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JP-7855506-B2 - A stroller having a motor and a control unit that supports driving along with calibration of a force sensor, a method for controlling the motor, and a computer-readable storage medium.

JP7855506B2JP 7855506 B2JP7855506 B2JP 7855506B2JP-7855506-B2

Inventors

  • スパウアー、ジリ

Assignees

  • サイベックス ゲーエムベーハー

Dates

Publication Date
20260508
Application Date
20200917
Priority Date
20190918

Claims (20)

  1. In stroller (1), A stroller frame (10) equipped with multiple wheels (2) for moving the stroller (1), At least one motor (21) for assisting the stroller (1) , Connected to the stroller frame (10), at least one pusher (4) for pushing the stroller (1), The system comprises at least one force sensor device (30) for detecting temporal changes in force-related variables acting on the pusher (4), and at least one control unit (34) configured to initiate calibration of the force sensor device (30) in accordance with a plurality of detected values of the force-related variables. The stroller (1) is characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when a plurality of detected values of the force-related variables are within a predetermined width interval of at least 0.1 N or a maximum of 10 N , and/or when the statistical parameters of the plurality of detected values do not exceed the predetermined width interval of at least 0.1 N or a maximum of 10 N.
  2. The stroller (1) according to claim 1, characterized in that the motor (21) is an electric motor.
  3. The stroller (1) according to claim 1 or 2, characterized in that the force-related variables are the force and/or force component acting on the pusher (4), and/or variables derived from this force and/or force component.
  4. The stroller (1) according to claim 1 or 2, characterized in that the force-related variables are torque and/or force and/or the temporal change of force components.
  5. The stroller (1) according to any one of claims 1 to 4, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when three or more detected values of the force-related variable, or multiple or three or more consecutive detected values of the force-related variable, fall within the interval.
  6. The stroller (1) according to any one of claims 1 to 5, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when the detected value of the force-related variable indicates that there is no human pushing.
  7. The stroller (1) according to any one of claims 1 to 6 , characterized in that the control unit (34) starts calibrating the force sensor device (30) when the statistical parameters of the multiple detected values of the force-related variables are within a predetermined interval of at least 0.1 N or a maximum of 10 N.
  8. The stroller (1) according to claim 7, characterized in that the aforementioned statistical parameter is a parameter of statistical spread or variance.
  9. The stroller (1) according to any one of claims 1 to 8, characterized in that the control unit (34) is configured to initiate calibration of the force sensor device (30) when the speed of the stroller frame (10) is estimated to be at or below a predetermined speed.
  10. The stroller (1) according to claim 9, characterized in that the predetermined speed of the stroller frame (10) is the predetermined rotational speed of at least one of the wheels (2).
  11. The stroller (1) according to any one of claims 1 to 3, characterized in that the control unit (34) is configured to start calibrating the force sensor device (30) when at least one of the wheels (2) is stationary.
  12. The stroller (1) according to any one of claims 1 to 11, characterized in that the control unit (34) is configured to start calibration of the force sensor device (30) when the multiple detected values of the force-related variables are at least 5N or less.
  13. The stroller (1) according to any one of claims 1 to 12 , characterized in that the control unit (34) is configured to suppress or stop the assisting force of the motor (21) and/or display an error when the detected value of the force-related variable is in the range of at least 10 N or a maximum of 100 N.
  14. The stroller (1) according to any one of claims 1 to 13, characterized in that the force sensor device (30) and/or the control unit (34) are configured to detect the force-related variables at a frequency of at least 2 Hz or up to 100 Hz , at least until the calibration of the force sensor device (30) is initiated.
  15. The stroller (1) according to any one of claims 1 to 14, characterized in that the number of detections of the force-related variable is at least 5 or at most 500 , and/or at least 0.3 times or at most 50 times the detection frequency a/Hz of the force-related variable.
  16. The stroller (1) according to any one of claims 1 to 15, characterized in that the control unit (34) is designed to determine a new reference point for the force-related variable in accordance with a plurality of detected values of the force-related variable, in order to perform calibration of the force sensor device (30).
  17. The stroller (1) according to claim 16, characterized in that the control unit (34) is designed to determine the average value of multiple detected values of the force-related variable, considered for initiating the calibration of the force sensor device (30), as a new reference point for the force-related variable.
  18. The stroller (1) according to claim 16 or 17, characterized in that the aforementioned reference point is the zero point.
  19. The stroller (1) according to any one of claims 1 to 18, characterized in that the control unit (34) is designed to control the motor based on the stored calibration of the force sensor device (30) until a new calibration of the force sensor device (30) is performed.
  20. The stroller (1) according to any one of claims 1 to 19, characterized in that the control unit (34) is designed to check at predetermined intervals whether it is possible to start the calibration of the force sensor device (30), and if possible, to start the calibration of the force sensor device (30).

Description

This invention relates to a stroller frame, a stroller, and a computer-readable storage medium. Electric strollers for children are known in principle. They are configured to move solely by motor power. Furthermore, it is known in principle that they provide motor assist, which supports the driving force of the person operating the stroller, but does not provide assistance when no force is being applied by the operator. From DE 20 2017 104 166 U1, a stroller frame equipped with a force sensor device for measuring the amount or direction of force or force component, and a corresponding stroller, are known. According to this, the motor assist of the stroller can be controlled based on the output of the sensor device. The force sensor device is mounted on the pusher handle. Therefore, when a user pushes or pulls the stroller, the force sensor device measures the amount or direction of the applied force. The output measured via the force sensor device is then used by a connected control device to control at least one drive motor. This is used to assist the user pushing the stroller, depending on the applied force. Force sensor devices are known in principle. Such force sensor devices, particularly strain gauges, are based, for example, on changes in resistance due to changes in length and/or cross-section. Force sensor devices include those that indirectly provide an indication of applied force, for example, by sensing torque. When a strain gauge (DMS) stretches, its resistance increases. When compressed, its resistance decreases. Because strain gauges are highly sensitive, there are disturbance variables that can affect the measurement results. Typical disturbance variables include temperature, creep, and humidity. When such force sensor devices are used in strollers, these disturbance variables can distort the output, potentially reducing drive support. This can pose a safety risk to the child in the stroller. Generally, strollers can tolerate relatively small deviations, while large deviations are problematic. For this reason, the object of the present invention is to provide a motor-assisted stroller or stroller frame that is as simple, safe, and user-friendly to apply as possible. In particular, it aims to reduce or eliminate (inappropriate) interruptions caused by the use of the stroller or stroller frame or its motor assist. This objective is particularly addressed by the features of claim 1. In particular, the objective is solved by a stroller or stroller frame comprising: at least one motor (prime mover), particularly an electric motor (motor), for driving (especially assisting) the stroller or stroller frame; at least one pusher for pushing the stroller frame or stroller; at least one force sensor device for detecting force-related variables, particularly the force and/or force component acting on the pusher, and/or variables derived from this force or force component, such as torque and/or the temporal change of the force or force component; and at least one control unit configured to initiate (preferably perform) calibration of the force-related variables (i.e., calibration of the force sensor device with respect to the force-related variables). Such calibration can compensate for, or at least reduce, particularly relatively large deviations (particularly those caused by changes in external conditions). This improves the control, and consequently the use, of the stroller or stroller frame. Particularly preferably, the control unit is configured to initiate calibration of the force sensor device (with respect to the force-related variables) in response to the result of detecting at least one force-related variable, and especially in response to the results of detecting multiple force-related variables, preferably at least three (more preferably at least five, even more preferably at least eight) and/or up to 100 (or up to 50 or up to 30), particularly (preferably directly) consecutively. In this way, improving the usability of the stroller or stroller frame can be achieved in a simple manner. The fact that calibration is (only) initiated or started when results regarding the detection of force-related variables are available reduces the likelihood that calibration will be performed when, for example, this would be inconvenient for the user (in terms of the current use of the stroller or stroller frame). In particular, calibration is (not necessarily) performed when (and simultaneously with) the motor assist is turned on. Such calibration (inevitably) occurs immediately after the start of the motor assist, and then a certain amount of time elapses before the user can use the stroller or stroller frame (with motor assist). For example, the user does not need to keep the stroller or stroller frame upright after the motor assist starts, and calibration can be performed before the stroller, including the motor assist, is actually used. Generally, there is no need to wait for the force sensor device to be