular a direction and / or an amount of a force and / or a force component that acts on a slide and / or a variable derived from this force or force component, in particular a change in the force or force component over time, is recorded.
  • a force (component) acting on the slide being measured, in particular a direction and / or an amount of a force and / or a force component that acts on a slide and / or a variable derived from this force or force component, in particular a change in the force or force component over time, is recorded.
  • Device features (such as a force sensor device), as described above and below, are present.
  • a stroller frame comprising at least one motor, in particular an electric motor, for driving the stroller frame, at least one slide for pushing the stroller frame and
  • the sensor device in particular a force sensor device, is preferably for detecting a direction and / or an amount of a force and / or a force component that acts on the slide and / or for detecting a variable derived from this force or force component, in particular a temporal one Change in the force or force component formed.
  • a force sensor device which detects either the direction or the amount (or both) of a force and / or a force component (or a variable derived from this force or force component). This enables a corresponding Control can be based on the output of the sensor device.
  • the output of a sensor device is to be understood in particular as the output of a measured value and / or the output of an average value from several measured values.
  • the control can then be internal (by a control device provided on or in the stroller frame) and / or externally by a separate one
  • Control device (such as a mobile terminal, in particular
  • the stroller frame (or the corresponding stroller) itself has a control device.
  • the slide is preferably designed in one piece (if necessary with individual parts that can be moved relative to one another).
  • the slide can in particular have a horizontal handle.
  • the slide can also be made up of several pieces (e.g.
  • the force sensor device in particular at least two different force directions (for example forwards and backwards and / or up and down) can be determined and, if necessary, their amount can be determined or at least four directions (for example forwards, backwards, upwards and downwards) ) ascertainable and, if necessary, determinable with regard to your amount.
  • force directions for example forwards and backwards and / or up and down
  • their amount can be determined or at least four directions (for example forwards, backwards, upwards and downwards) ) ascertainable and, if necessary, determinable with regard to your amount.
  • At least two different amounts can be detected with the force sensor device.
  • information is provided in a simple manner by such a force sensor device, which information can advantageously be used to control the motor for driving the stroller or the stroller frame.
  • the stroller frame or the stroller preferably has several motors, in particular electric motors, for driving the stroller frame.
  • a motor is preferably assigned to at least two or exactly two wheels (for example a left and a right wheel or a first side wheel and a second side wheel).
  • a control device for the individual control of the motors can preferably be provided.
  • a sensor device can be provided for detecting a pushing force and / or movement of the stroller frame.
  • a plurality of (in particular at least or exactly two) motors can improve the sliding comfort, especially when cornering, without the need for complex measures (such as, for example, with only one motor with a differential gear).
  • Pushing force is understood in particular as actions or forces that can be directed both forwards and backwards (even if the latter can also be referred to as pulling or pulling force).
  • the at least one (force) sensor device can be on and / or in the
  • Slide in particular a handle of the slide, be arranged and / or be arranged in and / or near a slide fastening area.
  • a slide fastening area is to be understood in particular as an area in which the slide is attached to a main body of the stroller frame. Under an arrangement close to the slider mounting area
  • At least one control device is preferably provided which is in operative connection with the at least one (force) sensor device,
  • Control of the at least one motor is used. This enables the force (or other variable, such as the current movement, for example) to be recorded easily and reliably.
  • the at least one sensor device is designed to detect forces acting on the slide and / or force components and / or variables derived therefrom at at least two different locations.
  • this detection can take place on a first (e.g. left) and a second (e.g. right) side of the slide, in particular a first (e.g. left) and a second (e.g. right) side a handle and / or on two different, in particular each laterally arranged, handles.
  • a left or right side is mentioned here and below, this means in particular a left or right side that results from the viewing direction of the person operating the stroller frame or the stroller.
  • the sensor device is designed to have force components in the direction of movement and / or against
  • Direction of movement in each case horizontal and / or upward and / or downward (in each case vertically) to be determined.
  • corresponding components of a time derivative can be determined.
  • Control device be designed so that the corresponding
  • a drive wheel (or a correspondingly assigned motor) can be controlled depending on the force that is applied to its side (and / or the change in this force over time) and / or on the force (and / or its change over time) applied to the other (opposite) side.
  • the control device is preferably designed to control and / or regulate the power of the at least one motor, in particular on the basis of the output of the at least one sensor device, for example in discrete steps and / or continuously.
  • control device can be designed such that at least one motor is started when a first threshold of the force and / or force component and / or the variable derived therefrom is exceeded.
  • Starting the engine is to be understood in particular as the fact that the engine provides power to drive the stroller frame. In this sense, switching on the motor (which then runs in idle, for example) is not yet starting. However, starting can also mean the first time the motor is switched on (power supply).
  • the control device can be designed in such a way that at least one motor when a second threshold of the force and / or
  • Stopping the motor is to be understood in particular as putting the motor into a state in which it can
  • Stroller no longer drives. If necessary, the engine can still run (for example at idle). However, it can also be switched off permanently
  • the amount of the second threshold can be greater than the first threshold.
  • control device can be designed such that
  • At least one motor when a threshold F d of a downward acting force is exceeded and / or when a threshold F u of an upwardly acting force is exceeded, where F d and F u are possibly the same or different (in terms of amount), and / or when exceeded a threshold F f2 of a forward-acting force and / or when a threshold F r2 of a backward-acting force is exceeded, where F f2 and F r2 are possibly the same or different (in terms of amount), is stopped or is kept at a constant output, where F f2 and / or F r2 is preferably greater, in particular 2 times or 5 times or 20 times as large as / as F u and / or F d .
  • the control device is preferably designed in such a way that the motor, if the value falls below the limit (with previous
  • the control function can also be designed in such a way that at least one motor when a threshold F f1 of a forward-acting force is exceeded and / or when a threshold F r1 of a backward-acting force is exceeded, where F f1 and F r1 are possibly the same or different (in terms of amount) ( and / or possibly when a threshold of a downward force is exceeded and / or when a threshold of an upward force is exceeded, the threshold of the downward force and the threshold of the upward force may be the same or different) is, whereby preferably fn
  • Fn is smaller than F r2 .
  • control device can be designed such that if a (horizontal) force on one of the two sides is positive and a (horizontal) force on the other side is negative (which can correspond to a turn or curve of the stroller) and / or if a temporal
  • Support force does not exceed a predetermined value or that the support of both motors is (completely) stopped or at least significantly reduced.
  • the stroller frame preferably has at least one
  • the speed sensor is designed in particular in such a way that an amount (and possibly a direction) of a current speed (of the stroller frame in relation to a ground) can be determined.
  • the cornering sensor is preferably designed so that a curvature of a turn or curve (in the distance covered by the stroller frame) can be determined.
  • Control device can then optionally be designed so that the
  • the control device can be designed in such a way that a quotient of a pushing force or a (in particular horizontal)
  • Pushing force component and an assisting force of the at least one motor is constant, e.g. B. 1 or greater than 1 or greater than 2 or greater than 3 or less than 1, or is variable, e.g. B. such that the support force increases more or less than linearly with the pushing force or the (especially horizontal) pushing force component.
  • the support force can, for example, increase polynomially or exponentially or logarithmically with the pushing force.
  • control device can be designed such that a quotient of a change over time in the pushing force or a change over time of a (in particular horizontal) pushing force component and a change over time in the support force of the at least one motor is constant, e.g. B. 1 or greater than 1 or greater than 2 or greater than 3 or less than 1 or is variable, e.g. B. in such a way that the temporal change in the support force increases more or less than linearly with the temporal change in the pushing force or the pushing force component.
  • the change in the support force over time can increase polynomially or exponentially or logarithmically, etc. with the change in the pushing force over time or the change in the pushing force component over time.
  • the support force (or the change in the support force over time) increases more than (only) linearly with the pushing force or
  • Pushing force component (or with the change in the pushing force over time or change in the pushing force component over time).
  • the threshold values and limits described above (and below) can have a predetermined fixed value or can be changed,
  • control device is preferably designed such that the
  • Drive power of the at least one motor is throttled or stopped when a brake, in particular a deceleration brake (service brake) or parking brake, is operated.
  • a brake in particular a deceleration brake (service brake) or parking brake
  • the slide and / or a section of the slide is preferably
  • section of the slide which at least partially has the sensor device preferably freely movable over a range of motion, in particular without having to unlock, preferably against a restoring force.
  • the movement in this sense is not to be understood as a movement for (pure) height adjustment of the slide in order to achieve the
  • a piezo sensor can only detect comparatively small relative movements (well below 1 mm). In the case of a translational movement, the
  • Meant path of movement in the case of a rotary movement or
  • Pivoting means the path of a point of the pivoted section that carries out the greatest path of all points.
  • the slider or an upper portion of the slider e.g., handle
  • an (upper) section of the slide can be translationally displaceable with respect to a lower section.
  • the at least one sensor device can be designed to detect a (time) curve of the force (or force component) and / or the variable derived therefrom. Thereby, the control can be further improved. For example, it can then be possible to set threshold values for forces (or
  • the threshold value for the time being a duration of an (applied) force (or force component) and / or its temporal change in which the threshold value (the Threshold values) of the force (resp.
  • a change over time can basically be understood as the derivative of the force (or force component) over time (in the mathematical sense).
  • a change over time can, however, also be understood as DF / Dt (with finite non-infinitesimal Dt in the range from 100 milliseconds to 1 second, for example).
  • the respective control device is preferably a control device, in particular a control device for continuous (possibly linear) control of the power of the at least one motor, preferably a PID control device (where PID stands for proportional integral derivative).
  • At least one braking device is preferably, in particular
  • Delay brake device and / or parking brake device are provided.
  • the deceleration brake device is preferably designed to brake the kinetic energy of the pram frame or pram (with child) to use (and in particular to convert it into electrical energy).
  • a / the control device can be provided and designed in such a way that the parking brake device automatically after a predetermined time, preferably between 3 seconds and 5 minutes
  • a / the control device can be provided and designed such that the parking brake device automatically after reaching a standstill or a comparatively small one
  • the braking device can in particular be designed in two stages,
  • a deceleration brake service brake
  • a parking brake for locking a parking position
  • the deceleration brake can be designed such that the stroller is braked by friction (on one or more wheels) (with kinetic energy in heat
  • At least one motor can be used as a generator to brake the stroller (with kinetic energy being converted into electrical energy, which in turn can be used to charge one or more batteries).
  • Any desired actuating device can be provided for the deceleration brake, for example a hand or finger actuatable lever (on the slide or handle) or another
  • a graphical user interface e.g. display, in particular touchscreen
  • an external device e.g. a smartphone with a corresponding app.
  • the actuating device or the receiver
  • the deceleration brake can be connected to the deceleration brake (by suitable means) in order to actuate the deceleration brake, i.e. to apply the braking force desired by the user (which can be zero or greater than zero, in particular more than 2 or more than 5 can take various values greater than zero).
  • the deceleration brake can act as long as the
  • the parking brake can be designed as a lock that prevents one or more wheels from rotating.
  • the parking brake can comprise a pin which interacts with memories or locking devices (for example grooves) which are provided in a side surface of the wheel.
  • the parking brake can optionally be (automatically) activated immediately after or a predetermined time after the stroller frame or the stroller has been stopped, in particular by the delay brake.
  • the at least one parking brake device can (only) be activated electrically or electronically and can (only) be released manually.
  • the parking brake device can be preloaded in a released state and not preloaded or (only) less preloaded in an activated state. These measures improve safety during operation.
  • the actuation of the parking brake can be carried out in various ways, for example via a switch, e.g. B. slide switch or pressure switch or a foot pedal or the like.
  • a switch e.g. B. slide switch or pressure switch or a foot pedal or the like.
  • the parking brake when the parking brake is pre-tensioned in the activated state, the parking brake can (only) be released manually, whereas the brake can be activated (only) electronically or electrically.
  • a / the sensor device in particular the force sensor device, can be provided and the / a control device can be designed such that at least one braking device, in particular the
  • Deceleration brake device and / or the parking brake device is activated when a person operating the stroller makes a contact, e.g. B. on the hand and the handle solves.
  • the deceleration brake is preferably activated with increased (maximum) force and / or the parking brake is activated (emergency braking) when it is determined that the person operating the stroller is no longer in contact with the stroller and the stroller is still moving.
  • the control device is designed such that the braking device is activated when the force sensor device detects a force which is (at least partially) directed against the current direction of movement of the stroller frame.
  • motor assistance can be provided, as described above.
  • the motor is preferably used as a power generator in the event of braking.
  • At least one display or signal device can be provided, which indicates to the user of the stroller frame that motor assistance is or may be present. If necessary, a first display or
  • Signal device indicate that motor assistance is currently available, and a second display or signal device indicates that motor assistance can be present, in the sense that depending on further parameters (for example a maximum speed or the like) either motor assistance is present or ( if the
  • the stroller or the stroller frame of the present invention can provide comfortable support when pushing (or pulling) the stroller.
  • values F f1 and / or F r1 which (essentially) define those forces that (at most) must be used by the user (regardless of the situation). If you start with a stroller that is stationary, the user will begin to push (or pull). Then the horizontal
  • Components of the pushing force or tensile force are greater than zero.
  • the engine can begin to assist the user (with minimum power). For example, if the horizontal
  • F u can be between 0 and 25 N, preferably between 5 N and 15 N.
  • F d can be between 10N and 50N, preferably between 20N and 40N.
  • F f1 can be between 0 and 25N, preferably between 5N and 15N.
  • F r1 can be between 0 and 25N, preferably between 5N and 15N.
  • F f2 and / or F r2 can be between 25N and 500N , preferably between 50N and 200N.
  • F f1 , F r1 , F f2 and / or F r2 can optionally be specified by the user, for example via an interface such as a graphic one
  • minimum and maximum values can be specified in order to avoid safety problems and / or to extend the service life of a battery.
  • Fig. 1 Complete stroller including attachment in perspective
  • Fig. 2 exploded view of an upper slide area
  • Fig. 3 cross section slide perpendicular to the longitudinal extension of the
  • FIG. 4 shows a longitudinal section through the slide (perpendicular to the horizontal) so that a sensor and a rounded part of the casing are visible.
  • FIG. 5 shows a longitudinal section through the slide (section in the slide plane), so that a sensor and a rounded casing part are visible.
  • Fig. 6 is a schematic oblique view of an inventive
  • FIG. 7 shows a side view of the stroller frame according to FIG. 6.
  • the same reference numbers are used for parts that are the same and have the same effect.
  • Figures 1 to 5 show a stroller frame 10, a slide 11, wheels 12, front wheel struts 13, rear wheel struts 14, an adapter 15, a
  • Child support device 16 a motor 17, a control device 18, a horizontal section 101 of the slide 11, a (respective)
  • Rounding sheathing part 130 a first projection 133, screws 134, a second projection 135, a screw 136, an opening 137, an edge area 138, a third projection 139, a sensor unit 140 and an area 141 for at least one strain gauge.
  • the third projection 139 preferably engages in a corresponding recess 122 of an edge region 121 of the casing part 120.
  • Fig. 1 shows a stroller with child receiving device 16.
  • Child reception device 16 is via the adapter 15 with the
  • Stroller frame 10 connected or connectable.
  • Child support device 16 (in the present case) has a leg section, a seat section and a backrest section.
  • the leg section has a leg section, a seat section and a backrest section.
  • Child accommodation device 16 can also be designed without a leg section or without such a subdivision into different sections (for example as a bed insert).
  • the stroller frame 10 has a slider 11, which in turn has a horizontal section 101 and (two) connecting sections 102 connected to the horizontal section 101 via a respective transition area 103.
  • the horizontal section 101 is designed as a horizontal strut.
  • the connecting portions 102 are as (in the state of use) of the
  • Horizontal section 101 made up of struts extending obliquely downwards (or forwards) and can preferably be angled (in particular folded) and / or changed telescopically with regard to their length.
  • the stroller according to FIG. 1 has four wheels. However, it is conceivable that more or fewer wheels are provided (for example three, in particular one front wheel and two rear wheels). Specifically, two rear wheels and two (rotatable, possibly lockable) front wheels are provided in FIG. 1. The respective pairs of wheels are connected to one another via connecting struts.
  • connecting struts are in turn connected (in particular articulated) to the connecting sections 102 via further struts - front wheel struts 13 and rear wheel struts 14, a single strut per wheel may be sufficient.
  • transition sections 103 of the slide 11 are curved and preferably form (at least approximately) a quarter circle and / or preferably enclose an angle of at least approximately 90 °.
  • Horizontal section 101 and connecting sections 102 are designed to extend (at least approximately) at right angles to one another.
  • the slide 11, in particular its horizontal section 101 and its transition sections 103 are shown in more detail in FIGS. 2-5.
  • FIG. 2 shows a section of the grip area 104, including a section of the horizontal section 101 and one (of two) transition sections 103.
  • the casing part 120 is provided in the horizontal section 101. This is currently trained. This is in transition section 103
  • Rounding casing part 130 comprising the first shell half 131 and the second shell half 132 arranged.
  • the rounded casing part 130 (and its shell halves 131, 132) are designed to be curved.
  • Rounding casing part 130 forms a (curved) sleeve.
  • Sheathing part 120 forms a (straight) sleeve.
  • the casing part 120 and the rounded casing part 130 cover the base part 110.
  • the casing part 120 is opposite the base part 110 in FIG 2 shifted to the right, so that the sensor unit 140 lying within the casing part 120 and the rounded casing part 130 can be seen. In the assembled state, the two are at the end on the left in FIG. 2
  • the rounded sheathing part 130 or its half-shell 132, sheathing part 120 and sensor unit 140 are connected by means of the screws 134 (here two, for example).
  • screws 134 here two, for example.
  • another fastening means in a different number, for example also one or more than two can also be provided for this purpose.
  • the two half-shells 131, 132 are in turn connected to one another via the second projection 135 (with an internal thread) and the screw 136.
  • the second projection 135 with an internal thread
  • the screw 136 is connected to one another via the second projection 135 (with an internal thread) and the screw 136.
  • other fastening or connecting devices are conceivable.
  • a releasable fastening is preferred.
  • an opening (channel 111) can be provided which is (somewhat) larger than the second projection 135 in order to avoid an undesired connection between the rounded casing part 130 and the base part 110.
  • the second shell half 132 specifically has a first projection 133, which extends between the casing part 120 and the base part 110 and has two openings through which the screws 134 can be inserted.
  • the first projection 133 adjoins an edge region 138 of a main body of the second shell half 132 (see FIGS. 3 and 4), the edge region 138 of the main body of the second shell half 132 additionally, preferably directly, in particular in a form-fitting manner, against an edge region 121 of the casing part 120 adjoins.
  • the first shell half 131 has a third projection 139 (see FIG. 2) which engages with the casing part 120, in particular with a
  • the sensor unit 140 can itself function on the principle of a strain gauge and / or (see FIG. 4) have an area 141 in which a strain gauge (not shown in detail) can be arranged. If the casing part 120 and / or the rounded casing part 130 is now subjected to pressure, the sensor unit 140 or an optional strain gauge 141 (or, if necessary, several strain gauges) can
  • the sensor unit 140 can be configured, for example, to measure an electrical resistance or a change in electrical resistance.
  • Sensor unit 140 can have at least one (possibly two, three, four or more) strain gauges.
  • the strain gauges can be used in
  • Horizontal section and / or transition section can be arranged.
  • Sensor unit 140 can be designed as a bending beam sensor, with a torque exerted on a measuring body preferably acting on at least one (e.g. four) strain gauges.
  • a torque exerted on a measuring body preferably acting on at least one (e.g. four) strain gauges.
  • one or two strain gauges can be stretched and one or two
  • Strain gauges are compressed. Specifically, four can
  • FIG. 6 shows a stroller frame according to the invention in a schematic oblique view.
  • the arrow F d shows a handle 23 (in
  • the handle 23 is mounted pivotably with respect to a lower section of the slide 11. Specifically, the handle 23 can be pivoted (and latched) in various positions in order to adjust the height of the handle 23
  • a pivotable mounting 22 (with corresponding joints) is provided between the pivotable handle 23 and the lower section of the slide 11.
  • the (entire) slide 11 is in turn preferably pivotably mounted on a pivotable bearing 21 on a main body of the stroller frame (in particular in order to be able to fold the stroller frame together).
  • a sensor device / sensor devices can be provided on the pivotable mounting 21 and / or on the pivotable mounting 21 in order to generate a force of a user (in particular F and others) acting on the handle 23 and F d ) to be recorded. Furthermore (see Fig. 7) can be provided on the pivotable mounting 21 and / or on the pivotable mounting 21 in order to generate a force of a user (in particular F and others) acting on the handle 23 and F d ) to be recorded. Furthermore (see Fig. 7) can
  • a forward-directed force F f and a backward-directed force F r can be detected with the respective sensor device.
  • Motors can preferably be placed in wheel hubs 31 (not recognizable in detail). Alternatively, motors can be placed on an axle 32 (in particular on sections of the axle which are adjacent to the wheel hub 31).

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)
  • Handcart (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne une poussette ou un châssis de poussette (10), comportant un élément poussoir (11) pour pousser la poussette ou le châssis de poussette (10) et au moins un dispositif de capteur de force, en particulier pour détecter une direction et/ou une valeur d'une force et/ou d'une composante de force qui influe sur l'élément poussoir (11), et/ou pour détecter une grandeur déduite de cette force ou de cette composante de force, en particulier une variation temporelle de la force ou de la composante de force. Le ou les dispositifs de capteur de force sont configurés pour mesurer une force (ou une composante de force) et/ou une grandeur déduite de celle-ci au moins par le biais d'une partie majeure, de préférence d'au moins 80 % ou d'au moins 90 %, d'une section horizontale (101) de l'élément poussoir (11), et/ou configurés pour mesurer une (composante de) force et/ou une grandeur déduite de celle-ci dans au moins une section de transition (103), en particulier cintrée et/ou en forme d'arc, de l'élément poussoir (11) entre une/la section horizontale (101) de l'élément poussoir (11) et une section de liaison (102) de l'élément poussoir (11).
EP20744002.5A 2019-07-16 2020-07-16 Poussette Pending EP3999400A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202019002988 2019-07-16
PCT/EP2020/070147 WO2021009286A1 (fr) 2019-07-16 2020-07-16 Poussette

Publications (1)

Publication Number Publication Date
EP3999400A1 true EP3999400A1 (fr) 2022-05-25

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Application Number Title Priority Date Filing Date
EP20744002.5A Pending EP3999400A1 (fr) 2019-07-16 2020-07-16 Poussette

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US (1) US20220274638A1 (fr)
EP (1) EP3999400A1 (fr)
JP (1) JP2022541205A (fr)
KR (1) KR20220032105A (fr)
CN (1) CN114302841A (fr)
WO (1) WO2021009286A1 (fr)

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Publication number Priority date Publication date Assignee Title
WO2022204785A1 (fr) * 2021-03-31 2022-10-06 Glüxkind Technologies Inc. Chariot à locomotion autonome guidée

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011114337A1 (de) * 2011-09-23 2013-03-28 Bernd von Löbbecke Motorsteuerung für einen Elektrohilfsantrieb
JP5814102B2 (ja) * 2011-12-13 2015-11-17 Ｎｅｃプラットフォームズ株式会社 移動体の制御装置、移動体の制御方法及び移動体の制御プログラム並びに移動体
JP2015047937A (ja) * 2013-08-30 2015-03-16 船井電機株式会社 手動推進車両
DE102013224885A1 (de) * 2013-12-04 2015-06-11 Robert Bosch Gmbh Kinderwagen mit Antriebsunterstützung
DE102014110215A1 (de) * 2014-06-16 2015-12-17 Cybex Gmbh Kinderwagengestell und Kinderwagen
KR101577142B1 (ko) * 2014-08-22 2015-12-14 성균관대학교산학협력단 유모차 주행 보조장치
JP6463818B2 (ja) * 2016-10-28 2019-02-06 ネイバー コーポレーションＮＡＶＥＲ Ｃｏｒｐｏｒａｔｉｏｎ 電動式移動台車
US10858027B2 (en) * 2017-06-08 2020-12-08 Segway Inc. Control of a power-assisted payload carrying vehicle using operator-applied force sensing
DE202017104166U1 (de) * 2017-07-12 2018-10-15 Cybex Gmbh Kinderwagengestell und Kinderwagen
CN108032895B (zh) * 2017-12-12 2020-04-24 瑞安市浙工大创新创业研究院 一种自适应智能婴儿推车
CN108791459B (zh) * 2018-07-17 2024-05-17 上海阿柚信息科技有限公司 感应式把手及含有该把手的婴儿车
CN210478798U (zh) * 2019-07-01 2020-05-08 蓝鳕智能科技(上海)有限公司 一种儿童推车的手推杆及儿童推车

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US20220274638A1 (en) 2022-09-01
CN114302841A (zh) 2022-04-08
WO2021009286A1 (fr) 2021-01-21
JP2022541205A (ja) 2022-09-22
KR20220032105A (ko) 2022-03-15

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