METHOD FOR OPERATING A TWO-SPEED PROFILE STAIRLIFT

Description

Field of the invention

[0001] The present disclosure generally relates to a method to operate a stairlift for transporting a person along a staircase, wherein the staircase comprises guide means extending along the staircase, a carriage being moveable along the guide means and configured to carry a person, and user interaction means for operating the stairlift. The present disclosure further relates to such a stairlift.Background of the invention

[0002] Stairlifts are known from the state of the art. With such, persons unable to use a staircase, e.g. due to disability or certain conditions, are transported along the staircase between a lower and an upper landing position and / or intermediate landing positions, while the staircase is still fully usable for other persons in its usual sense. Such stairlifts have guide means like a rail or the like, on which the carriage is moved, e.g. by a drive unit connected to the guide means, wherein the drive unit may comprise further components of the stairlift. A carriage for a stairlift usually is a chair, which allows for safe rest of arms and feet, may be foldable to allow other use of the staircase and most preferred takes a certain boarding position at the landing positions. Stairlifts are mostly retrofitted with already existing staircases.

[0003] With such stairlifts, a need exists to get from one landing position to another in a fast manner but at the same time save and at good comfort. However, comfort and safety may be reduced above a certain speed, in particular when the guide means turn around a vertical or horizontal axle and / or when the carriage is rotated around the vertical axle, e.g. to avoid confrontation with steps of the staircase or to avoid contact with a wall of a stairwell as described in WO 2005 / 087644. In such situations, movements / rotation of the carriage in different directions overlay with each other.

[0004] While the comfort is mostly an individual aspect and tolerable speed may therefore differ from user to user, safety aspects may be specified in regulations (e.g. directives or standards) and therefore set a limit to traveling speed of the carriage.

[0005] In the state of the art, rail-data is determined defining speed values and / or rotational angle values at certain positions of the guide means. Advantageously, such rail-data considers features of a particular stairlift like guide means trajectory, necessary rotation angles and also users' needs. Disadvantageously, the user is bound to the rail-data in his / her use of the stairlift.

[0006] From EP 3 178 770 A1, a stairlift is known having a sensor for detecting, whether or not a passenger is present on the stairlift, wherein a first traveling speed profile or a second lower traveling speed profile is set depending on the presents of a passenger.Description of the invention

[0007] Based on the state of art described above, it is an object of the invention to provide a stairlift, which is more convenient to control.

[0008] This object is solved by the features of the independent claims. Advantageous embodiments are indicated in the dependent claims. Where technically possible, the features of the dependent claims may be combined as desired with the features of the independent claims and / or other dependent claims within the scope of the appended claims.

[0009] In particular, the object is solved by a method to operate a stairlift for transporting a person along a staircase, wherein the stairlift comprises guide means extending along the staircase, a carriage being moveable along the guide means and configured to carry a person, and user interaction means for operating the stairlift, wherein a first speed profile defining a movement of the carriage at positions along the guide means is set, and wherein the first speed profile is associated to a first input of the user interaction means and a second speed profile defining a movement of the carriage at positions along the guide means different than the first speed profile is associated to a second input of the user interaction means.

[0010] Insofar as elements are designated with the aid of numbering, for example "first element", "second element" and "third element", this numbering is provided purely for differentiation in the designation and does not represent any dependence of the elements on one another or any mandatory sequence of the elements. In particular, this means that, for example, a device or method need not have a "first element" in order to have a "second element". Also, the device or method may have a "first element", as well as a "third element", but without necessarily having a "second element". There may also be multiple units of an element of a single numbering, for example multiple "first elements".

[0011] Guide means may for example be rails, tracks or the like and may be integrated or retrofitted to the staircase, e.g. at steps of the staircase, e.g. standing on the tread of a number of steps, at a balustrade of the staircase or a wall next to the staircase. They comprise at least one such rail or track or at least two rails or tracks running next to and / or above each other. The guide means preferably run parallel to the slope of the staircase and extend horizontally or vertically into landing positions at the lower end, the upper end, or an intermediate position of the staircase.

[0012] A carriage preferably comprises a drive unit which is connected to and guided by the guide means and on which a chair or platform of the carriage is mounted in a pivotable manner to allow leveling in an upright position when the orientation of the guide means vary. The carriage may further comprise a chair, wherein the chair may comprise arm rests, a foot rest, a seat, and a seat belt to provide for safe accommodation of the transported person. In a landing position, the chair may turn away from the stairs to allow for pleasant and safe boarding from a floor level. Such turn may be implemented by a trajectory of the guide means or may be implemented by rotation the carriage around a vertical axle against the guide means, e.g. a rotation of the chair against the drive unit. A carriage may further / alternatively to the chair comprise a platform to carry a wheelchair, wherein the platform may comprise balustrades, at least one door in the balustrades and retention means like belts, hooks, bars and the like. Preferably, in the landing position the platform is leveled with a floor. A second drive for moving the carriage along the rail, e.g. an electric motor, in particular a brushed or brushless DC motor, a stepper motor or a servo motor, may be housed in a drive unit or may be of separate configuration from the carriage while being connected to the carriage with traction means or due to means integrated in the guide means.

[0013] According to the invention, user interaction means comprise a joystick, a rotatable knob, a touchpad, a touchscreen, one or more button / s, may comprise a remote control or the like and may further comprise means located at the carriage, e.g. at an arm rest or at a balustrade of a platform, and means located in at least one landing position, e.g. at a wall or at a balustrade of the staircase, such as a remote control. The user interaction means may have an active state and inactive state, which may be associated to certain positions of the interaction means. The carriage is most preferred rotatable around the vertical axle relative to the guide means by a first drive. E.g. the carriage comprises a drive unit connected to the guide means, wherein the orientation of the drive unit against the guide means is fixed and wherein the chair or the platform is rotatable against the drive unit. The first drive may then be housed in the drive unit. The invention also refers to systems, wherein the entire carriage is rotatable against the guide means in any form. The first drive may be an electric motor, in particular a brushed or brushless DC motor, a servo motor or a stepper motor.

[0014] A speed profile defines the movement of the carriage along the trajectory of the guide means, wherein the movement refers to the speed / position in any (rotational) direction, in particular translational speed along the guide means (e.g. by the second drive), rotational speed or rotational position around a vertical axle (e.g. by the first drive) and / or rotational speed or rotational position around a horizontal axle (e.g. by a leveling mechanism). Accordingly, the time and / or position, where a specific movement of the carriage is started or stopped and a gradient of acceleration or deceleration are defined in the speed profile, in particular for the movement of the carriage along the guide means and for the rotational movement by the first drive. The speed profile may therefore consist of speed values, position values such as rotational angle values and or acceleration value (general: movement values), of which each may vary for different positions of the carriage along the guide means. As an example, the speed profile defines that a rotation of the carriage is started a specific distance before a turn is coming up in the trajectory of the guide means or before a specific position of the staircase is reached, and further defines, which torque is applied, which angle the rotation has to reach, which rotational speed may be applied at the most and / or at which speed the carriage moves along the guide means during rotation around the vertical axle.

[0015] Within the description and the claims, the terms "person" and "user" are used interchangeable and describe a person interacting with the stairlift in some way. The specific terms are used as best fit in a particular context, wherein "person" mostly refers to the transportation as such and the "user" mostly refers to a / the person interacting with the stairlift during operation.

[0016] According to the technical teaching of the present invention, a first speed profile is set, wherein a user can choose by different inputs of the user interaction means between the first speed profile or a second speed profile according to his actual needs at the time he uses the stairlift. Thus, when the user inputs the first input, the carriage is operated according to the first speed profile and when the user inputs the second input, the carriage is operated according to the second speed profile. For example the user may choose the first speed profile, wherein the first speed profile is optimized for short travel time with the stairlift, when he / she is in a hurry while he / she may choose the second speed profile, wherein the second speed profile is optimized for high comfort, when he / she feels unwell. Advantageously, by providing the first speed profile and an option to deviate from the first speed profile, a general advantage of a speed profile that it considers all features of the stairlift and coordinates the movements of the stairlift according to the individual preferences of the user is reached but at the same time the invention provides an option to deviate from one particular speed profile when the user has different needs at the time he / she uses the stairlift.

[0017] In a preferred embodiment, the first speed profile is optimized for shortest travel time of the stairlift and / or the second speed profile is optimized for high comfort of a person carried on the carriage. As travel time and comfort are the most sensibly recognized features of a stairlift in the users experience, the users' needs associated with these features can thus be addressed to provide a good user experience at any time of use.

[0018] The first speed profile and a distinct reduction of the values of the first speed profile (e.g. 80%, 50% or the like) or the second speed profile may be chosen by discrete inputs of the user interaction means, which are bound to the respective speed profile / values. E.g. a binary button may be provided for each of the speed profiles or a distinct reduction, e.g. a button for 100% of the first speed profile (first input), and a button for 80% of the first speed profile. Alternatively, the user interaction means may provide intermediate inputs, e.g. having more than one or two positions or being steplessly variable. Intermediate speed profiles having movement values between movement values of the first speed profile and movement values of the second speed profile may then be associated to intermediate inputs of the user interaction means. This is, the intermediate speed profiles may be individual speed profiles different from the first speed profile and different from the second speed profile or may be derived from the movement values of the first speed profile and the movement values of the second speed profile relative to the intermediate input. For example, a third input like a button or defined position of a joystick or knob is defined at the user interaction means, which is associated to a intermediate speed profile. Alternatively, with user interaction means being steplessly variable, the first speed profile is associated to a first position of the user interaction means and the second speed profile is associated to a second position of the user interaction means, wherein between the two positions, the user interaction means cover a certain distance. At 20% of the distance, a movement value at a certain position of the guide means may be the movement value of the first speed profile plus 20% of the difference between the movement value of the first speed profile and the movement value of the second speed profile and so on.

[0019] According to the invention, the user interaction means are formed by a joystick, a rotatable knob, in particular a potentiometer, a number of buttons and / or a touchscreen. All these user interaction means allow for comfortable input, in particular with or without intermediate input. Further, all these user interaction means allow to choose a direction of the carriage to move along the guide means, upwards or downwards. For the different directions of the stairlift, the same first and / or second speed profiles may be associated to the first and second input or at least one different speed profiles may be associated to an according input. Preferably, different speed profiles are set for different directions of the carriage along the guide means, wherein for both directions two or more speed profiles may be set according to the invention.

[0020] In a preferred embodiment, the carriage is rotatable around a vertical axle, wherein the speed profiles include at least one movement value for a translational speed of the carriage along the guide means and at least one movement value for a rotational speed around the vertical axle and / or an rotational angle, and wherein the movement values are respectively associated to positions of the carriage along the guide means. The advantage of the described method may be in particular be reached in this embodiment, as the combination of the translational movement of the carriage along the guide means and the rotational movement of the carriage around the vertical axle require good coordination with each other to avoid delays or uncomfortable overlay of the movements and as the translational and rotational movements may trigger each other.

[0021] In this embodiment, the stair lift may further comprise a leveling mechanism for keeping the carriage in a horizontal orientation, wherein the leveling mechanism is operated in a stand-alone manner, e.g. as a closed control circuit. In a preferred alternative, the speed profiles include at least one movement value for a rotational speed of the leveling mechanism and / or for a rotational angle for the leveling mechanism, wherein the at least one movement value is associated to a position of the carriage along the guide means. Thus, the speed profile included movement values for the translational movement and for two different rotational movements and the advantage of providing coordination between different movements of the carriage with speed profiles is particularly given.

[0022] Preferably, at least one rotational angle value is determined by rotating the carriage manually for at least one position of the carriage along the guide means, in particular during a test run of the carriage along the guide means. Thus, the stairlift is configured to allow manual rotation of the carriage around the vertical axle and / or manual rotation of the leveling mechanism at least during the test run, e.g. by decoupling the first drive or a third drive of the leveling mechanism from the carriage, while the rotational angles of the carriage is still monitored or registered in some way. The carriage may then be moved along the guide means by hand or by the second drive at a slow speed and may be positioned in the necessary angles at certain positions. While being positioned in a certain position and / or rotational angle, the stairlift may register the position / rotational angle and set / determine movement values for the speed profile accordingly.

[0023] In a preferred embodiment, the at least one first speed profile and / or the at least one second speed profile are determined according to individual preferences of a user. This is, the speed profiles may be set up during installation of the stairlift at the site with a specific user present, wherein e.g. the specific user advises a technician on which movement values he / she regards as slow, comfortable, uncomfortable and / or tolerable and the technician determines and programs the speed profiles accordingly.

[0024] The object is further solved by a stairlift for transporting a person along a staircase, comprising guide means extending along the staircase, a carriage being moveable along the guide means and configured to carry a person, user interaction means formed by a joystick, a rotatable knob, a number of buttons and / or a touchscreen for operating the stairlift, and at least one control unit, wherein the control unit is configured to execute a predescribed method. The terms used within the definition of the stairlift are to be understood in the same manner they are described before regarding the method. With the stairlift, the same advantages are provided that are provided with the method. In particular, the stairlift has the advantage of using speed profiles, namely that the movements of the carriage is coordinated and respects all features of the stairlift and the users' needs, while at the same time the user is not bound to one particular speed profile but can choose between different speed profiles according to his / her particular needs at the time of use. Preferably, the stairlift comprises a control unit, which the predescribed method is implemented with.

[0025] Preferably, the carriage is rotatable around a vertical axle by a first drive. The first drive may be a brushed or brushless DC motor, a servo motor or a stepper motor, which is capable of tracking its rotational position and reporting it to a control system.

[0026] In a preferred embodiment of the stairlift, it further comprises a leveling mechanism for keeping the carriage in a horizontal orientation along the guide means. The leveling mechanism may be configured to keep the carriage leveled in a stand-alone manner, e.g. as a closed control circuit, or the angle of the leveling mechanism may be determined by the speed profiles, wherein for example the position, rotational speed or rotational acceleration of a third drive driving the leveling mechanism is determined by the speed profile.Brief description of the figures

[0027] In the following, the invention is explained in more detail with reference to the accompanying figures using preferred examples of embodiments. The formulation figure is abbreviated in the drawings as Fig. Fig. 1is a view of a stairlift according to an aspect of the invention; Fig. 2shows a top plan view of a stairwell; Fig. 3is a method diagram of a method according to an aspect of the invention; and Fig. 4is a diagram of exemplary speed profiles. Detailed description of the embodiments

[0028] The described embodiments are merely examples that can be modified and / or supplemented in a variety of ways within the scope of the claims. Any feature described for a particular embodiment example may be used independently or in combination with other features in any other embodiment example within the scope of the appended claims. Any feature described for an embodiment example of a particular claim category may also be used in a corresponding manner in an embodiment example of another claim category.

[0029] Figure 1 shows a stairlift 1, to which the invention can be applied. The stairlift 1 comprises guide means 2 formed as a rail and running parallel to the slope of a staircase 3 in a direction D, wherein the staircase 3 has a number of steps 3.1. The stairlift 1 further comprises a carriage 6, which can move along the guide means 2 in or against the direction D, and which comprises a drive unit 7 and a chair 8, wherein the chair 8 is connected to the drive unit 7 in a pivotable manner by a leveling mechanism 9. For driving the carriage 6, positive engagements means 2.1 are provided on the guide means 2, which cooperate with a second drive (not shown) for driving the carriage 6 along the guide means 2 in a translational movement, in particular a driven pinion, of the drive unit 7.

[0030] The chair 8 comprises arm rests 8.1 and a foot rest 8.2 and user interaction means 11 in the form of a joystick. By pulling the user interaction means 11 to a corresponding side, the carriage 6 may be driven to the according side in the direction D. The user interaction means 11 are pictured in an upright position which is associated to a use position, while they might be folded, e.g. into a recess at the arm rest 8.1.

[0031] The carriage 6 further comprises a first drive 12 which is shown schematically and with which the carriage 6, in particular the chair 8 is rotatable around a vertical axle A. The first drive 12 may be a brushed or brushless DC motor, a servo motor or a stepper motor. With a rotational angle phi set by the first drive 12, the carriage 6 can be positioned to avoid collision with steps 3.1, or walls, to (pre)position for translational movement of the carriage 6 through a turn of the guide means 2 at highest possible translational speed or to provide a comfortable and safe boarding position in a landing position of the carriage 6. Accordingly, the guide means 2 can have a curved shape, which deviates from a straight line. The direction of travel D and / or the inclination of the guide means 2 may change at least once during the course of the guide means 2 and the guide means 2 may run out horizontally at a landing position, wherein the chair 8 is hold in an upright position due to the leveling mechanism 9. Thus, the guide means 2 follow a certain trajectory having turns around horizontal and / or vertical axles or both axles at the same time.

[0032] The carriage 6, in particular the drive unit 7, may comprise a control unit 13, which is connected to the first drive 12, the second drive and a third drive (not shown) of the leveling mechanism 9, and with which a torque applied by any of the drives to the carriage 6 can be determined.

[0033] Fig. 2 shows a top plan view of a stairwell 14, with a stairlift 1 therein. The stairwell 14 has walls 15.1, 15.2, 15.3, 15.4 , and steps 3.1. Carriage 6 is drawn at two positions along guide means 2, where it makes an angle phi relative to guide means 2. The staircase 3 makes a turn of 90 degrees. In the turn, steps 3.1 narrow in the direction of the center of the turn. When carriage 6 is moved along the guide means 2, the carriage 6 needs to be prevented from hitting the walls 15.1, 15.2, 15.3, 15.4 of the stairwell 14 or the steps 3.1. Whether there is a risk of this happening depends on inter alia the width of the stairwell 14 and the height of guide means 2 above the steps 3.1. Even when guide means 2 are mounted so high above the steps 3.1 that there is no risk of collision with steps 3.1 on the straight parts of the staircase, there may, for instance, be a local risk of collision in the turn due to the narrowing of steps 3.1. The risk of collisions with steps 3.1 in the turn is avoided by rotating the carriage 6 locally in the turn relative to the guide means 2 around the vertical axle A in order to avoid collision with steps 3.1. The speed values and angle values describing the movement of the carriage 6 are defined in a speed profile, which defines at least the translational speed / acceleration of the carriage 6 along the guide means 2 and the rotational speed / acceleration of the carriage 6 around the vertical axle A.

[0034] Now referring to figure 3, a method 20 to operate the stairlift 1 comprises in a first step 21 setting a first speed profile defining a movement of the carriage 6 at positions along the guide means 2. In a second step 22 the method comprises setting a second speed profile defining a movement of the carriage 6 at positions along the guide means 2 different than the first speed profile. In a third step 23, the speed profiles are associated to different inputs of the user interaction means 11, namely the first speed profile is associated to a first input of the user interaction means 11 and the second speed profile is associated to a second input of the user interaction means 11. With the user interaction means 11 being a joystick as in Figure 1, the first input may be a full possible displacement of the joystick in the direction of desired travel and the second input may be half of the possible displacement. Alternatively, the first input may be a first button (not shown) and the second input may be a second button (not shown). In a fourth step 24, when the user inputs the first input, the carriage 6 is operated according to the first speed profile. In a fifth step 25, when the user inputs the second input, the carriage 6 is operated according to the second speed profile.

[0035] Figure 4 shows a diagram of two speed profiles 31, 32 with the position of the carriage 6 along the guide means 2 on the x-axis and the translational speed of the carriage 6 along the guide means 2 and the rotational angle phi on the y-axis. The first speed profile 31 comprises translational speed values 31.1 of the carriage 6 along the guide means 2 and values 31.2 for the rotational angle phi. The second speed profile 32 comprises translational speed values 32.1 of the carriage 6 along the guide means 2 and values 32.2 for the rotational angle phi. At a position 33 of the guide means 2, a specific angle phi has to be reached, e.g. for a turn of the guide means 2 beginning at this position. Therefore the carriage 6 starts to rotate at positions 34.1, 34.2 at a certain torque of the first drive 12. The angle phi is then kept constant after the position 33, e.g. as long as the carriage 6 is in the turn. Afterwards, a counter wise rotation of the carriage 6 is conducted, e.g. to rotate the carriage 6 to an angle phi required at a landing position. This counter wise rotation is started at position 35.1 for the first speed profile 31 and at earlier position 35.2 for the second speed profile 32. The speed value 31.1 for the first speed profile 31 is kept at a maximum most of the time, while being reduced during the turn, e.g. to allow the angle phi at position 33 to be reached and / or to increase comfort in the turn. The speed values 32.1 for the second speed profile 32 is reduced over the speed values 31.1 of the first speed profile 31. Thus, the first speed profile 31 comprises faster speed for the translational movement and also, as rotation of the carriage 6 starts later, for the rotational movement and will therefore result in a relative short travel time, while the second speed profile 32 will result in a longer travel time, while providing better comfort.Reference list

[0036] 1Stairlift 2guide means 2.1positive engagement means of the guide means 3staircase 3.1step of the staircase 6carriage 7drive unit of the carriage 8chair of the carriage 8.1arm rest of the chair 8.2foot rest of the chair 9leveling mechanism 11user interaction means 12first drive 13control unit 14stairwell 15.1wall of the stairwell 15.2wall of the stairwell 15.3wall of the stairwell 15.4wall of the stairwell 20method to operate a stairlift 21first step - setting a first speed profile 22second step - setting a second speed profile 23third step - associating the speed profiles to different inputs of the user interaction means 24fourth step - operating the carriage according to the first speed profile 25fifth step - operating the carriage according to the second speed profile 31first speed profile 31.1translational speed values of the first speed profile 31.2rotational angle values of the first speed profile 32second speed profile 31.2translational speed values of the second speed profile 32.2rotational angle values of the second speed profile 33position 34.1position 34.2position 35.1position 35.2position Avertical axle Ddirection of the guide means phiangle of rotation of the carriage around the vertical axle

Claims

1. Method (20) to operate a stairlift (1) for transporting a person along a staircase (3), wherein the stairlift (1) comprises guide means (2) extending along the staircase (3); a carriage (6) being moveable along the guide means (2) and configured to carry a person; and user interaction means (11) formed by a joystick, a rotatable knob, a number of buttons and / or a touchscreen for operating the stairlift (1); wherein a first speed profile (31) defining a movement of the carriage (6) at positions along the guide means (2) is set (21, 22); characterized in that the first speed profile (31) is associated to a first input of the user interaction means (11) and a second speed profile (32) defining a movement of the carriage (6) at positions along the guide means (2) different than the first speed profile (31) is associated to a second input of the user interaction means (11) (23).

2. Method (20) according to claim 1, wherein intermediate speed profiles having movement values between movement values (31.1, 31.2) of the first speed profile (31) and movement values (32.1, 32.2) of the second speed profile (32) are associated to intermediate inputs of the user interaction means (11).

3. Method (20) according to any of the preceding claims, wherein the user interaction means (11) are formed by a potentiometer.

4. Method (20) according to any of the preceding claims, wherein the user interaction means (11) are steplessly variable.

5. Method (20) according to any of the preceding claims, wherein the carriage (6) is rotatable around a vertical axle (A), wherein the speed profiles (31., 32) include at least one movement value (31.1, 32.1) for a translational speed of the carriage (6) along the guide means (2) and at least one movement value (31.2, 32.2) for a rotational speed around the vertical axle (A) and / or an rotational angle (phi), and wherein the movement values (31.1, 31.2, 32.1, 32.2) are respectively associated to positions of the carriage (6) along the guide means (2).

6. Method (20) according to claim 5, wherein the stairlift (1) comprises a leveling mechanism (9) for keeping the carriage (6) in a horizontal orientation, wherein the speed profiles (31, 32) include at least one movement value for a rotational speed of the leveling mechanism (9) and / or for a rotational angle for the leveling mechanism (9), and wherein the at least one movement value is associated to a position of the carriage (6) along the guide means (2).

7. Method (20) according to claim 5 or 6, wherein at least one rotational angle (phi) value (31.2, 32.2) is determined by rotating the carriage (6) manually for at least one position of the carriage (6) along the guide means (2), in particular during a test run of the carriage (6) along the guide means (2).

8. Method (20) according to any of the preceding claims, wherein the first speed profile (31) and / or the second speed profile (32) are determined according to individual preferences of a user.

9. Method (20) according to any of the preceding claims, wherein different speed profiles (31, 32) are set for different directions (D) of the carriage (6) along the guide means (2).

10. A stairlift (1) for transporting a person along a staircase (3), comprising guide means (2) extending along the staircase (3); a carriage (6) being moveable along the guide means (2) and configured to carry a person; user interaction means (11) formed by a joystick, a rotatable knob, a number of buttons and / or a touchscreen for operating the stairlift (1); and at least one control unit (13); characterized in that the control unit (13) is configured to execute a method (20) according to any of the preceding claims.

11. Stairlift (1) according to claim 10, wherein the carriage (6) is rotatable around a vertical axle (A) by a first drive (12).

12. Stairlift (1) according to claim 11, comprising a leveling mechanism (9) for keeping the carriage (6) in a horizontal orientation along the guide means (2).