A control method for a stair climber

Abstract

A control method for a stair climber (1), which comprises: at least one support frame (4), at least one loading plane (5), at least a first sensor adapted to detect one or more physical-geometric features of the transportable element (E), at least one actuator (8) and at least one processing and control logic unit. The method comprises at least one repositioning process comprising at least the following steps: detecting the physical-geometric features of the element (E) arranged on the loading plane (5); analysing the detected features so as to identify the optimal transport inclination; controlling the actuator (8) so that it adjusts the inclination of the loading plane (5). Furthermore, the control method envisages inhibiting the repositioning process when the climber (1) advances along a flight of stairs so as to keep the inclination of the loading plane (5) fixed.

Description

[0001] A CONTROL METHOD FOR A STAIR CLIMBER

[0002] D E S C R I P T I O N

[0003] Field of application

[0004] The present invention is generally applicable to the technical field of transport and, in particular, relates to a control method for a stair climber.

[0005] Background of the invention

[0006] In the context of transporting objects, motorized stair climbers are known, which are generally used to transport loads along the flights of stairs in the absence of lifts or elevators.

[0007] The increasing use of such devices has led to the recent need to improve the automation thereof to ensure more efficient transport and to improve the safety of operators.

[0008] WO 2021 / 260547 A1 is known, which describes a self-propelled stair climber which comprises motorised tracks, a loading plane and a stabilisation element.

[0009] Such a stair climber has a geometry which is particularly adapted to climb up and down stairs, however, it is difficult to adapt to different types of flights, where risers and treads can vary depending on the building in which they are installed.

[0010] This necessarily involves a high risk for the safety of the operators controlling the stair climbers and for the integrity of the transported elements, which may incur accidental falls.

[0011] In addition to this, the loading plane on which the goods to be transported rest is adjusted by inclining it with respect to the climber frame according to standard inclinations without considering, for example, that objects with different weights and centre of gravity need different inclinations for a safer transport.

[0012] Presentation of the invention

[0013] The object of the present invention is to provide a control method for a stair climber which allows at least partially overcoming the drawbacks highlighted above.

[0014] In particular, an object of the present invention is to provide a control method which allows to improve the automation of the stair climbers with respect to the known equivalent devices.

[0015] Furthermore, another object of the present invention is to provide a control method which allows to optimize the inclination of the loading plane when the transported goods vary, for a safer and more stable positioning of the transported elements.

[0016] In addition to this, a further object of the present invention is to provide a control method capable of improving the safety of the operators and the transported elements with respect to the known methods.

[0017] Said objects, as well as others which will become clearer below, are achieved by a control method for a stair climber in accordance with the following claims, which are to be considered an integral part of the present patent.

[0018] In particular, the stair climber comprises at least one support frame to at least one loading plane, which is operatively coupled to the frame and movable with respect thereto. Such a loading plane is shaped to supportingly receive the transportable element.

[0019] Furthermore, the climber comprises at least a first sensor, operatively connected to the loading plane and adapted to detect one or more physicalgeometric features of the transportable element when arranged thereon, and also comprises at least one actuator also operatively coupled to the loading plane and adapted to move it.

[0020] The stair climber also comprises at least one processing and control logic unit operatively connected to the first sensor and to the actuator.

[0021] According to another aspect of the invention, the method also comprises at least one repositioning process of the loading plane, which comprises at least one step of detecting by means of the first sensor one or more physical-geometric features of the transported element.

[0022] Subsequently, the repositioning process involves an analysis step, by means of the logic unit, of the detected features so as to identify the optimal transport inclination of the loading plane.

[0023] Finally, the logic unit commands the actuator to adjust the inclination of the loading plane with respect to the frame in accordance with the determined optimal inclination.

[0024] According to a further aspect of the invention, the processing and control logic unit is shaped to inhibit the repositioning process when the stair climber advances along at least one flight of stairs so as to keep the inclination of the loading plane fixed with respect to the frame.

[0025] Advantageously, the control method of the invention allows to automate the adjustment of the inclination of the loading plane. In fact, the repositioning process involves determining the optimal inclination for the transport of an element starting from one or more physical-geometric features of the element itself.

[0026] Furthermore, the method of the invention allows to inhibit the repositioning process when the climber advances, in ascent or descent, on a flight of stairs.

[0027] Still advantageously, the inhibition of the adjustment of the inclination of the loading plane during the ascent on a flight of stairs allows to improve safety during transport.

[0028] In fact, the repositioning process would involve adjusting the inclination of the loading plane in response to any change in slope encountered during the ascent, or descent, on the flight of stairs.

[0029] However, the accidental oscillations which the climber could incur would be too fast to allow an adequate response, therefore, the inhibition of the repositioning process allows to improve safety as it prevents the adjustment of the inclination in the event of sudden movements.

[0030] On the basis of what has been said, it is obvious that the described objects are also achieved by a stair climber comprising at least one support frame, at least one loading plane operatively coupled to the frame itself and movable with respect thereto. Such a plane is further configured to supportingly receive at least one transportable element.

[0031] According to another aspect of the invention, the climber also comprises at least a first sensor operatively connected to the loading plane and adapted to detect one or more physical-geometric features of the transportable element when arranged on the plane and at least one actuator operatively coupled to the loading plane and adapted to move it.

[0032] According to a further aspect of the invention, the stair climber further comprises at least one processing and control logic unit operatively connected to the first sensor and to the actuator. Logic unit which is shaped to perform at least one repositioning process of the loading plane.

[0033] The repositioning process comprises a step of detecting, by means of the first sensor, one or more physical-geometric features of the element arranged on the plane.

[0034] Next, it envisages analysing the detected physical features so as to identify the optimal transport inclination by means of the processing logic unit, which controls the actuator so that the latter adjusts the inclination of the loading plane with respect to the frame in accordance with the optimal transport inclination.

[0035] According to another aspect of the invention, the logic unit is shaped to inhibit the repositioning process when the climber advances along at least one flight of stairs so as to keep the inclination of the loading plane fixed with respect to the frame.

[0036] Brief description of the drawings

[0037] Further features and advantages of the invention will become more evident in light of the detailed description of a preferred but non-exclusive embodiment of a control method according to the invention, illustrated by way of non-limiting example with the aid of the accompanying drawings, in which:

[0038] FIGS. 1 and 2 depict a side view diagram of the stair climber of the control method according to the invention.

[0039] Detailed disclosure of an exemplary preferred embodiment

[0040] With reference to the aforementioned figures, a control method is disclosed for a stair climber 1, which, in particular, comprises a support frame 4, a loading plane 5, a first sensor (not depicted in the figures) and an actuator 8.

[0041] The loading plane 5, which is shaped to supportingly receive the transportable element E, indifferently objects or living beings, is operatively coupled to the frame 4 and is movable with respect thereto.

[0042] Regarding the first sensor, it is operatively connected to the loading plane 5 and is adapted to detect one or more physical-geometric features of the transportable element E when arranged on the loading plane 5.

[0043] According to the described embodiment, the first sensor is shaped to acquire information related to the transported element E such as to allow the detection of the weight and position of the element.

[0044] Obviously, such an aspect should not be understood as limiting for different variant embodiments of the invention where, for example, the sensor detects and / or determines different physical and / or geometric features of the product suitable for the repositioning process (e.g., the centre of gravity).

[0045] Furthermore, according to the embodiment of the invention which is described, the first sensor is shaped to detect the current variations resulting from the positioning of the product on the loading plane 5 and subsequently determine the features of the element E.

[0046] Obviously, also such an aspect must not be considered limiting for different embodiment variants of the invention where, for example, the first sensor comprises an accelerometer.

[0047] According to another aspect of the invention, the actuator 8 is operatively coupled to the loading plane 5 and is adapted to move it so as to modify the inclination thereof.

[0048] In addition to this, the stair climber 1 also comprises a processing and control logic unit, not depicted in the figures, which is operatively connected to the first sensor and to the actuator 8.

[0049] According to a further aspect of the invention, the repositioning process comprises a step in which, by means of the first sensor, the physical-geometric features of the element E arranged on the loading plane 5 are detected.

[0050] Subsequently, the processing and control logic unit analyses the detected features so as to identify the optimal transport angle and then commands the actuator 8 to adjust the inclination of the loading plane 5 with respect to the frame 4 so that it is concordant with the previously determined optimal angle.

[0051] Advantageously, therefore, the inclination of the loading plane 5 is adapted based on the features of the transported element E, typically but not necessarily as a function of the weight and its position on the loading plane 5.

[0052] This allows, still advantageously, to improve the safety of the object during transport. In fact, the loading plane 5 will be automatically inclined by an optimum angle.

[0053] Moreover, such a repositioning process can be performed several times during transport, adjusting the inclination of the loading plane 5 according to the features of the element and the slope of the section being travelled.

[0054] According to a further aspect of the invention, the processing and control logic unit is shaped to inhibit the repositioning process when the stair climber 1 advances along a flight of stairs.

[0055] In other words, the control method of the invention involves preventing the automatic adjustment of the inclination of the loading plane 5, i.e., the repositioning process, when the stair climber 1 advances along a flight of stairs.

[0056] Advantageously, the inhibition of the repositioning process allows to eliminate automatic movements of the loading plane 5 during the ascent, or descent, from stairs.

[0057] On closer inspection, during the advancement on a flight of stairs it is very likely that the climber 1 undergoes oscillations which compromise the stability of the climber 1 and, therefore, of the transported element E. Such oscillations imply a variation of the slope of the loading plane 5, which would start the repositioning process to restore the optimal angle.

[0058] However, the movements which destabilize the climber 1 are typically very rapid and the repositioning process would not be able to compensate for the variation in angle with the same speed, thus generating movements of the loading plane 5 which would aggravate the precariousness of the climber 1 itself.

[0059] Therefore, still advantageously, the control method of the invention allows to improve the safety of the transported elements E and of the operators, as it prevents autonomous movements of the loading plane 5 during the advancement on a flight of stairs.

[0060] According to the described embodiment, the logic unit inhibits the repositioning process when the stair climber 1 advances in a manual transition state, i.e., in a state comprised in the control method of the invention in which the movement of the climber 1 is manually controlled by an operator.

[0061] Advantageously, the manual control of the climber 1 during the advancement on the stairs allows to further improve safety, as a manual guide conducted by an operator better adapts to the variability of the flights with respect to a fully automated ascent, or descent.

[0062] In addition to the aforementioned manual transition state, the control method also comprises an automatic transition state in which the movement of the stair climber 1 is controlled automatically by the processing and control logic unit. In other words, according to the control method of the invention, the stair climber 1 is configured to move according to a manual transition state in which the commands are controlled by an operator and / or according to at least an automatic transition state in which the climber proceeds in an automated manner.

[0063] According to another aspect of the invention, the control method envisages that if a climber 1 advances on a flight of stairs in an automatic transition state, the processing and control logic unit commands the transition to a manual transition state upon passing a predetermined initial section of the flight.

[0064] Advantageously, this allows to advance for a first section in an automatic transition state and subsequently to move to a manual state where the repositioning process is inhibited.

[0065] Still advantageously, this allows to start the ascent, or descent, taking advantage of the known automatisms of stair climbers and, once the climber 1 is stabilised on the flight and the inclination of the loading plane 5, to proceed in the manual transition state so as to more accurately control the movements of the climber 1 itself.

[0066] When the climber 1 ascends the flight of stairs, the predetermined initial section is detected by means of a second sensor, also not depicted in the figures, operatively connected to the logic unit and adapted to detect the distance travelled by the stair climber 1.

[0067] In other words, the stair climber 1 which starts the ascent in an automatic transition state switches to a manual transition state after a predetermined distance, which is detected by the second sensor.

[0068] According to the embodiment described, the second sensor comprises a rotary encoder, not depicted in the figures, operatively connected to the motor, also not depicted in the figures, which moves the climber 1.

[0069] Obviously, such an aspect must not be considered as limiting for different embodiment variants of the invention where, for example, the second sensor comprises a different odometer present in the prior art.

[0070] In the event instead of descent of the climber 1 on a flight of stairs, the predetermined initial section is defined by the position of the stabilizing element 11, which is operatively coupled to the support frame 4.

[0071] According to the described embodiment, the stabilizing element 11 is provided with rollers 13 and at least one proximity sensorfor detecting the contact between pavement and stabilizing element 11. By means of such a sensor, which is operatively connected to the processing and control logic unit, it is possible to control the contact of the stabilizing element with the surface so as to improve the stability of the stair climber 1 and detect the pressure applied to the ground.

[0072] A complete description of the operation of the stabilizing element 11 is omitted herein, as it is within the scope of a person skilled in the art with respect to the prior art disclosed such as, for example, what is disclosed in WO 2021 / 260547 A1.

[0073] As mentioned, advantageously, approaching the descent in an automatic transition state allows to exploit the known automatisms of the stair climbers and, in particular, the control of the stabilizing element 11 advancing, only after the stabilization of the climber 1 on the flight, in a manual transition state.

[0074] Obviously, the position of the stabilizing element which defines the end of the initial section of a descending climber must not be considered as limiting for different embodiment variants of the invention where, for example, the element is partially or completely retracted.

[0075] According to another aspect of the invention, in the aforementioned predetermined initial section the logic unit controls the advancement speed of the climber 1 on the flight of stairs typically, but not necessarily, slowing it down so as to facilitate the stabilization and repositioning operations of the loading plane 5 at the beginning of the ascent (or descent).

[0076] According to a further aspect of the invention, when the stair climber advances along a flight of stairs in a manual transition state, the control method envisages that the logic unit commands the transition to an automatic transition state upon reaching a predetermined final section of the flight.

[0077] Similarly to what was said for the initial section, concluding the flight of stairs in an automatic transition state allows, advantageously, to exploit the known automatisms of the arrival at the floor of a stair climber, where floor is also intended as landings.

[0078] In particular, in the event in which the climber 1 ascends along the flight of stairs, the aforementioned final section is detected by means of a third sensor 18 operatively connected to the logic unit and shaped to detect the arrival at the floor, i.e. , to identify the end of the stairs and the arrival at a floor / landing.

[0079] In fact, as known from WO 2021 / 260547 A1 , by means of a third sensor 18 adapted to detect the arrival at the floor it is possible to control the arrangement of the stabilizing element 11 to automate the final section of an ascent on a flight of stairs.

[0080] Similarly, if the climber 1 descends from a flight of stairs in a manual transition state, the final section is instead detected by a fourth sensor 19, also operatively connected to the logic unit and shaped to detect the arrival at the floor.

[0081] Obviously, the number of sensors for detecting the arrival at the floor should not be considered as limiting for different embodiment variants of the invention where, for example, the third sensor is adapted to detect the arrival at the floor even in descent.

[0082] According to another aspect of the invention, the stair climber 1 also comprises a graphic interface 20 operatively connected to the processing and control logic unit, which is configured to send a message, readable by an operator on the graphic interface 20, reporting the transition state of the stair climber 1.

[0083] According to a further aspect of the invention, the automatic transition state is divided into several automatic transition sub-states described below.

[0084] Operationally, when located on a floor, the stair climber 1 is in an automatic transition sub-state TO, in which the climber 1 is controlled by the processing and control logic unit.

[0085] Upon the detection of a flight by means of a suitable sensor, the logic unit commands the switch to a different automatic transition sub-state T 1 in which the climber 1 begins to climb the flight of stairs.

[0086] In such a transition sub-state, the climber 1, through the second sensor, detects the distance travelled on the flight so as to identify the predetermined initial section of the flight. Furthermore, the logic unit can control the advancement speed of the climber 1, generally to slow it down, and stabilize the inclination of the loading plane 5 by means of the repositioning process.

[0087] Upon passing the initial section, the logic unit controls the transition to the manual transition state, where the execution of the repositioning process is inhibited, to allow the operator to lead the climber 1 along the flight.

[0088] Then, near the arrival at the floor (or landing), the third sensor 18 detects its presence and, consequently, the logic unit commands to move to a further automatic transition sub-state T2, in which the logic unit itself controls the stabilizing element 11 as known from WO 2021 / 260547 A1.

[0089] Finally, upon reaching the floor and retracting the stabilizing element 11 , the logic unit can command the switch to a manual state or return to a sub-state TO.

[0090] Similarly, in the event of descent, the stair climber 1 which begins its journey in a sub-state TO detects the presence of a step, i.e. , the beginning of a flight of stairs, by means of a proximity sensor to assist in movement, operatively coupled to the support frame 4 and arranged so as to detect the presence of steps during the execution of the descent process.

[0091] Obviously, the nature of the proximity sensor should not be understood as limiting for different embodiment variants of the invention where, for example, it is an optical, magnetic or ultrasonic sensor.

[0092] Following the detection of the first step, the logic unit commands the passage to an automatic sub-state T3 for the start of the descent, in which the logic unit controls the stabilizing element 11 , the advancement speed and the repositioning process for a predetermined initial section.

[0093] Then, at the end of the predetermined initial section, the logic unit commands the transition to a manual transition state for the rest of the descent on the flight of stairs until the fourth sensor 19 detects the arrival at the floor.

[0094] Then, the logic unit commands to switch to an automatic sub-state T4 in which, before arriving at the floor, the logic unit itself controls the advancement speed and the repositioning process of the loading plane 5.

[0095] Obviously, the processes are reversible and, for example, a climber which begins an ascent in a sub-state T1 reverses the travel direction downwards to pass to a sub-state T4.

[0096] In addition, according to an embodiment variant of the invention, the transition from one state, or sub-state, to the other occurs following a manual command from the operator in response to a warning sent to the graphic interface 20.

[0097] However, it is evident that the object of the invention is also a stair climber 1 comprising a support frame 4 and a movable loading plane 5 operatively coupled thereto and shaped to receive at least one transportable element E. Furthermore, the climber 1 also comprises a first sensor operatively connected to the loading plane and adapted to detect one or more physicalgeometric features of the transportable element E when arranged on the loading plane.

[0098] The climber further comprises an actuator 8, operatively coupled to the loading plane 5 and adapted to move it, and also a processing and control logic unit operatively connected to the first sensor and the actuator 8.

[0099] In particular, the processing and control logic unit is configured to perform and inhibit a repositioning process according to the above.

[0100] A complete description of the stair climber of the invention is omitted here, since it would replicate what is already written about the same during the disclosure of the control method. What is observed is that it achieves all the aforementioned advantages.

[0101] In light of the foregoing, it is understood that the control method of the invention achieves all the preset objects.

[0102] In particular, it allows to automate the repositioning process of the loading plane in a stair climber.

[0103] Furthermore, the control method of the invention allows to improve safety during the advancement of the stair climber along a flight of stairs.

[0104] The invention is susceptible to numerous modifications and variations, all falling within the appended claims. All the details and steps can be replaced by other technically equivalent elements, and the materials can be different depending on the needs, without departing from the scope of protection of the invention defined by the attached claims.

Claims

C L A I M S1. A control method for a stair climber (1), said at least one stair climber (1) comprising: at least one support frame (4); at least one loading plane (5) operatively coupled to said at least one support frame (4) and movable with respect to said at least one support frame (4), said at least one loading plane (5) being shaped to supportingly receive the transportable element (E); at least a first sensor operatively connected to said at least one loading plane (5) and adapted to detect one or more physical-geometric features of the transportable element (E) when arranged on said at least one loading plane (5); at least one actuator (8) operatively coupled to said at least one loading plane (5) and adapted to move said at least one loading plane (5); at least one processing and control logic unit operatively connected to said at least a first sensor and to said at least one actuator (8), said control method comprising at least one repositioning process of said at least one loading plane (5) said at least one repositioning process comprising at least the following steps: detecting, by means of said at least a first sensor, said one or more physical-geometric features of the element (E) arranged on said at least one loading plane (5); analysing, by means of said at least one processing and control logic unit, said one or more detected physical features so as to identify the optimal transport inclination of said at least one loading plane (5); commanding, by means of said at least one processing and control logic unit, said at least one actuator (8) so that said at least one actuator (8) adjusts the inclination of said at least one loading plane (5) with respect to said at least one support frame (4) in accordance with said optimal transport inclination, said control method being characterized in that said at least one processing and control logic unit being shaped to inhibit said at least one repositioning process when said at least one stair climber (1) advances along at least one flight of stairs so as to keep the inclination of said at least one loadingplane (5) fixed with respect to said at least one support frame (4).

2. Control method according to claim 1 , comprising at least one manual transition state, wherein the movement of said at least one stair climber (1) is manually controlled by an operator, said inhibition of said at least one repositioning process occurs when said at least one stair climber (1) advances along the flight of stairs in said one manual transition state.

3. Control method according to claim 1 or 2, wherein if said at least one stair climber (1) advances along a flight of stairs in an automatic transition state, wherein the movement of said at least one stair climber (1) is controlled automatically, said at least one processing and control logic unit commands said at least one stair climber (1) to switch to said manual transition state upon passing at least one predetermined initial section of the flight of stairs.

4. Control method according to claim 3, wherein said at least one stair climber (1) also comprises: at least a second sensor operatively connected with said at least one processing and control logic unit and adapted to detect the distance travelled by said at least one stair climber (1), if said at least one stair climber (1) ascends the flight of stairs in an automatic transition state, said at least one predetermined initial section is detected by said at least a second sensor.

5. Control method according to claim 3 or 4, wherein said at least one stair climber (1) also comprises: at least one stabilizing element (11) operatively coupled to said at least one support frame (4), if said at least one stair climber (1) descends the flight of stairs in an automatic transition state, said at least one predetermined initial section is defined by the arrangement of said at least one stabilizing element (11).

6. Control method according to one or more of the preceding claims, wherein if said at least one stair climber (1) advances along a flight of stairs in said manual transition state, said at least one processing and control logic unit commands said at least one stair climber (1) to switch to said automatic transition state upon the arrival at at least one predetermined final section of the flight of stairs.

7. Control method according to claim 6, wherein said at least one stair climber (1) also comprises: at least a third sensor (18) operatively connected to said at least one processing and control logic unit and shaped to detect at least the arrival at a floor; if said at least one stair climber (1) ascends the flight of stairs in an automatic transition state, said at least one predetermined final section begins to detect a floor by means of said at least a third sensor (18).

8. Control method according to claim 6 or 7, wherein said at least one stair climber (1) also comprises: at least a fourth sensor (19) operatively connected to said at least one processing and control logic unit and shaped to detect at least the arrival at a floor, if said at least one stair climber (1) descends the flight of stairs in an automatic transition state, said at least one predetermined final section begins to detect a floor by means of said at least a fourth sensor (19).

9. Control method according to one or more of the preceding claims, wherein said at least one stair climber (1) also comprises: at least one graphic interface (20) operatively connected to said at least one processing and control logic unit, said at least one processing and control logic unit being configured to send at least one message to said at least one graphic interface (20), said at least one message containing at least the transition state of said at least one stair climber (1).

10. A stair climber (1) comprising: at least one support frame (4); at least one loading plane (5) operatively coupled to said at least one support frame (4) and movable with respect to said at least one support frame (4), said at least one loading plane (5) being shaped to supportingly receive at least one transportable element (E); at least a first sensor operatively connected to said at least one loading plane (5) and adapted to detect one or more physical-geometric features of the transportable element (E) when arranged on said at least one loading plane (5);at least one actuator (8) operatively coupled to said at least one loading plane (5) and adapted to move said at least one loading plane (5); at least one processing and control logic unit operatively connected to said at least a first sensor and to said at least one actuator (8), said at least one processing and control logic unit being shaped to perform at least one repositioning process of said at least one loading plane (5), said at least one repositioning process comprising at least the following steps: detecting, by means of said at least a first sensor, said one or more physical-geometric features of the element (E) arranged on said at least one loading plane (5); analysing, by means of said at least one processing and control logic unit, said one or more detected physical features so as to identify the optimal transport inclination of said at least one loading plane (5); commanding, by means of said at least one processing and control logic unit, said at least one actuator (8) so that said at least one actuator (8) adjusts the inclination of said at least one loading plane (5) with respect to said at least one support frame (4) in accordance with said optimal transport inclination, said at least one stair climber (1) being characterized in that said at least one processing and control logic unit is shaped to inhibit said at least one repositioning process of said at least one loading plane (5) when said stair climber (1 ) advances along at least one flight of stairs so as to keep the inclination of said at least one loading plane (5) fixed with respect to said at least one support frame (4).

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