DE102023135399A1 - Mobility device with electrically driven or powered wheels or rollers and method for operating such a device - Google Patents

Abstract

In a mobility device (1) with drivable or driven wheels (20, 21, 22, 23) or rollers, at least one drive device (24) for driving the drivable or driven rollers or wheels (20, 21, 22, 23), at least one handle element (2, 3) for engaging the mobility device (1) and at least one control and/or regulating unit (30) for controlling and/or regulating the mobility device (1), at least one device for compensating the driving and/or gradient resistance of the mobility device (1) is provided, comprising at least one inclination sensor (4) and/or acceleration sensor and at least one first force sensor.

Description

The invention relates to a mobility device with electrically drivable or driven wheels or rollers, at least one drive device, in particular an electric drive device, for driving the electrically drivable or driven rollers or wheels, at least one handle element for engaging the mobility device and at least one control and/or regulating unit for controlling and/or regulating the mobility device, as well as a method for operating a mobility device provided with electrically drivable or driven rollers or wheels, wherein at least one drive device, in particular an electric drive device, is provided for driving the rollers or wheels.

Mobility devices and methods for their operation are known in the art. These are used, particularly in the form of a rollator, as a mobility aid for older people and people with disabilities. They usually have four wheels or rollers and can be pushed by the user to keep them upright. Such rollators also usually include a seat on which the user can sit if they want to take a break from moving. Since the known rollators usually have a noticeable weight and the resulting forces become clearly noticeable on inclines and declines, and the rollators are therefore not easily maneuverable, especially when going uphill, especially for older people and people with disabilities, rollators with powered wheels or rollers are also known.

For example, the DE 103 18 929 B3 A mobile walking aid device for assisting people with walking disabilities, comprising a chassis with wheels and a motorized drive device for the wheels, handles arranged on the chassis or connected load-bearing elements for supporting a user while walking, and a control device for controlling the drive device with regard to drive speed and, if applicable, direction depending on the user's action on the handles or an input device arranged thereon. A data acquisition device is integrated into the device that records movement data during the device's movement and stores it for later evaluation. Thus, force control is achieved through the handles, with pushing/pulling forces as well as moments due to the weight shift of the rollator user being recorded in order to adjust the speed of the rollator.

From the DE 20 2017 100 023 U1 A fall-proof rollator is known, which comprises several wheels, a frame, handles arranged at a distance above the wheels, a seat arranged at a height between the wheels and the handles, and a brake which is movable between a braking position and a release position and blocks at least one wheel in its braking position, further comprising an electronic control and a safety sensor which is operatively connected on the input side to the control in such a way that a sensor signal can be fed to the control as an input signal, and an electrically activatable actuating device referred to as an actuator, which is operatively connected on the output side to the control and on the other hand to the brake in such a way that a control signal output by the control and fed to the actuator triggers the actuator and the actuator moves the brake into its braking position, and an energy store which supplies the control and the actuator with electrical energy, wherein the control is designed as a safety circuit in such a way that upon receipt of a sensor signal output by the safety sensor, it sends a control signal to the actuator.

The DE 10 2012 024 039 A1 discloses a motorized rollator with automatic braking function and intuitive control and a method for controlling a walking aid with a motorized drive, detection device and control device for increasing the mobility of persons with walking disabilities, wherein the detection device detects signals from a distance detection between the walking aid and the user in a corresponding reference area and forwards them to a control unit where they are processed and regulate the drive.

From the DE 20 2011 104 720 U1 A rollator with integrated electrical assistance is known. An electrical drive and braking assistance for the rollator integrated into the frame is activated by detecting and processing the force exerted by the user on the handles to switch on an electric motor as needed. The actuators for the drive and braking function are positively integrated into the frame of the rollator. The electronic control for the drive and braking function is positively integrated into the frame. The central control controls the actuator units on all drive wheels. The cabling required for connecting the control, actuators and sensors is positively integrated into the frame. Contact and force sensors are integrated into the handles (at least one handle). sensors (at least one sensor) are integrated, with detection of the forces exerted on them in the horizontal and/or vertical direction, and at least one inclination sensor is integrated in the frame.

The KR 10 2015 0068598 A discloses an electromotive assistance device for assisting a user in walking, comprising an operating unit for detecting a pressure exerted by a user and outputting a pressure signal, a drive unit that supplies power to at least one of the plurality of wheels, a sensor unit that measures a distance and an inclination to the user, the operation of the drive unit being controlled, it being determined whether the user falls based on the measured distance, and a condition of the road surface being determined according to the measured inclination.

From the CN 110 916 988 A An electric mobility aid is known, wherein an electric walker is characterized by comprising a frame, a shaft rotatably connected to the front of the frame, an electric front wheel installed at the lower end of the shaft, and a lifting mechanism attached to the upper end of the shaft. The lifting mechanism is connected to a handlebar that can drive the lifting of the handlebar. The rear of the frame is equipped with driven rear wheels. The lifting mechanism is provided with vertical beams on both sides, and the vertical beams are connected to a seat mechanism. The seat mechanism includes a roller track or pulley rail attached to the vertical support, a roller or pulley embedded in the roller track or pulley rail. The roller or pulley is rotatably connected to the side surface of one end of the seat. The upper part of the roller track or pulley rail is articulated and provided with a backstop to limit the upward movement of the rollers or pulley.

Optical systems are also used, where, for example, the distance between the user and the walker is considered as a control system. Here, too, irregularities in gait and other external parameters, such as the type of clothing of the user, pose a challenge. One such system is, for example, from the CN 107 224 392 A This discloses an electric walking aid and its control method. The position of the electric walking aid and the distance between the electric walking aid and a user are dynamically controlled and adjusted to provide the user with a static and dynamic support function, so that the user is supported in the static and dynamic situation of the interaction between walking and standing during walking training. Control is therefore achieved by gait detection, thus by detecting gait, pace, stride, and the human-walking aid distance, more specifically the foot, abdominal, and shoulder distance, using video, laser, infrared, or ultrasound.

From the KR 10 2013 0101777 A is an electrically powered walking aid for the safety of the elderly, which aims to overcome the problem of existing walking aids and improve walking safety. It includes a drive unit, a sensor unit, an external communication unit, a processing unit, and a drive energy source. The drive unit detects and predicts a pedestrian's walking speed. It controls the walking speed and maintains an average speed. The memory records environmental information when the sensor detects at least one hazardous environmental condition and generates a danger signal. The information about the hazardous environment is transmitted to an external terminal when the external terminal connects to the external communication unit. The functions include automatically controlling the walking speed, querying an incline, controlling the motor operating speed, monitoring dangerous situations, sending an alarm to a manager, saving the average walking speed, starting the operation of the walking aid, stopping the operation of the walking aid, and ending walking.

The CN 113 552 822 A discloses a method and apparatus for controlling a smart walker, the smart walker comprising a body, a front wheel, and a rear wheel, and the rear wheel is driven by a motor, the method comprising the steps of detecting the moving speed of the smart walker, detecting the body posture, and reducing a torque output of the motor when the body posture indicates that the front end of the smart walker is tilted upward and the moving speed of the smart walker is less than a first threshold. According to the control method of the smart walker, the smart walker can intelligently judge whether or not the smart walker needs to enter an intelligent threshold crossing mode, and the torque output of the motor is reduced in the intelligent threshold crossing mode to prevent the torque from being greatly increased due to the excessive speed during threshold crossing, thus causing the walker to become out of control.

From the CN 111 658 453 A A self-adjusting anti-fall rollator and a working method are known. The self-adjusting anti-fall rollator includes a left lifting arm and a right lifting arm, the lower ends of the two lifting arms being hinged to a left vertical bar and a right vertical bar, respectively. The upper parts of the two lifting arms are each connected to two sides of an upper plate, and the center of the lower bottom surface of the upper plate is hinged to a lifting connecting bar. The inner sides of the upper parts of the two vertical bars are each fixedly connected to two ends of an arcuate connecting bar. The lower end of the lifting connecting bar is hinged to the center of the arcuate connecting bar. A lifting motor is hingedly attached to the center of each lifting arm, and the lower end of a screw of each lifting motor is hinged to the lower part of the vertical bar on the same side. The rollator can lift a user from a sitting to a standing position or assist them in transitioning from a standing to a sitting position. A chassis is equipped with electric wheels and a force sensor, and the electric wheels can move forward and backward, steer left and right, and rotate in place according to the detection and judgment results of a sensor, so that the user's posture can be corrected when the user walks, steers, and falls.

The CN 115 300 338 A discloses a multifunctional rehabilitation training walker based on the simulation of mechanical balance. The multifunctional rehabilitation training walker includes a walker body, left and right drive wheels, left and right drive units, and a monitoring module. The left and right drive units drive the left and right drive wheels to rotate, respectively. The monitoring module includes a rotation speed detection unit for detecting the rotation speed of the left and right drive wheels and a control unit for drive control. The control unit receives the rotation speeds of the left and right drive wheels sent from the rotation speed detection unit and calculates the rotation speed difference to obtain a user's intention and control the drive unit to drive the corresponding drive wheel for complete speed control. According to the rollator, the two independently controlled drive wheels are used, the user's intention can be judged by the speed difference of the two drive wheels, thus achieving automatic following, improving the adaptation degree of the rollator and the user, and reducing user accidents.

The KR 10 2022 0105199 A discloses an intelligent rollator comprising a lower frame equipped with four wheels and a drive motor installed on the rear wheels, an upper frame attached to the upper part of the lower frame and equipped with handles and elbow supports, a sensor device in which sensors are distributed and installed on the upper and lower frames, a control unit that detects a walking intention by the sensor device and controls the drive of the motor drive unit as intended, and a battery that supplies power to the above-mentioned components. Further, a method for controlling a walking frame is disclosed, in which the control unit of the intelligent walking frame sequentially performs the following steps: a preparatory step of checking whether the battery power and the sensors are normal; a user movement detection step of determining whether a user is nearby and walking at a constant, slowed, or accelerated speed; a road surface detection step of determining whether an obstacle is present in front of the walking frame and whether the road is flat, sloped upward, or downward; and a walking deceleration step of operating a clutch drive unit to accelerate the rotation of the motor in the case of an upward slope in the road surface detection step and to limit the drive of the motor in the case of a downward slope in the road surface detection step. When the front wheels begin to climb the slope, the rear wheels are variably accelerated to gradually increase the speed, and when the user moves at a slowed speed, the acceleration is stopped and the speed is maintained. The user's walking intention and the road surface conditions can be recognized in a complex manner so that the rollator can be driven autonomously.

From the WO 2022/036327 A1 A walking aid with an automatic drive system is known. The walking aid comprises a rigid frame including a left handle and a right handle, a plurality of wheels attached to the rigid frame, a plurality of drive motors integrally mounted in the plurality of wheels, and a drive motor controller configured to energize the plurality of drive motors, determine the orientation of the walking aid, generate a first motor current component to compensate for the orientation of the walking aid and the resulting torque on the drive motor, Determines the walking aid's speed, generates a second motor current component for internal friction based on the walking aid's speed, determines a user force applied to the left handle and the right handle, and supplies power to the drive motors based on a sum of the first motor current component, the second motor current component, and the third motor current component. The level of assistance depends on the incline or surface friction. If the walking aid user applies a greater pushing force to overcome obstacles, a difference arises between a target current supplied to the drive motors and a measured current of the drive motors.

The known control methods for electric rollators are therefore partly based on measuring forces transmitted from the user to the rollator. For this purpose, sleeves or measuring strips are used to measure the thrust forces on the rollator's handles. The problem is that the forces are very small and fluctuate significantly over time due to irregularities in the user's gait. Furthermore, it is not possible to distinguish between forces applied intentionally by the user and forces applied accidentally, e.g., when walking downhill or due to tripping. In the event of a trip, the applied force can even increase the risk of falling. Therefore, these forces are unsuitable as a control variable. Furthermore, there are also applications in which forces must be applied to the rollator counterintuitively, such as when negotiating a curb. In this case, the handles must be pulled backward to raise the front wheels. If the drive control interprets this as a desire to brake or even reverse, unwanted and potentially dangerous situations arise for the rollator user.

The present invention is therefore based on the object of providing a mobility device with drivable or driven wheels or rollers, at least one drive device for driving the drivable or driven rollers or wheels, at least one handle element for engaging the mobility device and at least one control and/or regulating unit for controlling and/or regulating the mobility device as well as a method for operating such a mobility device, which solves the problems mentioned above and in particular a user of the mobility device has to exert very little force to move it.

The object is achieved for a mobility device according to the preamble of claim 1 in that at least one device is provided for compensating the driving and/or gradient resistance of the mobility device, comprising at least one inclination sensor and/or acceleration sensor and at least one first force sensor. For a method according to the preamble of claim 8, the object is achieved in that a basic assistance force for moving the mobility device is generated and regulated, wherein at least the driving and/or gradient resistance caused by the weight of the mobility device is compensated, wherein, for compensation, the position and weight of the mobility device are detected by at least one inclination sensor and/or acceleration sensor and at least one first force sensor, and the control of the at least one electric drive device for driving the rollers or wheels is changed depending on the detected position and the detected weight. Further developments of the invention are defined in the dependent claims.

This creates a mobility device and a method for its operation which enable the driving and/or incline resistance of the mobility device, in particular in the form of a walker, to be compensated so that a user can move the mobility device forward with very little effort when walking. The driving or incline resistance results from forces arising due to the weight of the mobility device and the surface on which it is moved, such as the downhill force and rolling resistance on an incline. The control and/or regulation unit receives measurement data from the at least one inclination sensor or from at least one position sensor or at least one acceleration sensor for determining the position of the mobility device in space or its inclination. The at least one acceleration sensor can, for example, detect the acceleration due to gravity and use this to calculate the inclination of the mobility device in space. The control and/or regulation unit further receives the weight of the mobility device, including any additional load, from the at least one first force sensor, by means of which the payload of the mobility device, such as, for example, in the form of objects carried in the mobility device, can be determined. The dead weight of the unloaded mobility device can be recorded in advance, in particular during its manufacture, so that it is known in advance and can accordingly be input to the control and/or regulation unit as an actual value. By means of the at least one first force sensor, the individual payload can be recorded, which is formed, for example, in the form of objects carried in a transport device, such as shopping. e.g. a transport bag that can be arranged at a suitable location on the mobility device to carry shopping and other items in. From these measured values of the sensors signal-connected to the control and/or regulating unit of the mobility device, the control and/or regulating unit can drive the at least one drive device, in particular an electric drive device, such as at least one electric motor, for driving the drivable or driven wheels or rollers of the mobility device in such a way that the forces resulting from the weight of the mobility device or the driving and/or gradient resistance are compensated. The motor current and/or torque can be changed to compensate for the position and weight of the mobility device. A basic support force for moving the mobility device and thus for assisting pushing it is thus generated and regulated accordingly. The mobility device compensates for its weight, including the payload, and the resulting driving and/or gradient resistance in such a way that the user is not burdened when pushing. This allows the user to focus their attention on their surroundings without having to constantly adjust the control parameters. This is particularly important for the target group of older people and people with disabilities. For example, designing a mobility device as a walker ensures that it provides support when the user needs it, without becoming a burden in other situations. This means that the mobility device can be successfully used to maintain mobility and promote recovery during rehabilitation measures.

In this case, the assistance force exerted by the electric drive device of the mobility device is basically regulated to support a user using the mobility device, such as a person with reduced mobility.

By driving the wheels or rollers, the gradient resistance due to the mobility device's own weight and load, among other things, can be compensated for when driving uphill, so that the user has to exert very little force to move the mobility device uphill. Usually only some of the four wheels or rollers of the mobility device can be driven or powered, the rest not. For example, only the rear wheels of the mobility device that are close to the user when the mobility device is in operation can be driven or powered, while the front wheels that are further away from the user are not. However, it can also be the other way around, with the front wheels being driven and the rear wheels not. Likewise, all four wheels or rollers could be driven or powered.

The mobility device advantageously has at least one first adjustment device by means of which different assistance levels can be manually specified by a user. The control of the basic assistance force for moving and/or braking the mobility device can advantageously be overridden by at least one manually operable input device for entering an assistance request. The control and/or regulation unit of the mobility device and the method for operating the mobility device are based on the user being able to decide for themselves whether or not they require additional assistance in addition to the basic assistance force for moving the mobility device. The control of the mobility device therefore provides a combination of an automatically generated basic assistance force and a manually requestable additional assistance force. The at least one first adjustment device for setting different assistance levels can prove useful especially when driving downhill and on slippery surfaces and can be operated accordingly.

Position sensors or inclination sensors can be used to detect the incline of the surface on which the mobility device is standing, being moved, or traveling. This information can be used to determine the driving resistance component resulting from the incline and to use it to control the drive device of the mobility device. However, it has been shown that this information alone is not sufficient, as other driving resistance parameters remain unknown as long as no information about the user's driving intention is available. A combination of this approach, for example, with the measurement of forces on the at least one handle element could help here, but does not solve the problem of potential incorrect operation due to accidentally introduced forces. Therefore, when a gradient is detected by the at least one inclination sensor, i.e. when traveling downhill, the user's assistance request can be advantageously queried. A support level set on the at least one first input device designed as a support level setting device is queried and, depending on this, the level of braking force for braking the mobility device is regulated or set and/or the maximum speed of the mobility device is changed. Especially when going downhill, a user has the need to support himself on the mobility device, ie the mobility device should Active braking. The level of braking is user-specific and can be adjusted using at least one first adjustment device. Changing the maximum speed can also reduce the user's risk of falling. In any case, increased support by a user on the mobility device when descending does not lead to an increase in its speed, as occurs with state-of-the-art solutions. This prevents forces introduced into the mobility device from being misinterpreted, which could otherwise lead to undesired driving actions and dangerous situations.

Further advantageously, the mobility device can have at least one acceleration sensor, in particular a 3-axis acceleration sensor for determining acceleration in lateral, translational, and rotational directions. If the at least one acceleration sensor detects an above-average acceleration or an acceleration exceeding a determined or predeterminable average speed within a short period of time, a risk of falling can be detected and a braking process can be automatically initiated by the control and/or regulating unit and corresponding braking signals can be sent to the at least one drive device and/or at least one braking device.

When the at least one inclination sensor or at least one acceleration sensor detects that an inclined plane is being traveled, it is further advantageous to query at least one second force sensor to detect the normal force, and the normal force can be used as the basis for and/or compensated for by the current control of the at least one electric drive device. The at least one second force sensor for detecting the normal force when traveling on an inclined plane can be arranged in the region of the handle elements of the mobility device and/or in the region of the wheel suspension of at least one wheel of the mobility device. The at least one second force sensor can, for example, be designed in the form of a bending beam. The normal force detected by the at least one second force sensor refers to the force exerted by a user when they are supporting themselves on the mobility device or its handle elements while traveling on an inclined plane, such as when traveling downhill. It can be used as the basis for and compensated for by the motor current control of the at least one electric drive device.

As a further manually operable input device for entering a user's assistance request to override the control of the basic assistance force for moving the mobility device, the mobility device can have at least one thumb throttle actuation device, the actuation of which overrides the force control of the mobility device. The manual actuation of the at least one thumb throttle actuation device is advantageously queried, and upon detection of actuation of the at least one thumb throttle actuation device, the assistance force for moving the mobility device is increased. Advantageously, speed control or control of the torque of the at least one electric drive device is carried out. The control and/or regulation unit of the mobility device can determine part of the driving resistance of the mobility device with the aid of the at least one inclination or position sensor. Rolling resistance, as an important component, remains unknown, however, so that it proves useful to query the user's assistance request. The at least one thumb throttle actuation device, in particular in the form of a thumb throttle lever, serves this purpose. By activating this button, a user can override the mobility device's controls, similar to a boost function. This is particularly useful on poor surfaces, such as gravel or forest paths. Furthermore, the boost function—increasing the assistive force required to move the mobility device—can also be used to overcome obstacles such as curbs or the edge of a bus entrance. The front wheels of the mobility device can be raised automatically. Activating the thumb throttle when driving uphill advantageously regulates the power rather than the speed. This also increases the user's safety by reducing the risk of falling.

The at least one thumb throttle actuation device can be provided or equipped with at least one actuation blocking device to prevent unintentional actuation of the at least one thumb throttle actuation device. In particular, the thumb throttle actuation device can be designed in the form of a thumb throttle button. This is advantageously arranged on a handle element of the mobility device in such a way that it can be actuated particularly well with the thumb of one of the user's hands. If a user sits down between the handle elements of the mobility device on an advantageously provided, in particular foldable, seat device when the mobility device is stationary and areas of the body or, for example, the user's clothing get caught on the thumb throttle button or touch it, unintentional actuation of the thumb throttle button can occur. In order to prevent such unintentional actuation of the thumb throttle button, the at least one actuation device A locking device can be provided. This can in particular be designed as a web-shaped frame. Furthermore, the actuation locking device can be designed not only in the manner of a frame, but also in the manner of a cage and arranged around the thumb throttle button. Furthermore, at least one sensor can be provided which detects the user's intention to sit down, such as a light barrier, or a hand position detection device which detects when a user's hands are resting upside down on the grip element(s). For standing up, during which the thumb throttle button could also be actuated, e.g. by the ball of the thumb or other fingers of the user, a sensory detection device can also be integrated into the seating device. If corresponding information is available from the at least one sensor or the sensory detection device or the at least one hand position detection device, the actuation of the at least one thumb throttle actuation device can be prevented by the at least one actuation locking device. The latter can also be in the form of a blocking signal which is sent to the control and/or regulation unit and causes it to ignore the actuation of the thumb throttle actuation device and therefore not react to it.

Furthermore, the mobility device can have at least one hand detection sensor, which can be used to detect whether a user's hands are gripping the handle elements. At least one hand detection sensor can detect whether a user's hands are gripping the handle elements of the mobility device, and if the absence of a user's hands from the handle elements is detected, the mobility device can advantageously be braked to prevent it from rolling away unintentionally. If an incline is simultaneously detected by querying the at least one incline sensor, the speed of the mobility device can be regulated to a very low value greater than zero. If the at least one handle sensor detects that a user's hands are not resting on the handle elements or that they have not grasped them with their hands, the mobility device is advantageously automatically braked to prevent it from rolling away unintentionally. If no user is detected on an incline because their hands are not detected by the at least one handle sensor, the speed of the mobility device is advantageously not reduced to zero, but rather only regulated to a very low speed value. This ensures that the mobility device is not forgotten to be switched off or a mechanical braking device, which is advantageously provided, is activated in order to avoid unnecessarily discharging a battery, which is advantageously provided to supply power to the electrical components of the mobility device.

The mobility device can be not only a medical device in the form of a walker, but also, for example, a wheelchair or a bed. It can also be a means of transport, in particular a shopping cart or a suitcase. Furthermore, it can be a means of transportation, in particular a stroller or an electric vehicle. The above features of the mobility device can thus be provided not only in a walker, but also in other medical devices, means of transport, and means of transportation.

• 1 eine perspektivische Ansicht einer ersten Ausführungsform einer erfindungsgemäßen Mobilitätseinrichtung in Ausbildung als Rollator,
• 2 eine perspektivische Ansicht einer ersten Ausführungsform eines linken Griffelements für eine erfindungsgemäße Mobilitätseinrichtung,
• 3 eine perspektivische Ansicht einer ersten Ausführungsform eines rechten Griffelements für eine erfindungsgemäße Mobilitätseinrichtung,
• 4 eine perspektivische Ansicht einer zweiten Ausführungsform eines linken Griffelements für eine erfindungsgemäße Mobilitätseinrichtung,
• 5 eine perspektivische Ansicht einer zweiten Ausführungsform eines rechten Griffelements für eine erfindungsgemäße Mobilitätseinrichtung,
• 6 ein skizzenhaftes Kraft- bzw. Widerstands-Zeitdiagramm in vier verschiedenen Unterstützungsfällen, nämlich bei ebener Strecke, Steigung, Gefälle und unebenem Untergrund, mit auf der y-Achse aufgetragener Unterstützungskraft (links) und Fahrwiderstand (rechts) und auf der x-Achse aufgetragenem zeitlichen Verlauf, wobei unter dem Kraft- bzw. Widerstands-Zeitdiagramm ein entsprechendes Höhenprofil der vier Unterstützungsfälle gezeigt ist,
• 7 eine Skizze einer erfindungsgemäßen Steuerungs- und/oder Regelungseinheit einer erfindungsgemäßen Mobilitätseinrichtung,
• 8 ein erstes Ablaufdiagramm zum Steuerungs- bzw. Regelungsverfahren einer erfindungsgemäßen Mobilitätseinrichtung,
• 9 ein zweites Ablaufdiagramm zum Steuerungs- bzw. Regelungsverfahren einer erfindungsgemäßen Mobilitätseinrichtung, und
• 10 ein drittes Ablaufdiagramm zum Steuerungs- bzw. Regelungsverfahren einer erfindungsgemäßen Mobilitätseinrichtung beim Feststellen eines Gefälles des Untergrunds.

To further explain the invention, exemplary embodiments are described in more detail below with reference to the drawings. These show:

• 1 a perspective view of a first embodiment of a mobility device according to the invention in the form of a rollator,
• 2 a perspective view of a first embodiment of a left handle element for a mobility device according to the invention,
• 3 a perspective view of a first embodiment of a right handle element for a mobility device according to the invention,
• 4 a perspective view of a second embodiment of a left handle element for a mobility device according to the invention,
• 5 a perspective view of a second embodiment of a right handle element for a mobility device according to the invention,
• 6 a sketch of the force or resistance-time diagram in four different support cases, namely on a flat surface, uphill, downhill, and uneven ground, with the support force (left) and driving resistance (right) plotted on the y-axis and the time course plotted on the x-axis, with a corresponding height profile of the four support cases shown below the force or resistance-time diagram,
• 7 a sketch of a control and/or regulation unit according to the invention of a mobility device according to the invention,
• 8 a first flowchart for the control or regulation method of a mobility device according to the invention,
• 9 a second flowchart for the control or regulation method of a mobility device according to the invention, and
• 10 a third flow chart for the control or regulation method of a mobility device according to the invention when detecting a gradient of the ground.

1 shows a perspective view of a first embodiment of a mobility device 1 configured as a rollator. The mobility device 1 comprises four wheels 20, 21, 22, 23, wherein the two wheels 20, 21 are rear wheels and the wheels 22, 23 are front wheels. The two rear wheels 20, 21 can each be driven by an electric drive device 24, in particular an electric motor. Furthermore, the mobility device 1 comprises a frame 25 on which the four wheels 20, 21, 22, 23 are arranged. The frame 25 is provided with two seat elements 26, 27 arranged thereon in a foldable manner. Furthermore, the frame 25 is height-adjustable via two telescopic devices 125, 126. At the end of the frame 25 opposite the arrangement of the four wheels 20, 21, 22, 23, this comprises a handle unit 28 with two handle elements 2, 3. Their concrete structure is shown in the 2 , 3 , 4 , 5 shown as examples in two different versions.

The mobility device 1 is equipped with a number of sensors. In order to determine the position, orientation, or inclination of the mobility device 1 relative to a surface it is traveling on, the mobility device 1 has an inclination sensor 4, which is designed in particular in the form of an absolute angle sensor, in the region of its rear wheel 21. If the drive devices 24 are also arranged in the region of the rear wheels 20, 21, but also if at least one storage unit for electrical energy, such as a battery 34 or an accumulator, for supplying the at least one drive device 24 with electrical energy is arranged, for example, in one of the seat elements 26, 27, a temperature sensor for determining the motor temperature can be arranged in the region of the rear wheel 20 and/or the rear wheel 21 of the mobility device 1. If the storage unit for electrical energy, such as a battery or accumulator 34, is arranged in the area of the seat elements 26, 27, the positioning of such a temperature sensor for determining the battery temperature in the area of the seat elements 26, 27 is suitable.

In the area of the seat elements 26, 27, in particular integrated therein, an acceleration sensor, in particular a 3-axis acceleration sensor for determining accelerations in the lateral, translational, and rotational directions, a 3-axis rotation rate sensor, also referred to as a gyro, and an ambient light sensor can also be arranged. The latter serves to automatically switch on a light source, which can also be arranged, for example, on the frame 25 of the mobility device 1, in order to enable illumination of the route in front of the mobility device 1.

Furthermore, in the seat elements 26, 27, detection devices, in particular sensors, for detecting the motor currents, the state of the two seat elements 26, 27, i.e. whether these, as in 1 shown, are unfolded or folded in so that no one can sit on them, the voltage of the storage unit for electrical energy arranged in at least one of the seat elements 26, 27, such as the battery 34 or the accumulator, a detection device for detecting the charge state of the battery or accumulator, a temperature measuring device for detecting the temperature of a control and/or regulating unit 30 for controlling and regulating the operation of the mobility device 1, as well as a detection device for detecting the state of a mechanical brake of the mobility device 1. If the mobility device 1, in addition to transporting luggage, such as shopping, comprises a corresponding receiving container as a transport device, such as a transport bag and/or a basket, which can be attached to the mobility device 1, at least one force or weight sensor is provided for determining the weight of the corresponding load in the basket or transport bag. This can be located in the area of the basket or transport bag to determine the weight of the load.

In the 2 and 3 The two handle elements 2, 3 are shown in a first embodiment. 2 The first or left handle element 2 shown comprises, in the embodiment shown, an ON/OFF switch 200 with which the drive device 24 of the mobility device 1 can be switched on and off. Adjacent to this, the 2 shown handle element 2 has a display device 201 for displaying the charge level of battery 34 or accumulator, which serves to supply power to the drive device(s) 24. The gripping area 202 of the first handle element 2, which is mainly gripped by the hands, according to 2 further comprises a capacitive hand recognition sensor 203. The second handle element 3, which is 3 shown and is used for gripping with the right hand, comprises a corresponding grip area 204 with capacitive hand recognition sensor 205 in order to be able to detect whether or that the second grip element 3 is held by the hand of a user of the mobility device 1. Furthermore, the second handle element 3 comprises a support level adjustment device 206, by means of which individual support requests in stages, i.e. a level of support provided by the mobility device 1 for the user, can be adjusted step by step by the user. The support level adjustment device 206 can be formed, for example, by an adjusting wheel. For example, four or five support levels can be set on this. The support level adjustment device 206 serves to control the braking effect when riding downhill with the mobility device 1. Therefore, for example, level 1 can offer particularly great support and accordingly a strong braking effect, while level 4 or level 5 offer little support from the mobility device 1 and thus little braking effect. By adjusting the support level adjustment device 206 accordingly, the user can manually select and receive the individual support he or she desires from the mobility device 1. As will be explained further below regarding the 6 to 10 As will be explained in more detail below, by actuating the support level setting device 206 accordingly, the basic support control, thus the basic support force provided by the mobility device 1 and which compensates for the driving and/or gradient resistance caused by the weight of the mobility device 1, can be overridden.

Another possibility for overriding the basic assistance provided by the mobility device 1 is by actuating a thumb throttle actuation device 207. This is also arranged in the second handle element 3. In principle, the thumb throttle actuation device 207, for example in the form of a thumb throttle button on the second handle element, is arranged such that it can be actuated particularly well with the thumb of the right hand. By actuating the thumb throttle actuation device 207, the activity level of the mobility device can also be changed. In particular, the maximum speed of the mobility device can be changed in this way. If the thumb throttle actuation device 207 is actuated, the assistance force for moving the mobility device is increased. This can result in speed control or control of the torque of one or more drive devices 24 of the mobility device 1. The thumb throttle actuation device 207 can be actuated in particular when the mobility device 1 is to be used to overcome a curb.

To prevent the thumb throttle actuation device 207 from being actuated unintentionally, it is surrounded by an actuation locking device 208, here in the form of a frame that extends around the thumb throttle actuation device 207. When the mobility device 1 is stationary, when the seat elements 26, 27 are folded out, as in 1 indicated, and the user can or has sat down on it, it is possible that the thumb throttle actuation device 207 is accidentally actuated either with the hands or parts of his body or his clothing. This can also occur due to clothing getting caught or accidentally touching it. This results in an unintentional actuation of the thumb throttle actuation device 207, so that there is a risk that the mobility device 1 starts moving on its own. To prevent this, the 3 The actuation locking device 208 shown is arranged around the thumb throttle actuation device 207. In the embodiment shown here, it is web-shaped or frame-shaped, but can also be designed in the manner of a cage or otherwise as a protective device, so that unintentional actuation of the thumb throttle actuation device 207 can be reliably prevented when the mobility device 1 is actually stationary. Another possibility or a supplementary possibility is to provide at least one sensor that detects the user's intention to sit down, such as a light barrier, which can be arranged in the area of the two seat elements 26, 27 and determines whether a user sits down on the seat elements 26, 27 there. Furthermore, a hand position detection device can be provided in the area of at least one of the two handle elements 2, 3, which detects when the user's hands are resting conversely on one handle element or both handle elements 2, 3. Furthermore, for standing up from the seat elements 26, 27, in which the thumb throttle actuation device 207 could also be accidentally actuated, for example by the ball of the thumb or the fingers of the user, a sensory detection device can also be arranged or integrated in one or both seat elements 26, 27. This can be used to detect not only sitting down but also standing up of the user in the area of the seat elements 26, 27. In each of the cases, if a corresponding signal is present from the at least one sensor, the sensory detection device, or the hand position detection device, actuation of the thumb throttle actuation device 207 can be evaluated as unintentional by the control and/or regulating unit 30 and thus disregarded.

The second handle element 3 further comprises in the 3 shown version a Horn 209, by means of which a user of mobility device 1 can draw attention to themselves. For better visibility in traffic, not only the horn but also lighting can be provided. This allows users to draw attention to themselves.

In the 4 and 5 an alternative design variant of the two handle elements 2, 3 is shown, where 4 again shows the left handle element, i.e. the first handle element 2, while 5 the second or right handle element 3. In this embodiment of the two handle elements 2, 3, the left or first handle element 2 comprises 4 not only the ON/OFF switch 200 and the display device 201 for the battery charge level, but also the horn 209 and an emergency call button 210, via which an alarm can be sent if the user of the mobility device 1 requires external assistance. In an emergency, an emergency call with GPS data for the exact position can be sent to relatives and all stored contacts.

Both handle elements 2, 3 further comprise a handle area with a capacitive hand recognition sensor, i.e. the first handle element 2 comprises the handle area 202 with the capacitive hand recognition sensor 203 and the second handle element 3 comprises the handle area 204 with the capacitive hand recognition sensor 205. The second handle element 3 further comprises the support level adjustment device 206 and also a thumb throttle actuation device 207. However, this is in contrast to the embodiment according to 3 Lever-like, not in the form of a button. The lever-like thumb throttle control 207 can also be easily operated with the thumb of the user's right hand.

In 6 A force or resistance-time diagram is shown in sketch form in four different assistance cases, namely on a flat stretch (I), an incline (II), a decline (III), and an uneven surface (IV), with the assistance force F (left) and resistance W (driving or gradient resistance) (right) plotted on the y-axis, and the time course t plotted on the x-axis. Thus, the assistance force F provided by the mobility device 1 for a user is shown over time t and for a different elevation profile of the surface, which accordingly leads to a different driving resistance or gradient resistance or rolling resistance for the mobility device 1. The course of the elevation profile is indicated below the diagram by the elevation profile line 105.

In the case of a flat route, which is shown in the first column I of the diagram, the driving or gradient resistance or rolling resistance on the surface on which the mobility device 1 is moved is zero, so that it is sufficient to provide a basic support force that only compensates for the forces acting due to the weight of the mobility device itself, including any additional load in the form of shopping, etc.

The second column II shows the application of an incline, which can be transmitted by the incline sensor 4. The resistance or gradient resistance W due to the incline, indicated by a resistance curve 100, is therefore no longer zero, but has a first value W1. When traveling on such an incline, the mobility device 1 provides an automatic support force F, which is indicated by the automatic support force curve 101 marked with small diamonds in the second column of the diagram in 6 When an incline is detected by the inclination sensor 4, the control and/or regulation unit 30 of the mobility device 1, see in particular 7 , therefore the torque and/or the motor current of the at least one drive device 24 of the mobility device 1 such that the force required to push the mobility device 1 for a user is only low, even when going uphill. The rolling resistance is not to be taken into account in the second stage II on normal ground, as indicated here, since it is assumed to be zero. The course of the rolling resistance curve 102 is shown in 6 indicated by the line with crossed dots. If the at least one inclination sensor 4 of the mobility device 1 detects that an incline has ended, thus there is no longer any inclination of the ground, as at the end of the second column II in 6 As indicated, there is no longer any resistance W due to the gradient, so that the driving resistance curve 100 becomes zero here.

In the third column III in 6 is the case of a gradient, thus driving downhill with the mobility device 1. The resistance or gradient resistance W through the gradient thus takes on a negative resistance value -W1, which is shown by the course of the resistance curve 100 in 6 is indicated. In order to provide an automatic support force F for a user here as well by the mobility device 1, an automatic support force F related to the resistance -W1 generated by the gradient is provided by the mobility device 1. This can be seen from the automatic support force curve 101. As soon as the gradient ends, as in the last area of the third column III in 6 As indicated, both the resistance W and the automatic support force return to zero.

At the fourth in 6 shown application of an uneven subsoil in column IV, also by the height profile 105 of the subsoil in 6 As indicated, a changing rolling resistance occurs, which is shown by the rolling resistance curve 102 in 6 is also indicated. For example, this can be the case on cobblestones or on a gravel path or other uneven terrain. In order to be able to offer users individual support here, the user can request a manually adjustable support force F by actuating the thumb throttle actuation device 207 and receive it accordingly from the mobility device 1. The course of the support force F is shown in 6 This is indicated by the manually adjustable assistance force curve 103, marked with black triangles. It can be seen that the assistance force F can also be changed by the user while moving, i.e., while riding on uneven ground. A corresponding adjustment is possible using the thumb throttle actuation device 207.

In 7 The control and/or regulation unit 30 is indicated. This comprises a microcontroller 31 as well as several inputs to and outputs from it. The measurement results of a 3-axis acceleration sensor and a 3-axis rotation rate sensor or gyro are fed to the microcontroller 31 via input 132 by an inertial measuring unit 32. Furthermore, a folding detection sensor 33 is queried as to whether the mobility device 1 is unfolded or folded. If the mobility device 1 is folded, the ON/OFF switch 200 can be actuated, but the mobility device 1 still does not start. The mobility device 1 or its at least one drive device 24 can only be started if the folding detection sensor 33 reports that the mobility device 1 is fully unfolded. The signal of the folding detection sensor 33 is fed to the microcontroller 31 via an input 133.

The data on the battery voltage, system voltage, and state of charge can be queried by the battery or accumulator 34 or by its corresponding measuring unit and also fed to the microcontroller 31 via an input 134. Motor position, motor temperature, motor current, motor driver temperature, and any error messages can also be detected by corresponding sensors for the at least one drive device 24 and also fed to the microcontroller 31 via an input 135.

The settings made on the handle elements 2,3, in particular the actuation of the ON/OFF switch 200, the actuation of a mechanical brake 29 of the mobility device 1 (see 1 ), the state of the support level adjustment device 206 or thumb throttle actuation device 207 can also be queried, as can the respective actuation state of the individual devices, on the one hand, and the voltage applied to the individual components, on the other hand, and are also fed to the microcontroller 31 via an input 136. Accordingly, the capacitive hand recognition sensors 203 and 205 on the handle elements 2, 3 can also be queried, and the result of the query can also be fed to the microcontroller 31.

The correspondingly determined actual values or input signals, for example, the values determined by the inclination sensor, but also the dead weight of the mobility device 1, can be stored in a memory unit 37. The stored values can also be output from the memory unit 37 to the microcontroller 31. Both can be done via the input/output 137 of the microcontroller 31. A diagnostic tool 38 can also be provided, and data exchange with it can be enabled via an input/output 138 with the microcontroller 31. Using such a diagnostic tool 38, errors can be detected and, if necessary, corrected directly.

The horn 209 can be addressed by the microcontroller 31 via an output 140 so that the horn 209 emits an audio signal. Furthermore, the battery or accumulator 34 can be switched on by the microcontroller 31, with an output 141 provided on the microcontroller 31 for this purpose. Likewise, the at least one drive device 24 can be controlled by the microcontroller 31 with regard to the voltage, the switching on and off of relays, and the switching on and off of the drive device(s) as such. This is done via an output 142 of the microcontroller 31. The display devices provided on the two handle elements 2, 3, in particular the display device 201 for the battery charge level, can also be addressed by the microcontroller 31. The respective states to be displayed via the at least one display device are output via an output 143 of the microcontroller 31.

8 shows a flow chart for the control and regulation process of the mobility device 1. Here, the gradient of the ground on which the mobility device 1 is moved or stands is determined by querying the angle of inclination α by the inclination sensor 4, as well as the total weight or the total weight force F _G of the mobility device 1, by determining its own weight and any payload by at least one force sensor or a Weight sensor, whereby both values, i.e., gradient and weight, are fed to an internal control unit 218 of the control and/or regulation unit 30 of the mobility device 1. A lateral inclination of the mobility device can also be queried, for example, by query of a normal force by arranging another force sensor in the form of a bending beam in the area of the handle unit 28 or by providing a force measurement in the area of the wheel suspensions of the wheels 20, 21, 22, 23. As a result, the motor current can be changed to compensate for the acting forces so that the force required by the user to push the mobility device 1 is as low as possible. When traveling on an inclined plane, the force introduced into the mobility device by a user supporting themselves on it can be compensated by detecting the normal force (from this) and subtracting it accordingly.

The average speed v _d of the mobility device 1 is also determined by at least one acceleration sensor of the inertial measuring unit 32, which can be arranged in particular in one of the two seat elements 26, 27 of the mobility device 1. If a sudden acceleration occurs, a fall can be detected, so that a braking process is automatically initiated by the control and/or regulating unit 30 of the mobility device 1. Such a sudden acceleration can be determined by a deviation from an average speed, i.e., by comparing the change in speed with the average speed. If this results in an unusually high value that lies above a predeterminable threshold, a fall can be detected accordingly, and a braking process can be automatically initiated by the mobility device 1 or its control and/or regulating unit 30. The average speed value is fed to a speed limiter or a roll-away protection 219, which can also query whether the hands of a user are resting on the handle elements 2, 3 or not, by correspondingly querying the two capacitive hand recognition sensors 203, 205 of the two handle elements 2, 3. Furthermore, the settings on the two handle elements 2, 3 are queried, here in particular the setting of the support level setting device 206 and the thumb throttle actuation device 207. These values are also fed to the internal control unit 218, which in 8 is also indicated by a corresponding arrow P1.

The gradients or angles of inclination recorded by the internal control unit 218, as well as weight values, the average speed, and also the settings on the handle elements 2, 3 are combined in a summer 220. This summer determines a desired torque M _desired , which is to be adjusted in order to provide a correspondingly suitable assistance force for the user by the mobility device 1. In order to avoid excessive acceleration, which would pose a risk of falling for the person using the mobility device 1 or a user, a torque change limiter 221 is provided. The torque change limiter 221 can prevent the mobility device 1 from accelerating too quickly. For this purpose, the torque change limiter 221 can comprise a filter that enables a corresponding limitation, or a stored driving curve according to which a torque increase is carried out.

In the flowchart in 8 A dashed line L is shown in the flow direction behind the torque change limiter 221, with the additional components provided individually with a specific motor or on a specific drive device 24 being shown to the right of the dashed line L. This right-hand sequence, which follows the dashed line L to the right, can thus be designed differently depending on the drive device 24. The 8 The components and process shown are therefore only one possible embodiment.

At the 8 In the embodiment shown, three different additional queries are made externally (indicated by the diamonds) or actual values are fed to the control system, namely, firstly, query 227 as to whether one of the wheels 20, 21, 22, 23 of the mobility device 1 is hanging in the air. If this is the case, the torque is limited by a torque limiter 327, and both drive devices 24 of the two wheels 20, 21 communicate with each other to ensure safe and tip-free travel.

Furthermore, the speed and battery voltage are queried in query 228 and also used as a basis for the control, so that with the determined permissible torque M _zul, a corresponding pulse-width modulated forward thrust V _pwm is regulated by an optimum value current controller 328. The possible actuation of the mechanical brake 29 and the pulse-width modulated forward thrust V _pwm are combined as input values to a further summer 222. Upon detection of a brake actuation of the mechanical brake 29, the control and/or regulating unit 30 is intended to prevent the electric drive devices 24 from working against the mechanical brake 29.

If the battery temperature of battery 34 is checked via a further query 229 (see 1 and 7 ) that it has exceeded a preset temperature value, i.e. is too hot, the motor speed is limited or reduced by a motor speed limiter 329, or the current supplied to the at least one drive device 24 is reduced. This is shown on the far right in 8 indicated.

In 9 A further flowchart for the control and regulation process of the mobility device 1 is shown. In a first step, the actuation of the thumb throttle actuation device 207 is queried and, in parallel, the average motor speed v _m . Both are fed as input signals or actual values to a thumb throttle control unit 223. The internal control unit 218 queries the inclination angle α, which is determined by the inclination sensor 4, for the control of the basic power assistance by the mobility device 1 and uses this as the basis for the control of the basic power assistance. The actuation of the thumb throttle actuation device 207 is also transmitted to the internal control unit 218 in order to enable the manually set assistance request of a user to override the automatic control of the mobility device 1 by actuating the thumb throttle actuation device 207. Furthermore, the average engine speed v _m and the inclination angle α are fed to the anti-rollover system 219 as input signals and actual values, respectively. The average engine speed v _m and the average engine acceleration a _m are fed to an acceleration control unit 226 as input signals and actual values, respectively. The throttle torque M _D output by the thumb throttle control unit 223, the control torque M _S output by the internal control unit 218, the rollaway torque M _W output by the anti-rollover system 219, and the anti-acceleration torque M _A output by the acceleration control unit 226 are fed to a summer 224 as input signals. The resulting torque M as an output signal is fed to a torque change limiter 221 as an input signal to limit an excessive torque change. The limited torque M _begr is subsequently fed to the engine control unit 225 of the at least one drive device 24. Thus, a torque control of the at least one drive device 24, in particular in the form of at least one electric motor, is carried out for driving the two rear wheels 20, 21 of the mobility device 1.

In 10 The control or regulation sequence when a slope of the ground on which the mobility device 1 is standing or moving is detected is outlined. First, it is determined whether a user's hand is on at least one of the two handle elements 2, 3. This is done by querying the two capacitive hand recognition sensors 203, 205. Furthermore, the actuation of the mechanical brake 29 is queried. The output values of the two queries are fed to a query unit 230, which evaluates whether at least one of the two handle elements 2, 3 is being grasped by at least one user's hand and, at the same time, whether the mechanical brake 29 is being actuated. If both are answered with YES, the anti-roll device 219 is deactivated (see box 231). If the query is answered with NO, the thumb throttle control and the internal control unit 218 are deactivated (see box 232).

Depending on the geometric conditions of the surface on which the mobility device is standing or moving, basic assistance, load assistance, a power assistance setting, or a boost is provided. The mobility device detects when a user is walking downhill and prevents them from accelerating too fast. This minimizes the risk of falling for the user.

In addition to the embodiments of mobility devices and methods for controlling or regulating them described above and shown in the figures, numerous others can be formed, including any combinations of the features and components mentioned above, wherein the mobility device is always provided with at least one device for compensating the driving and/or gradient resistance of the mobility device, comprising at least one inclination sensor and/or acceleration sensor for determining the inclination and at least one first force sensor for determining the weight of the mobility device.

List of reference symbols

1

Mobility facility

2

first handle element

3

second handle element

4

Tilt sensor

20

Wheel/rear wheel

21

Wheel/rear wheel

22

Wheel/front wheel

23

Wheel/front wheel

24

drive device

25

frame

26

Seat element

27

Seat element

28

Handle unit

29

mechanical brake

30

Control and/or regulation unit

31

Microcontroller

32

inertial measuring unit

33

Folding detection sensor

34

Battery/accumulator

37

storage unit

38

Diagnostic tool

100

(Driving) resistance curve

101

automatic assistance force curve

102

Rolling resistance curve

103

manually adjustable support force curve

105

elevation profile line

125

Telescopic device

126

Telescopic device

132

Entrance

133

Entrance

134

Entrance

135

Entrance

136

Entrance

137

Input/Output

138

Input/Output

140

Exit

141

Exit

142

Exit

143

Exit

200

ON/OFF switch

201

Display device (battery charge level)

202

Grip area

203

capacitive hand recognition sensor

204

Grip area

205

capacitive hand recognition sensor

206

Support level adjustment device

207

Thumb throttle control

208

Actuation locking device

209

horn

210

Emergency call button

218

internal control unit

219

Speed limiter/rollaway protection

220

Summer

221

Torque change limiter

222

Summer

223

Thumb throttle control unit

224

Summer

225

Engine control unit

226

Acceleration control unit

227

query

228

query

229

query

230

query unit

231

Deactivation of the roll-away protection 219

232

Deactivation of the thumb throttle control and inner control unit

327

Torque limiter

328

Optimum current controller

329

Engine speed limiter

FG

Total weight force

F

Support staff

Vpwm

pulse-width modulated forward thrust

vd

Average speed

vm

Average engine speed

on

Average engine acceleration

Msoll

Target torque

Mzul

permissible torque

MD

Throttle torque

MS

Control torque

MW

Rollaway moment

MA

Anti-acceleration torque

M

torque

Mbegr

limited torque

W

Resistance

α

Angle of inclination

L

dashed line

QUOTES CONTAINED IN THE DESCRIPTION

This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 103 18 929 B3 [0003]
• DE 20 2017 100 023 U1 [0004]
• DE 10 2012 024 039 A1 [0005]
• DE 20 2011 104 720 U1 [0006]
• KR 10 2015 0068598 A [0007]
• CN 110 916 988 A [0008]
• CN 107 224 392 A [0009]
• KR 10 2013 0101777 A [0010]
• CN 113 552 822 A [0011]
• CN 111 658 453 A [0012]
• CN 115 300 338 A [0013]
• KR 10 2022 0105199 A [0014]
• WO 2022/036327 A1 [0015]

Claims (16)

Mobility device (1) with drivable or driven wheels (20, 21, 22, 23) or rollers, at least one drive device (24) for driving the drivable or driven rollers or wheels (20, 21, 22, 23), at least one handle element (2, 3) for engaging the mobility device (1) and at least one control and/or regulating unit (30) for controlling and/or regulating the mobility device (1), characterized in that at least one device for compensating the driving and/or gradient resistance of the mobility device (1) is provided, comprising at least one inclination sensor (4) and/or acceleration sensor and at least one first force sensor. Mobility facility (1) according to Claim 1 , characterized in that at least one first adjustment device (206) is provided, by means of which different support levels can be manually specified by a user. Mobility facility (1) according to Claim 1 or 2 , characterized in that at least one thumb throttle actuation device (207) is provided, by the actuation of which the assistance force control of the mobility device (1) can be overridden, in particular the at least one thumb throttle actuation device (207) can be provided or is provided with at least one actuation blocking device (208) for preventing unintentional actuation of the at least one thumb throttle actuation device (207). Mobility device (1) according to one of the preceding claims, characterized in that the at least one acceleration sensor or at least one acceleration sensor is a 3-axis acceleration sensor for determining an acceleration in lateral, translational and rotational directions. Mobility device (1) according to one of the preceding claims, characterized in that at least one hand recognition sensor (203, 205) is provided, by means of which it can be detected whether the hands of a user are engaging the gripping elements (2, 3). Mobility device (1) according to one of the preceding claims, characterized in that in the area of the handle elements (2, 3) of the mobility device (1) and/or in the area of the wheel suspension of at least one wheel (20, 21, 22, 23) of the mobility device (1) at least one second force sensor for detecting the normal force when driving on an inclined plane is arranged, in particular the at least one second force sensor is designed in the form of a bending beam. Mobility device (1) according to one of the preceding claims, characterized in that the mobility device (1) is a medical device, in particular a walker, wheelchair or bed, a means of transport, in particular a shopping trolley or suitcase, or a means of conveyance, in particular a stroller or electric vehicle. Method for operating a mobility device (1) provided with drivable or driven rollers or wheels (20, 21, 22, 23), wherein at least one drive device (24), in particular an electric drive device, is provided for driving the rollers or wheels (20, 21, 22, 23), characterized in that a basic support force (F) for moving the mobility device (1) is generated and regulated, wherein at least the driving and/or gradient resistance (W) caused by the weight of the mobility device (1) is compensated, wherein for the compensation the position and weight of the mobility device (1) are detected by at least one inclination sensor (4) and/or acceleration sensor and at least one first force sensor and the control of the at least one drive device (24) for driving the rollers or wheels (20, 21, 22, 23) is changed as a function of the detected position and the detected weight. Procedure according to Claim 8 , characterized in that motor current and/or torque are changed to compensate for the position and weight of the mobility device (1). Procedure according to Claim 8 or 9 , characterized in that the control of the basic support force (F) for moving and/or braking the mobility device (1) is overridden by at least one manually operable input device (206, 207) for entering a support request. Method according to one of the Claims 8 until 10 , characterized in that a part of the driving resistance of the mobility device (1) is determined from the position or inclination of the mobility device (1) detected by the at least one inclination sensor (4). Method according to one of the Claims 8 until 11 , characterized in that when a gradient is detected by the at least one inclination sensor (4), a request for assistance from the user is queried, wherein a signal is received at the at least one first input device in the form of the support level set as the support level setting device (206) is queried and, depending on this, the level of the braking force for braking the mobility device (1) is regulated or set and/or the maximum speed of the mobility device (1) is changed. Method according to one of the Claims 8 until 12 , characterized in that the manual actuation of at least one thumb throttle actuation device (207) is queried, wherein upon detection of an actuation of the at least one thumb throttle actuation device (207), the assisting force for moving the mobility device (1) is increased, wherein a speed control or a control of the torque of the at least one drive device (24) takes place. Method according to one of the Claims 8 until 13 , characterized in that at least one hand detection sensor (203, 205) detects whether gripping elements (2, 3) of the mobility device (1) are being grasped by the hands of a user and, if the absence of a user's hands from the gripping elements (2, 3) is detected, the mobility device (1) is braked in order to prevent it from rolling away unintentionally, and if an incline is simultaneously detected by querying the at least one inclination sensor (4), the speed of the mobility device (1) is regulated to a very low value greater than zero. Method according to one of the Claims 8 until 14 , characterized in that when the at least one inclination sensor (4) detects that an inclined plane is being traveled, at least one second force sensor is queried to detect the normal force and the normal force is used as the basis and/or compensated for the current control of the at least one drive device (24). Method according to one of the Claims 8 until 15 , characterized in that if an acceleration occurring within a short period of time is above average or above a determined or predeterminable average speed, a risk of falling is detected and a braking process is initiated.

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