WO2021069323A1 - Dispositif de transport, en particulier un landau comprenant une unité d'entraînement électrique - Google Patents

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

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Publication number
WO2021069323A1
WO2021069323A1 PCT/EP2020/077646 EP2020077646W WO2021069323A1 WO 2021069323 A1 WO2021069323 A1 WO 2021069323A1 EP 2020077646 W EP2020077646 W EP 2020077646W WO 2021069323 A1 WO2021069323 A1 WO 2021069323A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport device
drive wheels
drive
acceleration
wheel
Prior art date
Application number
PCT/EP2020/077646
Other languages
German (de)
English (en)
Inventor
Karolina BACH
Alexander SISIN
Pierre Nonnenmacher
Bertram SCHILLINGER
Kai-Michael ULLRICH
Stefan Groh
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 WO2021069323A1 publication Critical patent/WO2021069323A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/30—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with means to change over to human control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • 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
    • 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 especially a 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, with at least two drive wheels each driven by an associated electric drive unit to at least partially support a manual pushing or pulling operation of the transport device on the chassis the user are arranged, and wherein the associated electrical drive units are controlled by means of a control device associated with the transport device.
  • Transport devices designed as strollers are known from the prior art, which have electric drives for active Schiebeun support of a user.
  • a drive system of the transport device in particular such a pram, can be designed to detect a critical state of the transport device. For example, an absence of a user or a letting go of the stroller can be determined so that accidents caused by a stroller moving automatically and in an uncontrolled manner can at least essentially be prevented.
  • electrified baby carriages are known in which the presence of a user can be detected by at least one force sensor.
  • the present invention relates to a transport device, in particular a stroller, with a chassis and with a handle for a user, with at least two drive wheels each driven by an associated electric drive unit to at least partially support a manual pushing or pulling operation of the transport device on the chassis the user are arranged, and wherein the associated electrical drive units are controlled by means of a control device associated with the transport device.
  • the control device is assigned a safety device which is designed to deactivate the at least two drive wheels when a safety-critical behavior of the at least two drive wheels occurs.
  • the invention thus makes it possible to provide a transport device in which the safety device can safely and reliably determine a critical state that may possibly occur during operation.
  • the safety device can safely and reliably determine a critical state that may possibly occur during operation.
  • at least an unintentional acceleration of the transport device can easily and uncomplicatedly be detected and at least largely prevented.
  • the safety device preferably has a wheel slip detection unit which is designed to detect a spinning of the at least two drive wheels. In this way, a spinning drive wheel can be switched off in a simple and straightforward manner, whereby dangerous situations due to the spinning drive wheel can be avoided. In particular, the transport device can be prevented from skidding.
  • the wheel slip detection unit detects a spinning of the at least two drive wheels as a function of a transport device acceleration difference and assigned threshold values. Detection can thus be made possible in a simple manner.
  • the transport device acceleration difference is a difference between a determined acceleration of a given benen drive wheel of the at least two drive wheels and a determined acceleration of the transport device.
  • a safe and reliable transport device acceleration difference can be determined.
  • the safety device is preferably assigned a detection unit which is designed to detect whether the at least two drive wheels are lifted from a respective underground or are arranged on the respective underground. In this way, a dangerous situation due to a false detection and an associated, undesired acceleration of the transport device can be prevented in a simple and uncomplicated manner.
  • the detection unit preferably determines, depending on an angular acceleration of the transport device and an angular acceleration assigned to one of the at least two drive wheels, whether at least one of the at least two drive wheels is lifted from the respective ground or is arranged on the respective ground. A lifting of one of the at least two drive wheels from the ground can thus be safely and reliably detected.
  • a drive wheel lifted from the respective ground is preferably detected as a function of a calculated angular acceleration of the transport device and a measured standstill of at least one drive wheel. In this way, it is easy and uncomplicated to detect whether a drive wheel has lifted off the ground.
  • a drive wheel arranged on the respective ground is detected when a measured angular acceleration of the transport device corresponds to a calculated angular acceleration of the transport device.
  • a suitable detection can thus be made possible in a simple manner.
  • a sensor device with a first sensor element and at least one second sensor element is preferably provided, wherein the first sensor element ement detects an angular acceleration of the transport device and the at least one second sensor element detects an angular acceleration of an associated drive wheel. An angular acceleration of the transport device and an angular acceleration of an assigned drive wheel can thus be detected safely and reliably.
  • the first sensor element is a gyroscope sensor and / or the at least one second sensor element is a rotor position sensor. Suitable sensor elements can thus be provided in a simple manner.
  • Fig. 1 is a side view of a transport device designed as a stroller with a control device to which a safety device and a sensor unit are assigned,
  • Fig. 2 is a schematic representation of the safety device of Fig. 1 with a wheel slip detection unit and two further detection units for determining whether the drive wheels are arranged on the ground,
  • FIG. 3 shows a schematic illustration of an exemplary structure of the wheel slip detection unit from FIG. 2,
  • Fig. 4 is a side view of the transport device designed as a stroller of Fig. 1 with the drive wheels lifted from the ground
  • Fig. 5 is a schematic representation of the angular accelerations acting on the transport device of Fig. 1 and are arranged on the ground.
  • Description of the exemplary embodiments 1 shows a transport device 100, which is designed as a stroller 100 by way of example and is referred to below as a “stroller 100”.
  • the children's carriage 100 preferably has a chassis 102 which can be folded up like scissors, for example, and on which a lounger or seat pan 104 is arranged as an illustration.
  • a handle 110 is generally arranged on the chassis 102, which is preferably used as a height-adjustable, U-shaped bracket or as a handle bar for pushing or pulling the stroller 100 in the direction of a double arrow 112 on a surface 114 by an in the drawings is trained user not shown.
  • a pulling operation of the stroller 100 is exemplified by a dashed section of the double arrow 112, while a corresponding pushing operation of the stroller 100 is indicated by a portion of the double arrow 112 shown with a solid line.
  • the stroller 100 preferably has at least three wheels. Two wheels are preferably arranged on a rear axle 130 and one wheel on a front axle 128, but two wheels can also be arranged on the front axle 128 and one wheel on the rear axle 130. On the chassis 102, four wheels 120, 122, 124, 126 are provided here by way of example, the wheels 120, 124 being only visible here and further forward in relation to the plane of the drawing, the two wheels 122, 124 being further back in relation to the plane of the drawing. 126 cover each. The wheels 120, 122 are preferably on both sides of the front axle 128 and the wheels 124, 126 are attached to the rear axle 130 of the chassis 102 of the stroller 100.
  • At least one wheel is preferably designed as a drive wheel 132, 134.
  • the at least one drive wheel 132, 134 can preferably 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 can be arranged on the front axle 128 and / or the rear axle 130.
  • 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 each designed as drive wheels 132, 134, which are preferably used to at least partially support the manual pushing or pulling operation of the stroller 100 by the user.
  • the drive wheels 132, 134 can each preferably be driven independently of one another by means of an electric drive unit 140, 142 directly or indirectly via a gear (not shown) and controlled by means of a control device 190 assigned to the stroller 100.
  • the control device 190 is preferably assigned a safety device 192 which is designed to deactivate at least one of the at least two drive wheels 132, 134 when the stroller 100 behaves in a safety-critical manner.
  • the safety device 192 preferably deactivates all drive wheels associated with the stroller 100, in the present exemplary embodiment both drive wheels 132, 134.
  • the safety device 192 preferably has a wheel slip detection unit (210 in FIG. 2) which is designed to detect a spinning of at least one of the at least two drive wheels 132, 134.
  • the safety device 192 is assigned a detection unit (220, 230 in FIG. 2), which is designed to detect whether at least one of the at least two drive wheels 132, 134 is lifted from a respective subsurface or on the respective Is arranged underground.
  • a sensor device 180 is provided to which at least one sensor element is assigned.
  • the sensor device 180 is assigned a first sensor element 182 and at least one second sensor element 184.
  • the first sensor element 182 is preferably designed to detect an angular acceleration (w z in FIG. 5, oo y in FIG. 4) of the transport device or the stroller 100 and the at least one second sensor element 184 is designed to detect an angular acceleration (OJ I , 002 in FIG. 4) of an associated drive wheel 132, 134.
  • the first sensor element 182 is a gyroscope sensor and / or that at least one second sensor element 184 is a rotor position sensor.
  • a right-angled coordinate system 199 with an x-axis, y-axis and a z-axis illustrates the position of all components in space.
  • the transport device 100 as a stroller is only an example and is not to be understood as a restriction of the invention.
  • the transport device 100 can also be designed in the manner of any other transport device which has a subsurface determination according to the invention, e.g. in the manner of a wheelbarrow, a hand truck or a garbage can.
  • FIG. 2 shows an exemplary structure of the safety device 192 from FIG.
  • the safety device 192 preferably has a wheel slip detection unit 210 which is designed to detect a spinning of at least one of the preferably at least two drive wheels 132, 134.
  • the safety device 192 is assigned a detection unit 220 and a detection unit 230, which are designed to detect whether at least one of the preferably at least two drive wheels 132, 134 is lifted from a respective ground 114 of FIG respective underground is arranged.
  • the detection unit 220 preferably detects whether the drive wheels 132, 134 are arranged on the ground 114 are.
  • the recognition unit 230 recognizes whether the drive wheels 132, 134 have lifted off the ground 114.
  • a deactivation unit 240 which is designed to deactivate the drive wheels 132, 134, is preferably activated.
  • the detection unit 230 can be activated, which checks whether the drive wheels 132, 134 have lifted off the ground 114, i.e. are spaced apart from the ground and therefore a wheel slip is present. If no wheel slip is detected, an activation unit 245 is activated, which is designed to activate the drive wheels 132, 134.
  • the deactivation unit 240 is activated.
  • the deactivation unit 240 is formed for deactivating the drive wheels 132, 134. If no lifting of the drive wheels 132, 134 is detected, the drive wheels 132, 134 are activated by the activation unit 245.
  • the activation unit 245 is activated.
  • the activation unit 245 is activated.
  • the wheel slip detection unit 210 is activated on the ground 114, which checks whether a wheel slip is present. If no arrangement of the drive wheels 132, 134 on the ground 114 is detected, then a check is carried out by the detection unit 230 as to whether the drive wheels 132, 134 have lifted off the ground 114.
  • FIG. 3 shows an exemplary structure of the wheel slip detection unit 210 from FIG. 2.
  • the wheel slip detection unit 210 detects depending on a transport device acceleration difference 321 or
  • the transport device 321 is preferably a differential acceleration difference between a first determined acceleration 311 of a predetermined drive wheel 132, 134 of the at least two drive wheels 132, 134 and a second determined acceleration 313 of the transport device 100.
  • the first determined acceleration 311 is preferably a wheel acceleration a wheel, which is preferably provided by a position sensor 310 , for example the second sensor element 184, is determined.
  • the second determined acceleration 313 is a vehicle acceleration a BMI , which is preferably measured by an acceleration sensor 312, for example the first sensor element 182.
  • the acceleration due to gravity g is preferably subtracted to determine the pure car acceleration a car .
  • the transport device acceleration difference 321 or a cart wheel is preferably calculated in an operator 320 as a function of the determined acceleration 311 of a drive wheel 132, 134 and the determined acceleration 313 of the transport device 100. The following relationships exist:
  • the pitch angle cp is preferably calculated using a complementary filter. It should be noted that the pitch angle cp also contains the wheel speed, which must be extracted from the signal from the acceleration sensor. Incorrect wheel acceleration leads to an incorrect incline angle cp. An incorrectly rotating drive wheel 132, 134 therefore also influences the angle calculation, which in turn is used for wheel slip detection. Since the dynamics of the drive wheel 132, 134 are higher than the angle calculation, it still works.
  • a comparison is carried out of the transport means acceleration difference 321 and a wagon wheel with a predetermined threshold 331 ct-car sc h we ll e in a relative operator 340.
  • the operator 340 a status, it is determined whether the transport device acceleration difference 321 indicates idling of the drive wheel 132, 134 or not.
  • the threshold 331 Aa carriage pivot ii e is determined in a Schwellwert accordingsappel 330th
  • a y value can describe a permitted deviation of the two calculated accelerations a wheel , a car , and an x value describes a wheel angular speed.
  • the threshold value 331 ciwagen-schweiie e i n the product of the two deviations.
  • a deactivation signal 342 is sent to an angle calculation unit 360, which is designed to stop the angle calculation until the wheel is stopped. If the transport device acceleration difference 321 is not too high, that is to say less than the threshold value 331, an activation signal 341 is sent to a reset function 350.
  • FIG. 4 shows the transport device 100 of FIG. 1 when the drive wheels 132, 134 are lifted off the ground 114 by a lifting angle a.
  • FIG. 4 shows the angular accelerations w1 and w2 which are assigned to the drive wheels 132, 134 and are illustrative are drawn in the direction of travel or counterclockwise.
  • an angular acceleration oo y of the transport device 100 is shown, which preferably acts in the transverse direction of the transport device 100.
  • the detection unit 220 and / or 230 of FIG. 2 preferably determines as a function of an angular acceleration (oo y w z ⁇ h Fig. 5) of the transport device 100 and an angular acceleration w1, w2 assigned to one of the at least two drive wheels 132, 134, whether at least one of the at least two drive wheels 132, 134 is lifted from the respective underground 114 or is arranged on the respective underground.
  • a drive wheel 132, 134 lifted from the respective ground 114 is detected as a function of a calculated angular acceleration oo y of the transport device 100 and a measured standstill of at least one drive wheel 132, 134.
  • the transport device 100 can only move from the ground 114 be lifted.
  • Fig. 5 shows the transport device of FIG. 4 and illustratively the preferably four wheels 120-126, the two wheels 120, 122 being designed as castors for steering the transport device 100 and the wheels 124, 126 being designed as drive wheels 132, 134 .
  • the drive wheels 132, 134 are arranged in the longitudinal direction 599 at a distance I from a center of gravity S of the transport device 100 away. Furthermore, the two drive wheels 132, 134 are spaced apart from one another by a distance D in the transverse direction 598 of the transport device 100.
  • a pivot point 597 is preferably arranged centrally between the two drive wheels 132, 134.
  • a drive wheel 132, 134 arranged on the respective subsurface is preferably detected when an angular acceleration w z, preferably measured by the first sensor element 182 of FIGS. 1 and 4, is measured by the transport device 100 and a calculated angular acceleration ü z is calculated by the transport device 100 corresponds.
  • the calculated angular acceleration ü z calculated by the transport device 100 is determined as a function of the angular acceleration w1 and w2 of the drive wheels 132, 134 and the distance D determined by the associated at least one second sensor element 184.
  • the angular acceleration w1 is assigned to the drive wheel 132 and the angular acceleration w2 to the drive wheel 134.
  • the sensor element 184 preferably determines a respective wheel speed n, a wheel speed being assigned to the drive wheel 132 and a wheel speed n2 being assigned to the drive wheel 134.
  • one drive wheel, or both drive wheels 132, 134 are raised from the ground 114, then they preferably have different directions of rotation which, however, do not match the measured values of the sensor elements 182, 184.
  • the angular acceleration w1 would be a movement of the

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un dispositif de transport (100), en particulier un landau, comportant un châssis (101) et une poignée (110) pour un utilisateur, au moins deux roues motrices (132, 134), chacune pouvant être entraînée au moyen d'une unité d'entraînement électrique associée (140, 142), étant agencées sur le châssis (101) pour assister au moins partiellement une opération de poussée ou de traction manuelle du dispositif de transport (100) par l'utilisateur. Les unités d'entraînement électrique associées (140, 142) peuvent être commandées au moyen d'un dispositif de commande (190) associé au dispositif de transport (100). Un dispositif de sécurité (192) est associé au dispositif de commande (160), ledit dispositif de sécurité étant conçu pour désactiver les au moins deux roues motrices (132, 14) si les deux roues motrices (132, 134) réalisent un mouvement qui menace la sécurité.
PCT/EP2020/077646 2019-10-12 2020-10-02 Dispositif de transport, en particulier un landau comprenant une unité d'entraînement électrique WO2021069323A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019215706.8A DE102019215706A1 (de) 2019-10-12 2019-10-12 Transportvorrichtung, insbesondere Kinderwagen mit einer elektrischen Antriebseinheit
DE102019215706.8 2019-10-12

Publications (1)

Publication Number Publication Date
WO2021069323A1 true WO2021069323A1 (fr) 2021-04-15

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PCT/EP2020/077646 WO2021069323A1 (fr) 2019-10-12 2020-10-02 Dispositif de transport, en particulier un landau comprenant une unité d'entraînement électrique

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DE (1) DE102019215706A1 (fr)
WO (1) WO2021069323A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4776415A (en) * 1987-07-13 1988-10-11 Brice Michael L Safety control for baby's walker
WO2007136275A2 (fr) * 2006-05-24 2007-11-29 Ziad Badarneh Véhicule électrique toutes roues motrices
US20160101803A1 (en) * 2014-10-10 2016-04-14 Eli Ahlemeier Motorized Stroller System and Apparatus
US20160287465A1 (en) * 2013-11-18 2016-10-06 New York Institute Of Technology Motorized walker
US10099558B2 (en) * 2015-02-03 2018-10-16 Microspace Corporation Motor driving apparatus

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112014004677T5 (de) * 2013-10-11 2016-07-21 Murata Manufacturing Co., Ltd. Schiebewagen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4776415A (en) * 1987-07-13 1988-10-11 Brice Michael L Safety control for baby's walker
WO2007136275A2 (fr) * 2006-05-24 2007-11-29 Ziad Badarneh Véhicule électrique toutes roues motrices
US20160287465A1 (en) * 2013-11-18 2016-10-06 New York Institute Of Technology Motorized walker
US20160101803A1 (en) * 2014-10-10 2016-04-14 Eli Ahlemeier Motorized Stroller System and Apparatus
US10099558B2 (en) * 2015-02-03 2018-10-16 Microspace Corporation Motor driving apparatus

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