WO2019141405A1 - Transport device, in particular a pram comprising mass estimation - Google Patents
Transport device, in particular a pram comprising mass estimation Download PDFInfo
- Publication number
- WO2019141405A1 WO2019141405A1 PCT/EP2018/081479 EP2018081479W WO2019141405A1 WO 2019141405 A1 WO2019141405 A1 WO 2019141405A1 EP 2018081479 W EP2018081479 W EP 2018081479W WO 2019141405 A1 WO2019141405 A1 WO 2019141405A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- transport device
- mass
- wheels
- electric drive
- drive unit
- Prior art date
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
- 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
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/44—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons
- G01G19/445—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons in a horizontal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2203/00—Grasping, holding, supporting the objects
- B62B2203/50—Grasping, holding, supporting the objects comprising weighing means
-
- 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
Definitions
- Transport device in particular stroller with Masseschitzunq
- the present invention relates to a transport device, in particular a stroller, having at least three wheels and a handle for a user, wherein of the at least three wheels at least one wheel is designed as a drive wheel, which is driven by an electric motor by means of an associated electric drive unit in order to enable at least partial electromotive support of a manual sliding or pulling operation of the transport device by the user, and wherein the electric drive unit is controllable by means of a torque control device associated therewith and the transport device has a computing unit for mass estimation of the trans port device.
- the invention has a method for estimating a mass of a transport device, in particular a baby carriage, the subject.
- the detection of the complete mass of the stroller including the wheels is complicated if a weight measurement is to be carried out, for example, with the aid of several strain gauges, spring elements or the like, which are used to detect slight weight-dependent deformations of the stroller frame and its transformation in weight or mass proportional electrical measurement signals are required.
- a direct mass measurement by force sensors on all the wheel axles of the baby carriage is not only complicated with regard to the necessary wiring or possibly wireless data transmission.
- the present invention relates to a transport device, in particular a stroller with at least three wheels and a handle for a loading user, wherein at least one wheel is formed by the at least three wheels as a drive wheel, which is driven by an electric motor driven electric motor to at least one to enable partially electromotive assistance of a manual sliding or pulling operation of the transport device by the user.
- the electric drive unit can be controlled by means of one of these associated torque control device and the transport device has a computing unit for mass estimation of the trans port device.
- At least one acceleration sensor is provided and the torque control device can be acted upon by a test signal, wherein the arithmetic unit is designed to determine a mass of the transport device based at least on the acceleration signal generated by the test signal on the transport device and detected by the at least one acceleration sensor.
- the mass of the transport device including all accessories and add-on parts as well as the weight of at least one article to be transported by means of the transport device, is referred to as (total) mass. understood by a child.
- An otherwise necessary placement of a plurality of weight sensors at different positions on the chassis of the transport device can be omitted.
- the test signal is a sinusoidal or cosine-shaped torque signal. Due to the harmonic signal curve, the required mathematical and numerical effort in the mass calculation of the transport device is considerably reduced.
- the electric drive unit preferably has an electric motor, in particular a brushless DC motor. This ensures a practically low-wear, substantially low-maintenance and excellently controllable drive of the transport device.
- the electric drive unit is associated with a transmission.
- a gear change circuit can be provided with at least one gear, in order, for example, in addition to a flat-land operation, also to enable a mining operation of the transport device.
- an acceleration sensor substantially an acceleration signal in a primary sliding or pulling direction of the transport device can be detected.
- a main movement direction of the transport device for mass estimation is primarily used.
- the mass of the transport device can be estimated by means of a frequency analysis implemented by the arithmetic unit.
- various numerical methods such as a discrete Fourier transform, can be used to calculate the mass.
- the arithmetic unit for frequency analysis preferably has a Goertzel filter. This provides a particularly effective numerical evaluation for mass estimation. According to a technically advantageous development, the arithmetic unit has a correlator for estimating the mass of the transport device. As a result, a tried-and-tested evaluation method based on news and radio technology is available.
- the estimation of the mass by means of the arithmetic unit preferably takes place in real time.
- a very comfortable control of the electrically assisted sliding and pulling operation of the transport device is possible in each case depending on the current circumstances.
- At least two wheels of the at least three wheels are designed as drive wheels which can each be driven by an electric drive unit by means of at least one electric drive unit, and wherein the electric drive units can be controlled independently of one another by means of a respective torque control device assigned thereto.
- the present invention provides a method for estimating a mass of a transport device, in particular a stroller, with at least three wheels and with a handle for a user.
- a transport device in particular a stroller, with at least three wheels and with a handle for a user.
- at least one wheel as the drive wheel by means of an electric drive unit can be driven by an electric motor to at least partially electromotive support a manual sliding or Ziehbe drive the transport device to ensure by the user, the electric drive unit by means of one of these associated torque rule - Device is adjustable.
- the torque control device is beauf beat with a test signal for vibrational excitation of the transport device beauf and an estimate of the mass of the transport device is carried out at least by evaluating the detected by at least one acceleration sensor acceleration signal.
- the evaluation takes place by means of a Goertzel algorithm implemented with the aid of a computing unit. This ensures a numerically resource-saving or mathematically effective numeric implementation by means of the arithmetic unit.
- the evaluation takes place by means of a correlation implemented with the aid of a computing unit.
- a correlation implemented with the aid of a computing unit.
- FIG. 1 is a schematic side view of a designed as a stroller T ransportvorraum,
- FIG. 2 is a mechanical-electrical block diagram of the stroller of FIG.
- FIG. 3 shows a schematic block diagram of the stroller of FIG. 1 with a Goertzel filter implemented by means of the arithmetic unit
- FIG. 4 shows a schematic block diagram of the stroller of FIG. 1 with a correlator implemented by means of the arithmetic unit.
- the transport device 100 is designed as a child carriage and is referred to below as "stroller 100".
- the design of the transport device 100 as a stroller has only exemplary character and is not to be understood as limiting the invention.
- the transport device 100 may also be designed in the manner of any other transport device having a mass estimate, for example in the manner of a wheelbarrow, a sack truck, a garbage can.
- the stroller 100 preferably has a preferably collapsible chassis 102 with a couch or seat pan 104. In this preferably a mattress 106 is inserted as a support for at least one child 108.
- a handle 110 is preferably arranged for a user, not shown, e.g. an ergonomically height-adjustable, U-shaped handle.
- the stroller 100 is automatically displaced by the action of a user Fu on the U-shaped handle 110 in an electrically at most partially assisted pushing or pulling operation, whereby the stroller 100 moves substantially in a sliding or pulling direction 112 on a substrate 114.
- the pram 100 with an estimated or with a sufficient Ge accuracy to be determined (total) mass m K has here only exemplary four wheels 116, 118, 120, 122, of which only in relation to the plane forward wheels 116th , 120 are shown graphically.
- the stroller 100 may also be formed with three wheels with a front wheel and two rear wheels preferably driven by an electric motor.
- the stroller 100 preferably has at least three wheels 116, 118, 120, 122.
- 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.
- the mass m K of the baby carriage 100 results in a weight F g , which acts vertically in the direction of the here only exemplary plan ground 114, wherein a value of the acceleration due to gravity g of about 9.81 m / s 2 is assumed.
- the two rear wheels 120, 122 are here only by way of example with the aid of an electric drive unit 140, 142 individually driven by electric motor driving wheels 132, 134 executed. From the two drive wheels 132, 134, in turn, only the first drive wheel 132 lying in front of the plane of the drawing can be represented graphically.
- the first drive wheel 132 is drivable by means of the first electric drive unit 140 and the second drive wheel 134 can be driven by the second electric drive unit 142 independently of the first drive wheel 132.
- at least three wheels 116, 1 18, 120, 122 at least one wheel 120, 122 is preferably designed as a drive wheel 132, 134.
- the at least one drive wheel 132, 134 is preferably electromotively drivable by means of at least one electric drive unit 140, 142.
- the at least one drive wheel 132, 134 may be arranged on the front axle 128 and / or the rear axle 130.
- the two electric drive units 140, 142 are preferably realized for the at most partially electromotive support of the pushing and pulling operation of the baby carriage 100 in the simplest case, each with an electric motor 150, 152.
- the first electric motor 150 is preferably a first gear 158 and the second electric motor 152 is connected downstream of a second gear 160 for torque adjustment.
- the two electric drive units 140, 142 may be equipped with mechanical clutches for force flow interruption, with mechanical brakes to support electromotive deceleration processes of the baby carriage 100 by the electric drive units 140, 142 as well as with locking devices.
- the two electric motors 150, 152 to ensure optimal controllability with a permanent-magnet synchronous machine or a brushless DC motor (s.g. "brushless DC motor") realized.
- the two transmissions 158, 160 are mainly planetary gear due to their compact design and the achievable high transmission and reduction ratios into consideration.
- the electric drive units 140, 142 or the electric motors 150, 152 with the gearboxes 158, 160 connected downstream of them are connected in a rotationally fixed manner to the hubs of the drive wheels 132, 134 of the child car 100 that are not designated for the sake of clarity.
- Each electrical drive unit 140, 142 is preferably assigned a torque control device 200, 202 in each case.
- Speed changes Dn which in turn lead to accelerations a z perpendicular to the ground 114, this process is similar to the "dipping" when accelerating or “lifting" the rear when decelerating a rear-wheel drive motor vehicle.
- the orientation of the acceleration a z and an acceleration a y in the primary sliding or pulling direction of the stroller 100 in space is illustrated by a coordinate system 199.
- the stroller 100 for the indirect estimation of the mass m preferably has at least one first and one second acceleration sensor 170, 172 by means of a computing unit 400.
- the two acceleration sensors 170, 172 serve to record the accelerations a y , which are predominant occur in normal pushing or pulling operation of the stroller 100.
- the acceleration sensors 170, 172 may be integrated into the electric drive units 140, 142 of the two drive wheels 132, 134.
- FIG. 2 illustrates a mechanical-electrical block diagram of the stroller 100 of FIG. 1 with the two torque control devices 200, 202, wherein the first torque control device 200 is connected to the first electric drive unit 140. Accordingly, the second torque control device 202 is coupled to the second electric drive unit 142.
- the first electric drive unit 140 comprises the first electric motor 150, to which the first transmission 158 is connected downstream.
- the structural design of the second electric drive unit 142 which has the second electric motor 152 with the following second transmission 160, is designed.
- the first electric drive unit 140 is coupled to the first drive wheel 132 of the Kin derwagens 100, while the second electric drive unit 142 rotatably connected to the second drive wheel 134 of the baby carriage 100 is connected.
- On the two drive wheels 132, 134 of the stroller 100 primarily act here by means of the two electric drive units 140, 142 me chan drive forces Fwi and Fw2 a.
- the two torque control devices 200, 202 are acted upon or activated by a test signal Ts, which here is only exemplary sinusoidal or cosinusoidal.
- a test signal Ts which here is only exemplary sinusoidal or cosinusoidal.
- Other periodic waveforms such as for example, trapezoidal, triangular, rectangular or aperiodic, irregular waveforms are also possible.
- an application of the torque control devices 200, 202 with un ferent test signals is possible. Due to the here only exemplary and preferably periodic-temporary excitation of the torque control devices 200, 202 with the here sinusoidal or cosinusoidal test signal Ts is followed by a time-varying or harmonic oscillating course of the driving forces F WI present at the drive wheels 132, 134 . 2 .
- the external forces F ext.i , 2 may be, for example, wind loads, force effects by a pet leashed on the stroller 100, a further child entrained by means of a trailer roll board, Hangab driving forces or the like.
- the resulting accelerations of the baby carriage 100 are preferably measured by means of the at least two acceleration sensors 170, 172 positioned on the stroller 100 in a suitable manner.
- the acceleration signals 220, 222 determined by the two acceleration sensors 170, 172 are then preferably supplied to a preferably digital electronic computing unit 400 for estimating or calculating the desired mass m ⁇ of the baby carriage.
- FIG. 3 illustrates a schematic block diagram of the baby carriage 100 of FIG. 1 with a Goertzel filter 250 implemented by means of the arithmetic unit 400.
- a digital Goertzel filter 250 on the basis of the so-called Goertzel algorithm is realized, which supplies a maximum acceleration value 252 or a discrete maximum acceleration value y o .
- the Goertzel algorithm is sufficiently familiar to a person skilled in the art of control engineering, so that at this point, for the sake of brevity of the description, a more detailed explanation of the mathematical specificity of the Goertzel algorithm is dispensed with.
- the Goertzel algorithm or the technically implemented Goertzel filter 250 in comparison with other known methods for frequency analysis, such as, for example, the discrete Fourier transformation, enables a sufficiently accurate determination or an estimate of the mass rri K of the Kinderwa gens 100 at a still acceptable, yet to be handled by the arithmetic unit 400 numerical or mathematical effort for real-time or for online determination of the mass it ⁇ k the stroller 100th
- FIG. 4 shows a schematic block diagram of the stroller 100 of FIG. 1 with a correlator 350 implemented by means of the arithmetic unit 400 of FIG. 1.
- phase-shifted second torque signals 304 are detected by the test signal Ts in the same manner
- the computing unit 400 preferably has a correlator 350 differing from the Goertzel filter of FIG first and a second averager 356, 358 is constructed.
- the first mean value generator 356 is connected downstream of the first multiplier 352 and the second mean value generator 358 is connected downstream of the second multiplier 354.
- Wertschners 358 wherein the variable T P each corresponds to a constant period, can preferably be derived on the basis of the following formulas (1) to (5) by means of the computing unit 400 to be estimated or sufficiently ge to be determined mass m «of the stroller 100 :
- the correlator 350 technically converted by the digital arithmetic unit 400, it is thus possible to estimate or determine the mass m of the stroller 100 with the help of the well-known and proven correlation method, among others, in communications engineering, which is that in the field of control engineering active professional is also well known.
- the torque control devices 200, 202 of FIG. 1 are preferably first subjected to the test signal Ts for the mechanical vibration excitation of the baby carriage 100 of FIG.
- An estimation of the mass m K of the stroller 100 takes place at least by evaluating the acceleration signal yi , 2 (t) detected by at least one acceleration sensor 170, 172 of FIG. 1.
- an estimate of the mass m K of the stroller 100 can also be made at least by evaluating the acceleration signals y 1 2 (t) detected by at least two acceleration sensors 170, 172 of FIG. 1.
- the determination or the estimation of the mass criterion of the baby carriage 100 takes place either by the so-called Goertzel algorithm or by a correlation in each case with the aid of the digital electronic computer 400 of FIG. 1
- a plurality of further acceleration sensors may be provided on the stroller 100 of FIG. 1, which detect accelerations in a direction deviating from the primary pushing and pulling direction of the baby carriage 100.
- sensors for measuring rotational accelerations around all axes of the room can also be provided.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020207020456A KR20200104878A (en) | 2018-01-18 | 2018-11-15 | Stroller as a conveying device with estimated mass |
JP2020539782A JP2021511249A (en) | 2018-01-18 | 2018-11-15 | Transport equipment with mass estimation function, especially strollers |
CN201880086888.1A CN111587205A (en) | 2018-01-18 | 2018-11-15 | Transport device, in particular a baby carriage, with mass estimation |
EP18811165.2A EP3740414A1 (en) | 2018-01-18 | 2018-11-15 | Transport device, in particular a pram comprising mass estimation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018200784.5A DE102018200784A1 (en) | 2018-01-18 | 2018-01-18 | Transport device, in particular stroller with mass estimate |
DE102018200784.5 | 2018-01-18 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019141405A1 true WO2019141405A1 (en) | 2019-07-25 |
Family
ID=64556855
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2018/081479 WO2019141405A1 (en) | 2018-01-18 | 2018-11-15 | Transport device, in particular a pram comprising mass estimation |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP3740414A1 (en) |
JP (1) | JP2021511249A (en) |
KR (1) | KR20200104878A (en) |
CN (1) | CN111587205A (en) |
DE (1) | DE102018200784A1 (en) |
WO (1) | WO2019141405A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021206057A1 (en) | 2021-06-15 | 2022-12-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Transport device with a support device |
DE102021207127A1 (en) | 2021-07-07 | 2023-01-12 | Zf Friedrichshafen Ag | Determination of a mass of a motor vehicle |
KR102562101B1 (en) | 2021-12-22 | 2023-08-01 | 상신브레이크주식회사 | A method of estimating vehicle mass using vehicle signals and wheel dynamics characteristics |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1298020A1 (en) * | 2001-09-28 | 2003-04-02 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle mass determination method taking into account different driving situations |
WO2011129692A1 (en) * | 2010-04-16 | 2011-10-20 | Ravas Europe B.V. | Hand lift truck |
EP2930478A1 (en) * | 2014-04-07 | 2015-10-14 | Siemens VAI Metals Technologies GmbH | Determination of the mass of a molten metal |
DE102015104513A1 (en) * | 2015-03-25 | 2016-09-29 | Rolf Strothmann | vehicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4066864B2 (en) * | 2003-03-28 | 2008-03-26 | アイシン精機株式会社 | Vehicle weight estimation device |
DE102006057436A1 (en) * | 2006-12-06 | 2008-06-12 | Szepan, Reiner, Dipl.-Phys. | Method for vehicle support for detection of measures of vehicle trailer, involves determining measuring of chassis ,where body work is determined from natural frequency of swing movement transverse to travel direction |
DE102008042315A1 (en) * | 2008-09-24 | 2010-04-01 | Robert Bosch Gmbh | Method and device for determining a total mass of a motor vehicle |
DE102014200557B4 (en) * | 2014-01-15 | 2019-08-29 | Siemens Aktiengesellschaft | Method for determining the vehicle mass or the vehicle weight of an electric vehicle or an electric hybrid vehicle, device and vehicle |
DE102015218547A1 (en) * | 2015-09-28 | 2017-03-30 | Robert Bosch Gmbh | Method for determining the mass of a motorized vehicle |
-
2018
- 2018-01-18 DE DE102018200784.5A patent/DE102018200784A1/en not_active Withdrawn
- 2018-11-15 WO PCT/EP2018/081479 patent/WO2019141405A1/en unknown
- 2018-11-15 KR KR1020207020456A patent/KR20200104878A/en unknown
- 2018-11-15 CN CN201880086888.1A patent/CN111587205A/en active Pending
- 2018-11-15 EP EP18811165.2A patent/EP3740414A1/en not_active Withdrawn
- 2018-11-15 JP JP2020539782A patent/JP2021511249A/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1298020A1 (en) * | 2001-09-28 | 2003-04-02 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle mass determination method taking into account different driving situations |
WO2011129692A1 (en) * | 2010-04-16 | 2011-10-20 | Ravas Europe B.V. | Hand lift truck |
EP2930478A1 (en) * | 2014-04-07 | 2015-10-14 | Siemens VAI Metals Technologies GmbH | Determination of the mass of a molten metal |
DE102015104513A1 (en) * | 2015-03-25 | 2016-09-29 | Rolf Strothmann | vehicle |
Also Published As
Publication number | Publication date |
---|---|
DE102018200784A1 (en) | 2019-07-18 |
EP3740414A1 (en) | 2020-11-25 |
JP2021511249A (en) | 2021-05-06 |
CN111587205A (en) | 2020-08-25 |
KR20200104878A (en) | 2020-09-04 |
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