Lift system for moving people between floors, method of using a lift system and computer implemented method for route-planning for a lift system

Abstract

The invention relates to lift systems (100) for moving people (60.2), especially in buildings (5.1) from one floor (5) to another, wherein the lift system comprises a structure (1) comprising profile units (1.1) extending in at least two spatial directions (x, y), the lift system (100) further exhibiting at least one crawler type vehicle (10) with a plurality of suspension elements (13) configured for suspending and coupling the vehicle (10) to the structure (1), wherein the suspension elements (13) exhibit at least one element of motion (13.3) configured for rolling on the profile units (1.1) irrespective of momentary motion in second spatial direction, allowing for omnidirectional movement of lift cabins (60) connected to the crawlers (10).

Description

[0001] Lift system for moving people between floors, method of using a lift system and computer implemented method for route-planning for a lift system

[0002] DESCRIPTION:

[0003] The present invention relates to people transportation systems such as lifts for moving people, especially in a building from one floor to another.

[0004] BACKGROUND OF THE INVENTION

[0005] In the expansive domain of lift systems, the relentless pursuit of innovation remains an everpresent driving force, aimed at enhancing operational efficiency and safety. Conventional lifts are arranged in shafts and are driven by hoists. This limits the number of lifts per shaft to one. Attempts have been made to new lifts proposing alternative arrangements with multiple lift shafts, wherein lifts are able to “switch lanes” from one shaft to another. The present invention proposes a new type of lift system comprising a new type of vehicle coupled to a structure which can be arranged at a wall, eliminating the need for shafts of the conventional type and overcoming their limitations.

[0006] SUMMARY OF THE INVENTION

[0007] In view of the above, the present invention provides a lift system, especially a shaftless or shaft-independent lift system, for moving people from one floor to another. The present invention solves this problem by providing a lift system comprising the features of independent claim 1. Advantageous refinements and embodiments of the device are derived from dependent claims 2-12. Furthermore, the problem is solved by a method according to claim 13. The problem is also solved by a computer-implemented method according to claim 14.

[0008] The lift system for moving people from one floor to another according to the invention comprises

[0009] - at least one structure extending in at least two spatial directions, wherein the structure comprises a plurality of profile units extending in a first spatial direction (x), wherein the structure defines at least one structural regularity in a second spatial direction (y),

[0010] - at least one crawler type vehicle, exhibiting a plurality of suspension elements configured for suspending the crawler type vehicle and configured for coupling the crawler type vehicle to the at least one structure by means of de- / coupling kinematics depending on a relative motion of the crawler type vehicle with respect to the structure in at least said second spatial direction (y), wherein the suspension elements exhibit at least one element of motion configured for rolling on the profile units irrespective of momentary motion in said second spatial direction, enabling 2D- motion of the crawler type vehicles,

[0011] - at least one lift cabin, connected to at least one crawler type vehicle.

[0012] The present invention provides for a lift system exhibiting at least one crawler type vehicle and a structure extending in at least two spatial directions, wherein the structure comprises a plurality of profile units (especially rails) extending (preferably continuously, especially without any structural discontinuity) in a first spatial direction, wherein the structure defines at least one structural regularity in a second spatial direction (thereby providing a onedimensional raster with discrete coupling points distributed in at least one equidistant regularity in said second spatial direction).

[0013] The crawler type vehicle exhibits a plurality of suspension elements configured for suspending the vehicle and configured for coupling the crawler type vehicle to the structure by means of de- / coupling kinematics depending on a relative motion of the vehicle with respect to the structure in at least said second spatial direction, wherein the (crawler type) vehicle comprises means for providing for de- / coupling kinematics during a motion of the crawler type vehicle in said second spatial direction, especially with the crawler type vehicle being configured to be moved in said first spatial direction along the profile units irrespective of momentary motion in said second spatial direction.

[0014] According to the present disclosure, when it is referred to “structure”, a structure that predominantly extends along a wall or on an inclined plane (or the like) is designated. The present invention is applied for vehicles being arranged at resp. traveling along a structure, and in addition, the present invention also allows for any motion along any structure with alternative orientation and / or arrangement. Thus, referring to a “structure” includes reference to any other “structure” exhibiting the features presently described allowing for coupling with / to the inventive vehicle and corresponding de- / coupling kinematics. According to the present disclosure, when it is referred to “profile units” or “profiles” or “T- profiles”, the disclosure also generally refers to different kinds of profiles like e.g. I -profiles or L-profiles which may provide for advantageous / favorable arrangements in individual applications.

[0015] The profile units respectively exhibit at least one tread, wherein each suspension element exhibits at least one element of motion (for gliding or rolling, especially at least one wheel) arranged and configured for actively moving (especially gliding or rolling) the crawler type vehicle in said first spatial direction. Preferably, each suspension element exhibits at least two elements of motion, e.g., a main wheel and a side wheel (side friction wheel of a roller coaster) clamping the profile unit from at least two sides.

[0016] According to the present disclosure, when it is referred to “vehicle”, the disclosure generally refers to crawler type vehicles or vehicles and its relative spatial arrangement or traveling motion (e.g., also possibly on the ground but predominantly on an inclined plane or at a wall). The crawler type vehicle exhibits one or more load attachment points configured for connecting to a lift cabin to be carried / transported / moved along the structure in one- or two- dimensional manner.

[0017] The crawler type vehicle can exhibit at least one motor / actuator for actively driving the crawler type vehicle along the structure.

[0018] The crawler type vehicle follows an intended direction resp. an intended path of motion, especially in conjunction with appropriate sensor-actor-arrangements.

[0019] The characteristic, that the lift system is configured for active motion of the vehicle I the vehicles includes all embodiments wherein the vehicle / s can move on its / their own.

[0020] According to the present disclosure, “actively moving” designates a motion of the vehicle in relation to the structure actuated preferably by an electric motor of the vehicle connected to a drive unit such that the vehicle can move on its own inside the structure when the motor is activated. The choice of an appropriate motor can be carried out by the person skilled in the art in regard to existing motors and motor arrangements depending on the respective application / task / size of the respective crawler type vehicle and lift system.

[0021] The structure exhibits at least one energy charging point / position / area, wherein the lift system is configured for charging / providing the at least one crawler type vehicle with energy when being arranged in / at said energy charging point / position / area. For example, the charging area covers the whole structure.

[0022] The lift system according to the invention allows for a new type of transport between floors of a building. A building comprising the proposed lift system can take any shape or form, as long as its statics are well defined. The structure is arranged in a predefined area where the lift cabins can pass through the floors but is not necessarily rectangular shaped, i.e. , the structure can correspond to the form of the building, whatever form it takes. The lift cabins can be moved in any direction along the structure and reach any point of the structure.

[0023] According to one embodiment, the lift system comprises

[0024] - at least two crawler type vehicles,

[0025] - at least two lift cabins, respectively connected to at least one crawler type vehicle. This lift system allows for a high throughput. In conventional lift systems, only one lift cabin is allowed per shaft, i.e., a lot of the volume of the lift system is left unused. With the lift cabins connected to the crawler type vehicles of the kind described above, it is possible for individual lift cabins to carry out passing maneuvers provided a wide enough structure. This increases the number of transportations to a multiple of conventional lift systems.

[0026] According to one embodiment of the lift system, the crawler type vehicle or plurality of crawler type vehicles exhibit / s at least two circumferential tracks, wherein the suspension elements are attached to the circumferential tracks at predefined longitudinal positions corresponding to the structural regularity, wherein the circumferential tracks respectively define a specific path of circumferential motion of the respective suspension elements, thereby providing for de- / coupling kinematics during a motion of the crawler type vehicle in said second spatial direction (y).

[0027] According to the present disclosure, when it is referred to “circumferential track”, the disclosure also generally refers to closed loop guidings and lines and predefined contours along which the suspension elements are guided and / or driven, e.g., chains or any such traction means providing for a closed loop.

[0028] The shape / contour of respective circumferential tracks can be individual, i.e., the skilled person can decide e.g., about a certain degree (radius) of curvature in specific sections of the respective circumferential track. For example, each track exhibits at least three different guide / rail sections, namely: a first (linear) section in which each suspension element is engaged with the profile, wherein the suspension element performs a linear motion; and at least one second (curved) section in which each suspension element performs a decoupling motion (wherein each track may exhibit two second sections being arranged oppositely); and a third (linear) section in which the suspension elements are returned to couple again with the profile (for continuous, circumferential motion and engagement process). Thereby, first and second tracks may define the trajectory of the respective free ends of the suspension elements especially exhibiting at least one element of motion, e.g., a wheel, being attached to the respective suspension element by any appropriate means (e.g. by a gliding / rolling contour, a chain drive, a timing belt, or any likewise mechanism or mechanical feature) which is configured for predefining a specific contour and for guiding the free ends resp. the rollers to follow that contour of the tracks.

[0029] The circumferential tracks respectively define a specific path of circumferential motion of the respective suspension elements (resp. of coupling means of the suspension elements, especially of a free end of the respective suspension element). Such configuration not only facilitates implementation in context with complex structures or in context with a plurality of vehicles to be used at the same time, but also considerably increases variability as to positioning. Thereby, the present invention also provides for practical scalability (both with respect to the structure and with respect to the number of vehicles), even in three- dimensional extension, if desired.

[0030] The crawler type vehicle can exhibit two or more kinds / types of suspension elements, wherein the different types of suspension elements are de- / coupled according to individual kinematics (especially in opposite directions / sides at the profile units, especially both in and opposite to the second spatial direction resp. travel direction of the crawler type vehicle), wherein a first subset of the suspension elements are attached to a first pair of circumferential tracks (resp. a subset of the first subset, momentary) and at least one further subset of the suspension elements are attached to a second pair of circumferential tracks (resp. a subset of the second subset, momentary) respectively at predefined first and second (further) longitudinal positions respectively corresponding to the structural regularity (resp. to the distance of the profile units defined by said structural regularity), wherein the first and second pairs of circumferential tracks provide for individual kinematics for the first and second subsets of suspension elements, especially such that the crawler type vehicle can be secured with respect to opposite sides / directions (of the second spatial direction) at the structure resp. at the profile units.

[0031] The crawler type vehicle can be configured for enabling at least one closed loop trajectory of respective suspension elements along corresponding circumferential tracks, especially configured for enabling at least two closed loop trajectories of at least two subsets of respective suspension elements.

[0032] The circumferential tracks can be shaped in such a manner that the respective suspension elements are de- / coupled from / into the structure when passing a curved section of the tracks.

[0033] For example, a subset of the suspension elements can be attached to one of the circumferential tracks (resp. a subset of the first subset, momentary) and at least one further subset of the suspension elements are attached to a further one of the circumferential tracks (resp. a subset of the second subset, momentary) respectively at predefined first and second (further) longitudinal positions respectively corresponding to the structural regularity, in particular with each suspension element being guided by a pair of circumferential tracks.

[0034] The suspension elements can be fixedly attached / coupled by means of a first pulley to / with a / the first circumferential track and are guided within a / the second circumferential track by means of a second pulley respectively, wherein the first and second pulley preferably are arranged at a lever arm of the respective suspension element. For example, each suspension element can exhibit a first pulley and a second pulley arranged in longitudinal distance with respect to the first pulley at a lever arm of the respective suspension element, wherein the suspension element is coupled to a / the first and a / the second circumferential tracks via the first and second pulleys. Preferably, each suspension element exhibits at least one wheel to roll on a tread of the profile unit a further wheel to roll on a side of the tread of the profile unit to reduce potential slip.

[0035] A respective subset of said suspension elements can be connected to each other by means of longitudinal connecting elements, especially by chain elements, thereby forming a closed loop of interrelated suspension elements distanced to each other in a / the predefined structural regularity.

[0036] The respective circumferential track e.g., exhibits a chain or is provided / defined by a chain forming a closed loop of interrelated chain elements.

[0037] The crawler type vehicle can be configured for lifting a / the respective suspension elements out of the structure in an unloaded state, especially such that both de- / coupling kinematics for a subset of momentarily unloaded suspension elements and suspension of the crawler type vehicle by a subset of momentarily loaded suspension elements can be ensured. Each suspension element can be guided by a pair of circumferential tracks, wherein the crawler type vehicle exhibits at least three pairs of circumferential tracks each guiding a subset of the suspension elements, wherein said de- / coupling kinematics are predefined by said three pairs of circumferential tracks in such a manner that respective suspension elements (resp. a subset of the respective subset, momentary) simultaneously de- / couple both at a first side (resp. first longitudinal position) of a respective profile unit and at a second side (resp. second longitudinal position) of a respective profile unit, especially such that the crawler type vehicle is secured with respect to opposite sides / directions (of the second spatial direction) at the structure, especially with all suspension elements being guided in same circumferential direction, especially with all circumferential tracks being arranged in parallel to each other.

[0038] The crawler type vehicle exhibits at least one drive interacting with (resp. driving) at least one of the circumferential tracks, wherein the lift system is configured for a predefinable driven motion of the crawler type vehicle at least in said second spatial direction (especially back and forth).

[0039] The crawler type vehicle can also exhibit an energy storage unit providing energy to a / the at least one drive, preferably all drives, of the crawler type vehicle, especially to a / the at least one drive interacting with (resp. driving) at least one of the circumferential tracks.

[0040] According to the present invention, the term “drive unit” especially refers to a unit accommodating kinematics allowing for traveling motion of the vehicle, as described above. The shape or dimension of the at least one first drive unit (and also of the circumferential tracks) can be defined individually according to specific applications. E.g., the cross-section geometry of the at least one first drive unit is in the shape of a racecourse (parallel longitudinal sections and opposite semicircle sections). But, alternatively, the cross-section geometry can also be circular or elliptical for example.

[0041] According to one embodiment of the lift system, the structure exhibits power rails integrated into the profile units and the crawler type vehicle or the plurality of crawler type vehicles exhibits means for electrically connecting to the power rails.

[0042] For example, at least two of the suspension elements each comprise at least two electrically connected electrical contacts configured for establishing an electrical connection between the structure and the vehicle, wherein the first electrical contact of a first suspension element for establishing an electrical connection is electrically connected to a first pole / phase of a power bus in the structure when the vehicle is coupled to the structure via the first suspension element and the first electrical contact of a second suspension element for establishing an electrical connection is electrically connected to a second pole / phase of the power bus in the structure when the vehicle is coupled to the structure via the second suspension element, and wherein the second electrical contacts of the suspension elements are each connected to a respective pole / phase of an internal bus of the crawler type vehicle at least when the vehicle is coupled to the structure via the suspension elements for establishing an electrical connection.

[0043] According to the present disclosure, “electrical contact” designates a connection mechanism that enables the flow of electrical current between two or more conductive elements. The primary objective of an electrical contact is to establish a reliable and efficient means of transferring electrical signals or power. The electrical contacts must possess certain key properties, such as high electrical conductivity, mechanical robustness, corrosion resistance, and thermal stability. Examples of suitable materials for electrical contacts may include copper, copper alloys, or noble metals like gold, silver, or platinum, as well as various alloys and composite materials. It is imperative that the connection between the electrical contact and the pole / phase in the structure be established in a reversible manner, allowing for repeated engagement and disengagement without compromising its performance. Examples of reversible electrical contact mechanisms include sliding contacts, where two surfaces slide against each other to establish and break the connection, or roller contacts, where rotating elements facilitate electrical contact.

[0044] The power rails can be integrated into the profiles of the structure, i.e., along the I-, L-, or T- profiles on one edge or side, preferably above the tread surface of the profile.

[0045] The vehicle can e.g., comprise electronics connected to the internal bus for supplying the vehicle with power. These electronics can comprise but are not limited to communication modules for wireless or wired data exchange (vehicle-to-vehicle, vehicle-to-infrastructure, vehicle-to-mobile devices, etc.), a / the central control unit, sensors (proximity sensors, accelerometers, LiDAR, radar, etc.), a power management system (power converters (AC / DC, DC / DC), battery management, voltage regulators, ESD protection), motors, etc. The vehicle can also comprise an energy storage, such as a battery pack and / or super capacitors and / or the vehicle can comprise electrical connection means for connecting to the lift cabin, wherein the lift cabin can be supplied with power via the electrical connection means.

[0046] For example, when the vehicle is moving in the second spatial direction, i.e., when suspension elements for establishing an electrical connection are coupled into the structure, the second sliders can be connected to the conducting rail such that the first slider has a defined potential before the first sliders are in proximity or connected to the power rail in the structure and when the suspension elements are decoupled from the structure, the first sliders are disconnected from the power rail before the second sliders are disconnected from the conducting rail. This measure serves to avoid spark creation, especially in the moment the suspension elements are brought into contact with the structure, by pulling the floating potential of the electrical contact to the potential of the power rail before. In an alternative example, when the suspension elements are coupled to the structure, the first sliders are connected to the power rail in the structure before the second sliders are in proximity or connected to the conducting rail in the vehicle and when the suspension elements are decoupled from the structure, the second sliders are disconnected from the conducting rails before the first sliders are disconnected from the conducting rail. This can reduce wear on the electric rails in the structure and shifts potential wear into the vehicle sliding contacts which are considered to be simpler to restore by maintenance actions.

[0047] For example, at least two conducting rails are placed in parallel at least to sections of the described circumferential tracks (see above), wherein at least two suspension elements for establishing an electrical connection comprise means for dis- / connecting from / to the conducting rails, when the suspension elements are de- / coupled from / into the structure. The conducting rails can be integrated into the vehicle particularly easily, when the first drive unit has a race-course shape, wherein the suspension elements that are currently coupled into the structure are following a straight or linear section. Arranging two conducting rails in parallel can mean to place them on opposite sides at the same height of the drive unit, on one side at different heights with respect to the plane in which the structure is extending, or on opposite sides at different heights. If only one first drive unit is used, it has proven beneficial to place the conducting rails on opposite sides. However, for scalability and easier integration process of more drive units, it can be beneficial to arrange two conducting rails at different heights on one side, because another drive unit, also exhibiting conducting rails in the same fashion could be integrated into the first drive unit in a mirror-inverted manner. The suspension elements configured for establishing an electrical connection with the structure can exemplarily be distributed along the at least one first drive unit such that, when the vehicle is moving along the structure, a suspension element for the electrical connection of a respective pole / phase is coupled into the structure before an otherwise last / only suspension element connected to the respective pole / phase is decoupled from the structure . This helps to ensure an uninterrupted connection with the respective pole / phase while moving the vehicle on the structure. For example, every suspension element is configured for establishing an electrical connection with the structure. This can be beneficial for applications where a particularly high amount of power is to be transferred via the suspension elements because the current can be distributed over many suspension elements, reducing heat creation and wear of the components. Additionally, with this redundant configuration, a disconnect of single suspension elements would not result in a complete disconnection of the full vehicle. It is preferred that the whole structure exhibits poles / phases of the power bus. To ensure that at least two suspension elements are connected to at least one respective pole / phase of the power bus at all times, the vehicle and structure have to be coordinated such that there is always one suspension element of a corresponding pole / phase connecting to the bus in the structure by coupling the suspension element into the structure before the otherwise last suspension element that is currently connected to the same pole / phase in the structure gets disconnected from the bus from a decoupling process of the suspension element.

[0048] According to one embodiment of the lift system, the crawler type vehicle or the plurality of crawler type vehicles exhibit / s at least two independently controllable motors, wherein at least one motor is configured for driving a motion in the first spatial direction (x) and at least one further motor is configured for driving a motion in the second spatial direction (y). Each power unit, drive, motor and / or actuator of the vehicle can be coupled to a control unit of the vehicle.

[0049] The vehicle may exhibit two or three drive units which can be arranged in predefined lateral distance to each other (e.g. defined / connected via cross-beams or the like), and each drive unit may exhibit at least one drive / motor for actively driving the suspension elements along the circumferential tracks or the vehicle in the second spatial direction, and these drives / motors can be controlled depending on each other, e.g. via the speed of rotation. Thus, a traveling direction can be controlled in combination with actively driven wheels of the suspension elements being driven along the profile rails of the structure. The suspension elements can e.g., be connected via a spur gear to a motor. The wheels of the suspension elements can also or alternatively exhibit gear grooves to interact with a corresponding contour integrated into a “bottom” side of the profile unit, wherein “bottom” indicates the side of the profile unit facing the crawler type vehicle.

[0050] The vehicle can alternatively or in addition exhibit at least one second kind of a drive unit configured for enabling locomotion of the crawler type vehicle in the first spatial direction. The first drive units of the vehicle can be scaled up in number, e.g., the vehicle exhibits three first drive units each being based on the same kinematic concept, but at least one of these drive units providing for mirror-inverted type / manner of de- / coupling kinematics. The second kind of drive unit can, e.g., comprise a holonomic wheel, or an elongated gearing wheel, that is able to be moved in the second spatial direction while moving the vehicle in the first spatial direction when driven. According to the present invention, a “holonomic wheel” is a wheel whose wheel tread consists of rollers whose axes of rotation are at an angle to the axis of rotation of the main wheel. The absolute angle between the axes can for example be any angle between 5 and 90 degrees, especially 45 degrees. This angle has to be regarded when controlling the at least two motors, since the movement of the first drive units and the second drive unit are not independent in the case that the angle of the rollers to the wheel is different than 90 degrees. An angle smaller than 90 degrees can result in advantageous configurations regarding the traction of the holonomic wheel with the profiles of the structure. In case the angle is smaller it is possible to place more rollers with the same diameter around the wheel, which enhances traction transmission and can compensate for gaps in the traction transmission of a single omniwheel. The holonomic wheel can e.g., be disc shaped and comprise a plurality of equally distributed rollers around its circumference, such that it allows for traction control in the first spatial direction and is not affected by a motion in the second spatial direction.

[0051] According to one embodiment of the lift system, the crawler type vehicle or the plurality of vehicles comprise / s a holonomic wheelset exhibiting gear grooves for form fit coupling, especially with a bottom side of the profile units. For this, the bottom side of the profile units needs to exhibit corresponding teeth to form fit with the gear grooves of the holonomic wheelset.

[0052] The gear grooves are distributed equidistantly along the circumference of each holonomic wheel of the wheelset. The holonomic wheel set comprises at least two coaxially arranged holonomic wheels. The coaxially arranged holonomic wheels are e.g., disc shaped and have a thickness that is half the width of the profiles of the structure, such that there is room for at least two holonomic wheels of the holonomic wheelset to interact with one profile (rail) of the structure at all times. Each of the coaxially arranged holonomic wheels can have a predefined offset in the azimuthal direction in respect to their adjacent holonomic wheels. If one holonomic wheel comprises n rollers, that are equally distributed around the circumference of the wheel, each wheel is offset by 180 / n degrees with respect to its neighbors. This way, it can be ensured that there is always at least one wheel of the wheelset in contact with the profile of the structure such that slip is prevented.

[0053] According to one embodiment of the lift system, the crawler type vehicle or plurality of crawler type vehicles exhibit / s a return mechanism. E.g., a holonomic wheelset is connected to a return mechanism that applies a force to the holonomic wheel(s) pressing it / them against the structure. This configuration enhances traction of the holonomic wheel on the profiles (rails) of the structure additionally ensures form fit in the case that the holonomic wheels exhibit gear grooves and the structure exhibits corresponding teeth. However, it is also possible to connect a return mechanism to parts of the suspension elements to also enhance force coupling.

[0054] Alternatively or in addition, the crawler type vehicle or plurality of crawler type vehicles exhibits counter wheels. The counter wheels can also be connected to the return mechanism. For example, the counter wheels are connected to a further first drive unit exhibiting two circumferential tracks (see above), wherein the counter wheels exhibit two pulleys at a lever arm, each of the pulley being connected to an individual track, such that the counter wheels are guided along the circumferential tracks when the crawler type vehicle is moving in the second spatial direction. The counter wheels can also exhibit gear grooves to mesh with gear teeth in the structure. The counter wheels press against the profile units from the side of the crawler type vehicle, enhancing force fit / form fit coupling.

[0055] According to one embodiment of the lift system the first spatial direction (x) is parallel to the ground. This lift system is advantageous in terms of coupling security between the crawler type vehicle / s and the structure / s. Especially heavy / large lift cabins can be moved with this lift system.

[0056] According to an alternative embodiment of the lift system, the second spatial direction (y) is parallel to the ground. The structure is in this case preferably arranged at a wall. This configuration allows for a particularly high number of transportations between floors, because the first spatial direction (x) pointing upwards, means that the movement speed in first spatial direction is determined by the second kind of drive unit, which can comprise e.g., the described holonomic wheelset and can work in general at higher speeds than the first drive unit.

[0057] According to one embodiment of the invention, the lift system comprises two structures placed at opposite sides, wherein at least one crawler type vehicle is coupled to a first structure and to a common lift cabin and at least one further crawler type vehicle is coupled to a second structure and to the common lift cabin. This configuration can further enhance the security of the lift system. This feature also allows for the lift cabins to be of bigger size.

[0058] According to one embodiment, the lift system further comprises

[0059] - at least one route-planning tool for route-planning along the at least one structure. Exemplarily, the at least one crawler type vehicle can exhibit a sensing device exhibiting at least one sensor from the following group: speed sensor, distance sensor, height and position measuring sensor, force sensor, acceleration sensor resp. gyroscope.

[0060] The lift system, especially the route-planning tool, is configured for transmitting commands to a communication unit of the at least one crawler type vehicle, especially to the communication units of all crawler type vehicles individually, such that control units of the crawler type vehicles control their respective crawler type vehicle based on received commands as well as based on momentary measuring data of at least sensor.

[0061] The communication unit can be configured for wireless communication at least within the lift system, wherein the (respective) crawler type vehicle or the lift system provides energy to the communication unit, especially such that the communication unit of the crawler type vehicle is energetically self-sustaining (autarkic) for at least a period of several days or weeks or month.

[0062] The lift system can be configured for localizing individual crawler type vehicles based on at least one locating signal transmitted by individual crawler type vehicles (passively or actively, e.g., passively based on at least one individual transmitter, especially based on individual identification features). Additionally, the crawler type vehicles transmit sensor data and information about destination floors to the at least one route-planning tool when a request to do so is received in the communication unit of the crawler type vehicle.

[0063] According to an aspect of the invention, a method of using a lift system, especially a shaftindependent lift system, is provided, wherein a route-planning tool plans a path for at least one crawler type vehicle connected to at least one lift cabin along at least one structure from one floor to another, especially taking into account at least momentary positions and paths of at least one other crawler type vehicle also coupled to the at least one structure, wherein the crawler type vehicle moves omnidirectionally along the at least one structure, especially allowing for (fast) passing maneuvers. This increases the number of transportations between floors.

[0064] According to a further aspect of the invention, a computer implemented method for routeplanning for a lift system, especially for a shaft-independent lift system, is provided, the method comprising the following steps:

[0065] - receiving in a route-planning tool a request to plan a path from a starting floor to a destination floor from a crawler type vehicle or a group of synchronized crawler type vehicles, - obtaining and verifying position information of at least one other crawler type vehicle by sending a request to the at least one other crawler type vehicle, receiving a current position, and comparing the current position with the predicted positions of the crawler type vehicles, wherein the prediction takes into account momentary positions and / or measured data of the crawler type vehicles, and a planned route for the crawler type vehicles,

[0066] - planning the path for the crawler type vehicle or the group of synchronized crawler type vehicles from the starting floor to the destination floor by solving an optimization problem, minimizing the traveling time taking into account path length, potential wait time of each path, and predicted positions of other crawler type vehicles to avoid collisions.

[0067] Obtaining the position information can for example be done in a central control unit or in a decentral control unit, i.e., the route-planning tool can be located in a processing unit of the system or in a processing unit of a vehicle. The skilled person may choose whether central or decentral processing of data is more beneficial based on the specific application, number of vehicles and size of the lift system.

[0068] Further advantages, features, and advantageous refinements of the invention are derived from the dependent claims and the following description of preferred embodiments with reference to the figures.

[0069] ITEMS

[0070] A) Lift system, wherein the crawler type vehicles each exhibit a locking mechanism.

[0071] B) Lift system according to the preceding item, wherein at least one structure is placed at a wall.

[0072] C) Lift system according to any of the preceding items, wherein at least two crawler type vehicles are connected to one lift cabin, wherein the at least two crawler type vehicles are controlled to be moved synchronously.

[0073] D) Lift system according to any of the preceding items, wherein four crawler type vehicles are connected to a common lift cabin, wherein two crawler type vehicles are coupled to the structure on each side of the lift cabin. E) Lift system according to any of the preceding items, wherein eight crawler type vehicles are connected to a common lift cabin, wherein four crawler type vehicles are coupled to the structure on each side of the lift cabin.

[0074] F) Lift system according to any of the preceding items, wherein the suspension elements are connected via a spur gear to a drive unit and / or wherein the wheels of the suspension elements exhibit gear grooves.

[0075] BRIEF DESCRIPTIONS OF THE DRAWINGS

[0076] In the accompanying drawings, various aspects of lift systems according to the invention are discussed.

[0077] Of the figures show

[0078] Fig. 1a, 1b exemplary suspension elements for de- / coupling crawler type vehicles with to / from structure;

[0079] Fig. 1c, 1 d exemplary counter wheels for enhancing grip between crawler type vehicles and a structure;

[0080] Fig. 2a-2n kinematic aspects and details of a crawler type according to an embodiment of the invention suspended on a structure;

[0081] Fig. 3a, 3b a detail of a first drive unit of a crawler type vehicle according to one embodiment of the invention;

[0082] Fig. 3c, 3d the first drive unit of the crawler type vehicle suspended in a structure;

[0083] Fig. 4a, 4b counter wheels of a crawler type vehicle according to one embodiment of the invention enhancing coupling strength;

[0084] Fig. 4c, 4d a detail of the crawler type vehicle;

[0085] Fig. 4e, 4f a drive unit with counter wheels of the crawler type vehicle suspended in a structure;

[0086] Fig. 5a-5c details of a second kind of drive unit according to two embodiments of the invention;

[0087] Fig. 6a, 6b a crawler type vehicle suspended in a structure configured for active 2D- motion;

[0088] Fig. 7a, 7b a crawler type vehicle suspended in a structure configured for active motion in a first spatial direction via force fit coupling; Fig. 8a, 8b a crawler type vehicle suspended in a structure configured for active motion in a first spatial direction via form fit coupling;

[0089] Fig. 9a, 9b a crawler type vehicle suspended in a structure and connected to a lift cabin;

[0090] Fig. 10a, 10b a crawler type vehicle suspended in structures with different orientations of first spatial directions;

[0091] Fig. 11 a lift system according to one embodiment, wherein individual lift cabins are configured to move omnidirectionally in a structure, allowing for passing maneuvers; and

[0092] Fig. 12 an exemplary lift system in a complex building.

[0093] DETAILED DESCRIPTION OF THE DRAWINGS

[0094] The invention will now be described first in general for the inventive concept with reference to all drawings, before the drawings are described in detail.

[0095] The invention provides for a lift system 100 for moving people from one floor 5 to another, comprising

[0096] - at least one structure 1 extending in at least two spatial directions x, y, wherein the structure 1 comprises a plurality of profile units 1.1 extending in a first spatial direction (x), wherein the structure 1 defines at least one structural regularity 1a in a second spatial direction (y),

[0097] - at least one crawler type vehicle 10, exhibiting a plurality of suspension elements 13, 13a, 13b configured for suspending the crawler type vehicle 10 and configured for coupling the crawler type vehicle 10 to the at least one structure 1 by means of de- / coupling kinematics depending on a relative motion of the crawler type vehicle 10 with respect to the structure 1 in at least said second spatial direction (y), wherein the suspension elements 13, 13a, 13b exhibit at least one element of motion 13.3 configured for rolling on the profile units 1.1 irrespective of momentary motion in said second spatial direction (y), enabling 2D-motion of the crawler type vehicles 10,

[0098] - at least one lift cabin 60, connected to at least one crawler type vehicle 10.

[0099] The crawler type vehicles can exhibit at least one first drive unit 11 which may provide for accommodation of a crawling or driving mechanism 11.1 with motor 11 .5, which allows for circumferential motion of suspension elements 13 along circumferential tracks 12, namely simultaneously along a first and a second circumferential track 12a, 12b, which tracks exhibit individual shapes / contours XZa, XZb. Preferably, the tracks only extend two-dimensionally (2D), i.e., in a plane, and the shape is different at least in curved sections 12r of the tracks. Each track 12a, 12b exhibits a parallel / linear section 12p (resp. two parallel sections) and at least one redirection / curved section 12r (resp. two curved sections). A lateral area resp. surface shell of the at one chassis or housing is preferably flat, plane, even, respectively on each lateral side. Such a configuration is favorable in view of interconnection of several housings 17 (side by side).

[0100] The crawler type vehicle 10 exhibits at least one further housing 17 (preferably in the same drive unit 11) exhibiting first and second circumferential tracks 12a, 12b and accommodating a plurality of further suspension elements 13b which are arranged mirror-inverted, with respect to the suspension elements 13 of the first housing 17. Both types of suspension elements 13, 13b can be arranged within the same drive unit 11 , and optionally, both types of suspension elements 13, 13b can be guided by the same pair of circumferential tracks 12a, 12b. Preferably, the vehicle 10 exhibits at least two first drive units 11 comprising two sets of suspension elements 13, 13b. The drive unit 11 may actively provide for a traveling motion (e.g., by a synchronous guiding / driving motion of / to the suspension elements 13, 13b). Several first drive units 11a, 11b, 11c can be interconnected, e.g., via cross-beams or the like. The desired / required traveling motion can be controlled via a control unit which can be coupled to at least one motor 11.5. A drive section may also comprise at least one gear unit 18 configured for interacting with the track(s) and at least one energy storage unit. A sensor arrangement exhibiting at least one sensing device, e.g., comprising position sensors and velocity sensors and / or weight sensors and / or gyroscopes, may provide sensor data to the control unit.

[0101] Preferably, each suspension element 13, 13a, 13b exhibits a first pulley 13.1 and a second pulley 13.2, and optionally, at least one wheel 13.3 is provided at the free end of the suspension element 13 (bearing point / coupling point P13). The first and second pulleys are arranged on a lever arm 13.5 in distance from / to each other (y-offset, longitudinal extension y13 of lever arm); the bearing point P13 resp. the wheel 13.3 is arranged at a protruding section resp. suspension arm 13.6 (z-offset). At the free end of the suspension arm, optionally, a current collector resp. power-slider 13.4 (conductive slider for energy transfer) is provided in an arrangement geometrically corresponding to a / the power rail 1.3 of the respective profile unit 1.1. The plurality of suspension elements 13 of a / the respective first drive unit 11 can be interconnected via longitudinal connecting elements 15 which can ensure a closed loop 15a of interrelated suspension elements. The suspension elements 13 are coupled to the respective circumferential tracks.

[0102] In other words: The suspension elements preferably exhibit at least one wheel 13.3 performing a rolling motion on the profile units 1.1, preferably on the wheel tread 1.2 and preferably additionally on the side of the profile units 1.1, of the structure 1 , allowing for a motion which is orthogonal to the motion predefined and evoked by the tracks 12, wherein the wheel 13.3 is positioned and aligned orthogonally with respect to the first and second pulleys 13.1, 13.2. Optionally, the wheel can be motorized e.g., by means of further actuators or motors. The first pulley 13.1 is engaged with the first or second circumferential track, thereby following the contour defined by said track; also, the second pulley 13.2 is engaged with the first or second circumferential track, thereby following said track (which is different from the track engaged by the first pulley, i.e. , vice versa). The lever arm 13.5 is preferably L- shaped, especially provided as integral element in one piece (massive, solid).

[0103] The structure 1 and its raster 1a is defined by profile units 1.1 being arranged in parallel and with similar distance (pitch) to adjacent profile units. Each profile unit is preferably configured to support geometries / surface(s) which are adequate for interaction with the wheel(s) of the suspension elements (e.g. T-profile, C-profile, L-profile, l-profile), and a series of such profile units preferably provides for a planar surface at least in sections.

[0104] By means of the circumferential tracks 12a, 12b and the suspension elements 13, the (respective) first drive units 11, and the kinematics defined by the shape of the tracks provide for de- / coupling kinematics 20 which ensure both horizontal / vertical motion kinematics and non-circular pivot motion kinematics. Thereby, de- / coupling of each suspension element can be affected via circumferential motion along the tracks without the need of any axial telescopic motion within each suspension element, i.e., the respective suspension element can be designed as purely mechanic unit.

[0105] In the following, the kinematics provided by the guiding / driving motion along circumferential tracks is described in general, first:

[0106] The first pulley 13.1 of each suspension element 13 rotates about a first pulley axis and defines a first guiding point G13.1 (coupling the first track and the respective suspension element), and vice versa, the corresponding point of the corresponding circumferential track defines that first guiding point G13.1 for each suspension element. Likewise, the second pulley 13.2 of each suspension element 13 rotates about a second pulley axis (which is preferably aligned in parallel) and defines a second guiding point G13.2 (coupling the second track and the respective suspension element). When referring to the kinematics of each suspension element, an instantaneous center of rotation of each suspension element is defined by the axis of the first pulley 13.1 being coupled to the first track 12a, wherein coupling / attachment / fixation can be ensured e.g. at the axial section between a / the suspension arm 13.6 and the first pulley 13.1. The two tracks 12a, 12b are arranged with respect to another in such a manner that the contacting / bearing point / area P13 (coupling point) of the respective suspension element 13 can be hooked or hitched in the structure. The wheel 13.3 of each suspension element rotates about a wheel axis which is preferably aligned orthogonally to the first and second pulley axis. Since each suspension element 13 is coupled to the tracks 12a, 12b in predefined positions, namely in a predefined first longitudinal position y12a via the first pulley 13.1 and in a predefined second longitudinal position y12b via the second pulley 13.2, when driving the tracks resp. when guiding the suspension elements along the tracks, the bearing point P13 at the free end of the suspension element 13 is guided according to the relative position / contour and distance of the corresponding tracks (of a pair of tracks guiding the respective suspension element).

[0107] The crawler type vehicle 10 may exhibit a control unit which can be a decentral (individual) control unit. Further, a respective crawler type vehicle 10 may exhibit a communicating unit (e.g., near field, mobile network, LAN, LP-WAN, SigFox, NBIoT) and / or a transmitter (active or passive), especially for transmitting locating signals. These components are configured to interact in / with a positioning system or route-planning tool (31).

[0108] The crawler type vehicle 10 is configured to carry a lift cabin 60, which is attached to the crawler type vehicle 10 at a connecting point P60. The lift cabin 60 may comprise an identification feature, especially a code (e.g., including a number). Likewise, each crawler type vehicle 10 may comprise an identification feature, especially a code (e.g., including a number).

[0109] A digital twin referring to a respective crawler type vehicle 10 and / or a digital twin referring to a respective lift cabin can be stored in a database of a route-planning tool (31). The database is configured for storing and accessing the at least one digital twin at least comprising information of momentary status, wherein the lift system is configured to define at least one control parameter for individual crawler type vehicles based on information of the at least one digital twin.

[0110] In the figures, (x) designates a / the first spatial direction (especially cross direction, especially direction of longitudinal extension of profile units), and (y) designates a / the second spatial direction (especially longitudinal direction or momentary driving direction of the crawler type vehicle), and (z) designates a / the third spatial direction.

[0111] In general, with a structure 1 and a crawler type vehicle 10 of the proposed kind connected to lift cabins 60, a new way of transportation between floors 5 in a building 5.1 is achieved. Omnidirectionally moving lift cabins 60 in a (wall) structure 1 allow for faster transportations as well as a higher number of transportations because of the higher number of lift cabins 60 that can be used.

[0112] In Fig. 1a and 1b, a suspension element 13 is shown in an isolated view from a “front” and “back” side. A first pulley 13.1 intended to be pulled along a circumferential track 12a, 12b is shown. The suspension element 13 exhibits two elements of motion 13.3, a first wheel 13.3 to roll on a wheel tread 1.2 of a profile unit 1.1 , and a second wheel 13.3 (side friction wheel) to roll on a side of the wheel tread 1.2. Additionally, the suspension element 13 exhibits a first electrical contact 13.4 to connect to a power line 1.3 integrated into the structure 1 and a second electrical contact 13.7 electrically connected to the first electrical contact 13.4 via a wire 13.8 to provide power to an internal bus of a crawler type vehicle 10.

[0113] Fig. 1c and 1d show counter wheels 16.1 that push on a “bottom” side of a profile unit 1.1 further enhancing force fit coupling between the crawler type vehicle 10 and the structure 1. Similar to the suspension elements 13, the counter wheels 16.1 exhibit pulleys 16.2 intended to be pulled via a chain / belt and guided along a circumferential track 12 to follow a predefined path of motion. Preferably, a crawler type vehicle 10 exhibits a first set of suspension elements 13 with a first orientation, a second set of suspension elements 13b facing in opposite direction and at least one set of counter wheels 16.1, such that a “T”- shaped profile unit can be clamped between the wheels 13.3, 16.1 from all sides, i.e. , both sides (top and bottom) of the wheel tread 1.2 as well as a side of the wheel tread 1.2.

[0114] In conjunction with appropriate sensor-actor-arrangements, not shown here, the crawler type vehicle 10 can follow an intended direction resp. an intended path of motion in the structure shown in Fig. 2. The profile units 1.1 respectively exhibit treads 1.2, wherein suspension elements 13, 13b exhibit wheels 13.3 for gliding or rolling, arranged and configured for moving the crawler type vehicle 10 in the first spatial direction (x). The crawler type vehicle 10 enables two closed loop trajectories of at least two subsets of respective suspension elements, as can be seen in Fig. 2d-j. The circumferential tracks 12a, 12b are shaped in such a manner that the respective suspension elements 13 are de- / coupled from / into the structure 1 when passing a curved section 12r of the tracks 12. One subset of the suspension elements 13 is attached to one of the circumferential tracks 12 (resp. a subset of the first subset, momentary) and one further subset of the suspension elements 13b are attached to a further one of the circumferential tracks 12 (resp. a subset of the second subset, momentary) respectively at predefined first and second (further) longitudinal positions respectively corresponding to the structural regularity, with each suspension element being guided by a pair of circumferential tracks. The suspension elements 13, 13b are fixedly attached / coupled by means of a first pulley 13.1 to / with a / the first circumferential track 12a and are guided within a / the second circumferential track 12b by means of a second pulley 13.2 respectively, wherein the first pulley 13.1 and the second pulley 13.2 are arranged at a lever arm 13.5 of the respective suspension element 13, 13b. A respective subset of said suspension elements 13, 13b is connected to each other by means of longitudinal connecting elements 15 (chain elements) forming a closed loop of interrelated suspension elements 15a distanced to each other in the predefined structural regularity, as can be seen in Fig. 2k-m. The crawler type vehicle 10 in Fig. 2b exhibits two kinds / types of suspension elements 13, 13b, wherein the different types of suspension elements 13, 13b are de- / coupled according to individual kinematics (here, in opposite directions / sides at the profile units 1.1, both in and opposite to the second spatial direction resp. travel direction of the crawler type vehicle 10), wherein a first subset of the suspension elements 13 are attached to a first pair of circumferential tracks 12a, 12b (resp. a subset of the first subset, momentary) and at least one further subset of the suspension elements 13b are attached to a second pair of circumferential tracks 12a, 12b (resp. a subset of the second subset, momentary) respectively at predefined first and second (further) longitudinal positions respectively corresponding to the structural regularity (resp. to the distance of the profile units defined by said structural regularity), wherein the first and second pairs of circumferential tracks 12a, 12b provide for individual kinematics for the first and second subsets of suspension elements 13, 13b, especially such that the crawler type vehicle 10 can be secured with respect to opposite sides / directions (of the second spatial direction) at the structure 1 resp. at the profile units 1.1. In Fig. 2n, each suspension element 13, 13b is guided by a pair of circumferential tracks 12a, 12b, wherein the crawler type vehicle 10 exhibits at least three pairs of circumferential tracks 12a, 12b, wherein each pair of circumferential tracks 12a, 12b is engraved in a housing 17 of the respective drive unit 11a, 11b, 11c, each guiding a subset of the suspension elements 13, 13b, wherein said de- / coupling kinematics are predefined by said three pairs of circumferential tracks 12a, 12b in said drive units 11a, 11b, 11c in such a manner that respective suspension elements 13, 13b (resp. a subset of the respective subset, momentary) simultaneously de- / couple both at a first side (resp. first longitudinal position) of a respective profile unit 1.1 and at a second side (resp. second longitudinal position) of a respective profile unit 1.1 , especially such that the crawler type vehicle 10 is secured with respect to opposite sides / directions (of the second spatial direction) at the structure 1 with all suspension elements 13 being guided in same circumferential direction with all circumferential tracks 12a, 12b being arranged in parallel to each other. The crawler type vehicle 10 exhibits at least one motor 11.5 (not shown here) interacting with at least one of the circumferential tracks 12a, 12b of the drive units 11. The crawler type vehicle 10 can also exhibit an energy storage unit providing energy to a / the at least one motor 11.5 of the crawler type vehicle 10. As can be seen in Fig. 2b, the exemplary crawler type vehicle 10 also exhibits electrical contacts 13.4, 13.7 to connect to a power line 1.3 in the structure 1. The power line can be AC or DC, and additionally provide for a communication bus, i.e., powerline communication. To improve safety and electromagnetic shielding of the crawler type vehicle 10, the crawler type vehicle 10 in Fig. 2c exhibits a protective housing 14. A lift cabin 60 can be connected to the crawler type vehicle 10 via lift cabin attachment point P60.

[0115] The (first) drive unit 11 shown in Fig. 3a exhibits suspension elements 13, 13b of the kind described in Fig. 1a, 1 b. A first set of suspension elements 13 is facing in a first direction, while a second set of suspension elements 13b is facing in a second direction, opposite to the first direction. The (first) drive unit 11 comprises two circumferential tracks 12a, 12b for each set of suspension elements 13, 13b, as described with respect to Fig. 2d-2m. The housing 17 exhibiting the two circumferential tracks 12a, 12b for the second set of suspension elements 13b is hidden in Fig. 3b to show how the suspension elements 13, 13b can be connected to a common chain 15a which can be driven by a gear wheel 18 forming part of the drive mechanism 11.1 connected to a motor 11 .5. Fig. 3c shows the (first) drive unit 11 with mirror-inverted arrangement of the sets of suspension elements 13, 13b suspended in a structure 1. The structure 1 comprises profile units 1.1 , wherein the first spatial direction (x) is parallel to the ground. However, the first spatial direction (x) can also be vertical, or any angle in between or even tilted out of the plane shown in Fig. 3c. In Fig. 3d, a side view of the (first) drive unit 11 suspended in the structure 1 can be seen. The close-up view shows how the elements of motion 13.3, i.e. , the wheels 13.3, engage with the profile unit 1.1, from atop the wheel tread 1.2 and from the sides of the wheel tread 1.2.

[0116] Fig. 4a and 4b show a counter unit 16 guiding counter wheels 16.1 for also contacting profile units 1.1 from a “bottom” side. As Fig. 4c and 4d show, the counter wheels 16.1 alone cannot suspend the crawler type vehicle 10 in the structure 1. The counter wheels 16.1 only serve for the counter mechanism 16 to push against the structure 1 to increase the force fit coupling between the suspension elements 13, 13b and the structure 1. The counter wheels

[0117] 16.1 also exhibit pulleys 16.2 via which they are pulled along two circumferential tracks 12 to follow a predefined motion. A (first) drive unit 11 exhibiting two sets of suspension elements 13, 13b, being arranged mirror- inverted to grasp a profile unit 1.1 from two sides, as well as two sets of counter wheels 16.1, is shown in Fig. 4e. In addition to the two elements of motion 13.3 at the free ends of the suspension elements 13, 13b which couple the crawler type vehicle 10 to the structure 1 from the “top” side of the wheel tread 1.2 of the profile units

[0118] 1.1 as well as from the side of the wheel tread 1.2, which is not necessarily as thin as shown in the figures, but can also be wider in order to build the elements of motion 13.3 connecting to the side of the wheel tread 1.2 bigger to allow for heavier loads (lift cabins 60) to be lifted by the crawler type vehicle 10. In Fig. 4f, a side view of the crawler type vehicle 10 coupled via a subset of suspension elements 13, 13b to the structure 1 is shown. In total, six wheels 13.3, 16.1 clamp the “T”-shaped profile unit 1 such that slip is minimized.

[0119] In order to move in first spatial direction (x), along the profile units 1.1, different concepts to actuate the elements of motion 13.3 are feasible. However, an additional (second) drive unit 90 can be particularly useful, not only with respect to the operating speeds, but also increasing security of the crawler type vehicle 10 suspended in the structure 1. In Fig. 5a, one particularly useful element of a (second) drive unit 90 is shown. It is proposed to realize propulsion in first spatial direction (x) using a holonomic wheelset 90.1 comprising a number of disc-shaped holonomic wheels 90.2, each offset in azimuthal direction with respect to its neighboring wheels 90.2 such that it is ensured that at least every second holonomic wheel 90.2 is interacting with the structure 1 (from the bottom side of the profile units) at all times. As suggested by the two mutually excluding close-ups of the holonomic wheelset 90.1, the holonomic wheels 90.2 are either smooth along its circumference, or the holonomic wheels 90.2 exhibit gear grooves 90.5 to interact with a corresponding “sub structure” on the bottom side of the profile units 1.1. In Fig. 5b, a holonomic wheel 90.2 with five rollers exhibiting gear grooves 90.5 distributed equidistantly around the circumference is shown. It is important that the gaps between the rollers are covered by rollers of the following (in the plane) holonomic wheel 90.2. In Fig. 5c, the alternative holonomic wheel 90.2 with smooth rollers is shown.

[0120] In Fig. 6a and 6b, a crawler type vehicle 10 is shown. The crawler type vehicle 10 exhibits two (first) drive units 11 and two counter units 16 of the type in Fig. 4e and 4f, i.e. , each (first) drive unit 11 comprising two sets of mirror-invertedly arranged suspension elements 13, 13b being guided by two circumferential tracks 12a, 12b respectively and being driven by a common chain 15a, as well as two mirror-inverted sets of counter wheels 16.1 being connected to a further (common) chain are shown, wherein the two (first) drive units 11 are also arranged mirror-invertedly with respect to each other and are connected to one common motor 11.5. In order to enhance stability, the two (first) drive units 11 can be connected via crossbeams to one another. Here, the motor 11 .5 is connected via a belt to the drive shaft and to the gear unit 18, forming the drive mechanism 11 .1. A further motor 91 is connected to a further / second kind of drive unit 90 to enable motion in the first spatial direction (x). The second (kind of) drive unit 90 comprises a holonomic wheelset 90.1 of the type described in Fig. 5b or 5c as well as a belt.

[0121] In Fig. 7a and 7b, a crawler type vehicle 10 such as the one described in Fig. 6a is suspended in a structure 1. In Fig. 7b, a view from above (or below) is shown, wherein a close-up of the portion of the holonomic wheelset 90.1 interacting with the profile units 1.1 is shown. Preferably, this configuration with smooth rollers on the holonomic wheels 90.1 is additionally supported with (first) drive units 11 of the type disclosed in Fig. 4e and 4f. However, this is not to be interpreted as limiting since the person skilled in the art may also find applications where four elements of motion 13.3 on the suspension elements 13, 13b clamping the profile unit 1.1 from the “top” and “side” (or only one of the sides, even in combination with counter wheels 16.1) of the wheel tread 1.2 may be enough to ensure a tight force fit coupling. Another external pressure may be exerted on the holonomic wheelset 90.1 e.g., via a spring return mechanism to enhance force fit coupling.

[0122] Fig. 8a and 8b show a crawler type vehicle 10 such as the one described in Fig. 6a but, different from Fig. 7a, 7b, with a holonomic wheelset 90.1 with holonomic wheels 90.2 with gear grooves 90.5 as the close-up view shows. This configuration allows for form fit coupling between the crawler type vehicle 10 and the structure 1. The structure 1 in addition needs a “sub structure”, i.e., teeth on the bottom side of the profile units 1.1 matching the gear grooves 90.5. This configuration is especially preferred (but not limited to) in structures 1 where the first spatial direction (x) is not parallel to the ground, especially where the first spatial direction (x) points vertically (upwards). The holonomic wheelset 90.1 can also be supported via a return mechanism (not shown here).

[0123] The crawler type vehicle 10 in Fig. 9a is either of the type of crawler type vehicle 10 disclosed in Fig. 7a, 7b or Fig. 8a, 8b, i.e., the holonomic wheelset 90.1 can exhibit holonomic wheels 90.2 with or without gear grooves 90.5. In Fig. 9b, a lift cabin 60 is connected to the crawler type vehicle 10. The lift cabin 60 has doors 60.1 allowing passengers 60.2 to enter or leave the lift cabin from all sides, except from the side facing the structure 1. However, in the future there may be structures 1 that exhibit doors, wherein the lift cabin 60 is connected to a group of synchronously moving crawler type vehicles 10 arranged e.g., at sides of the lift cabin 60, such that a passenger 60.2 may enter or leave through the structure 1.

[0124] Fig. 10a shows a lift system 100 with a structure 1 and a crawler type vehicle 10 connected to a lift cabin 60 with a passenger 60.2 inside, wherein the crawler type vehicle 10 is suspended in the structure 1 , wherein the first spatial direction (x) of the structure 1 is parallel to the ground and the second spatial direction (y) points vertically (upwards). This lift system 100 can be used for lifting particularly heavy lift cabins 60 at reasonable speeds. However, a second lift system 100 comprising a structure 1 with a crawler type vehicle 10 suspended in the structure 1, and a lift cabin 60 connected to the structure 1 , wherein the first and second spatial directions (x, y) have been swapped, i.e., the first spatial direction (x) points upwards and the second spatial direction (y) is parallel to the ground, is shown in Fig. 10b. With the crawling motion being used to position the lift cabin 60 only horizontally, the second motor 91 is able to operate at very high speeds due to less friction in the vehicle 10 itself as well as less moment of inertia in the drive unit. The crawler type vehicle 10 in Fig. 10b can e.g., be of the kind described in Fig. 9b, i.e., it is form fit coupled with the structure 1. This is however not to be interpreted as limiting, and the skilled person may use other kinds of drive units for realizing the (fast) motion in the first spatial direction (x), while keeping security of the lift system as the most important factor when realizing the second (kind of) drive unit 90. In Fig. 11 , a lift system 100 with multiple lift cabins 60 is shown. A structure 1 spans between multiple floors 5 of a building 5.1. Crawler type vehicles 10 (not shown here) connected to the lift cabins 60 allow for omnidirectional movement of the lift cabins inside the structure 1 which in turn allows the lift cabins to use the shortest way to a destination floor when requested. The lift system 100 preferably comprises a route-planning tool (31) with a database and digital twins of the lift cabins 60 and / or the crawler type vehicles 10. In order to compute and transmit a route 80 for a lift cabin 60 to follow, the route-planning tool (31) first receives a request to plan a path from a starting floor 5 to a destination floor 5 from a crawler type vehicle 10 (or lift cabin 60, or group of synchronized crawler type vehicles 10). The route-planning tool (31) then obtains and verifies position information of at least one other crawler type vehicle 10 (in Fig. 11, the lift cabin 60 directly above the lift cabin 60 sending the request, since it lies in the direct path to its destination floor), receiving the current position of the crawler type vehicle 10 and comparing the current position with a predicted position of the crawler type vehicle 10. The prediction is done e.g., periodically at predefined times, and takes into account momentary positions and / or measured data, such as data from acceleration and speed sensors, and a planned route for the crawler type vehicle 10. Then, a path 80 is planned for the crawler type vehicle 10 (connected to lift cabin 60) from the starting floor 5 (or the current position) to the destination floor 5 by solving an optimization problem, minimizing the traveling time of the lift cabin 60, taking into account path length, potential wait time of each path, predicted positions (depending on their route / path) of other (preferably all other) crawler type vehicles 10 (in the same structure 1) to avoid collisions. The route-planning tool (31) can potentially also take into account possible accelerations in certain areas of the structure 1 , especially if the structure 1 is rather crowded with a higher number of crawler type vehicles 10. In Fig. 11, a lift system 100 is shown exhibiting only doors / exits to the side of the structure 1.

[0125] Fig. 12 shows an advanced lift system 100 for an unconventionally shaped building 5.1 , wherein the doors to the lift cabins 60 are on the sides facing away from the structure 1. A plurality of lift cabins 60 are located in different branches of the lift system 100. It is important that every part / branch of the structure 1 is wide enough (or in some areas high enough) to accommodate at least two lift cabins 60 side by side (or above one another) such that passing maneuvers are possible in the whole structure 1. The embodiments shown here are merely examples of the present invention and should not be construed as limiting. Alternative embodiments considered by those skilled in the art are equally encompassed within the scope of the present invention.

[0126] List of reference signs:

[0127] I structure

[0128] 1a structural regularity or raster defined by the structure

[0129] 1.1 profile unit, especially T-profile resp. T-rail

[0130] 1.2 wheel tread

[0131] 1.3 power rail

[0132] 5 floor

[0133] 5.1 building

[0134] 10 crawler type vehicle

[0135] I I drive unit, especially chain drive

[0136] 11.1 drive mechanism

[0137] 11.5 motor

[0138] 11a first drive

[0139] 11b further (second) drive

[0140] 11c further (third) drive

[0141] 12 circumferential track

[0142] 12a first circumferential track, especially comprising a chain

[0143] 12b second circumferential track

[0144] 12p parallel section I linear section of the track

[0145] 12r redirection section I curved section of the track

[0146] 13 suspension element resp. chain element

[0147] 13a first suspension element resp. chain element (first type)

[0148] 13b further suspension element (second type, especially mirror-inverted)

[0149] 13.1 first pulley

[0150] 13.2 second pulley

[0151] 13.3 wheel

[0152] 13.4 first electrical contact, especially current collector resp. power-slider (conductive slider for energy transfer)

[0153] 13.5 lever arm

[0154] 13.6 protruding section I suspension arm

[0155] 13.7 second electrical contact

[0156] 13.8 wire

[0157] 14 casing

[0158] 15 longitudinal connecting element, especially chain element 15a closed loop of interrelated suspension elements, especially chain

[0159] 16 counter unit

[0160] 16.1 counter wheel

[0161] 16.2 pulley

[0162] 17 housing

[0163] 18 gear unit

[0164] 20 de- / coupling kinematics

[0165] 60 lift cabin

[0166] 60.1 door

[0167] 60.2 passenger

[0168] 80 route

[0169] 90 further kind of drive unit

[0170] 90.1 holonomic wheelset

[0171] 90.2 holonomic wheelset

[0172] 90.5 gear grooves

[0173] 91 motor

[0174] 100 lift system

[0175] G13.1 first guiding point or axis (coupling the first track and the suspension element)

[0176] G13.2 second guiding point or axis (coupling the second track and the suspension element)

[0177] P60 attachment point

[0178] P10 energy charging point / position

[0179] P13 contacting / bearing point / area of the suspension element with the structure, especially wall structure

[0180] XZa shape / contour of the first circumferential track

[0181] XZb shape / contour of the second circumferential track y12a predefined first longitudinal positions y12b predefined second longitudinal positions y13 longitudinal extension of lever arm x first spatial direction: direction of longitudinal extension of profile units y second spatial direction: longitudinal direction resp. alignment of the circumferential tracks z third spatial direction, especially vertical direction

Claims

Claims:

1. Lift system (100) for moving people (60.2) from one floor (5) to another, comprising- at least one structure (1) extending in at least two spatial directions (x, y), wherein the structure (1) comprises a plurality of profile units (1.1) extending in a first spatial direction (x), wherein the structure (1) defines at least one structural regularity (1a) in a second spatial direction (y),- at least one crawler type vehicle (10), exhibiting a plurality of suspension elements (13, 13a, 13b) configured for suspending the crawler type vehicle (10) and configured for coupling the crawler type vehicle (10) to the at least one structure (1) by means of de- / coupling kinematics depending on a relative motion of the crawler type vehicle (10) with respect to the structure (1) in at least said second spatial direction (y), wherein the suspension elements (13, 13a, 13b) exhibit at least one element of motion (13.3) configured for rolling on the profile units (1.1) irrespective of momentary motion in said second spatial direction (y), enabling 2D-motion of the crawler type vehicle / s (10),- at least one lift cabin (60), connected to at least one crawler type vehicle (10).

2. Lift system (100) according to claim 1, comprising- at least two crawler type vehicles (10),- at least two lift cabins (60), respectively connected to at least one crawler type vehicle (10).

3. Lift system (100) according to claim 1 or 2, wherein the crawler type vehicle / s (10) exhibit / s at least two circumferential tracks (12, 12a, 12b), wherein the suspension elements (13, 13a, 13b) are attached to the circumferential tracks (12, 12a, 12b) at predefined longitudinal positions corresponding to the structural regularity (1a), wherein the circumferential tracks (12, 12a, 12b) respectively define a specific path of circumferential motion of the respective suspension elements (13, 13a, 13b), thereby providing for decoupling kinematics during a motion of the crawler type vehicle (10) in said second spatial direction (y).

4. Lift system (100) according to any of the preceding claims, wherein the structure (1) exhibits power rails (1.3) integrated into the profile units (1.1) and the crawler type vehicle / s (10) exhibit / s means (13.4, 13.7) for electrically connecting to the power rails (1.3).

5. Lift system (100) according to any of the preceding claims, wherein the crawler type vehicle / s (10) exhibit / s at least two independently controllable motors (11.5, 91), wherein at least one motor (91) is configured for driving a motion in the first spatial direction (x) and at least one further motor (11.5) is configured for driving a motion in the second spatial direction (y).

6. Lift system (100) according to any of the preceding claims, wherein the crawler type vehicle / s (10) comprise / s a holonomic wheelset (90.1) exhibiting holonomic wheels (90.2).

7. Lift system (100) according to the preceding claim, wherein the holonomic wheels (90.2) exhibit gear grooves (90.5) for form fit coupling with a bottom side of the profile units (1.1).

8. Lift system (100) according to any of the preceding claims, wherein the crawler type vehicle / s (10) exhibit / s counter wheels (16.1) and / or a return mechanism.

9. Lift system (100) according to any of the preceding claims, wherein the first spatial direction (x) is parallel to the ground.

10. Lift system (100) according to any of claims 1 to 8, wherein the second spatial direction (y) is parallel to the ground.

11. Lift system (100) according to any of the preceding claims, further comprising- at least one route-planning tool (31) for planning a route (80) along the at least one structure (1).

12. Method of using a lift system (100), especially a lift system (100) according to claim 11 , wherein a route-planning tool (31) plans a route (80) for at least one crawler type vehicle (10) connected to at least one lift cabin (60) along at least one structure (1) from one floor (5) to another, especially taking into account at least momentary positions and paths (80) of at least one other crawler type vehicle (10) also coupled to the at least one structure (1), wherein the crawler type vehicle (10) moves omnidirectionally along the at least one structure (1), especially allowing for (fast) passing maneuvers.

13. Computer implemented method for route-planning for a lift system (100), especially for a lift system (100) according to claim 10, the method comprising the following steps:- receiving in a route-planning tool (31) a request to plan a route (80) from a starting floor (5) to a destination floor (5) from a crawler type vehicle (10) or a group of synchronized crawler type vehicles (10),- obtaining and verifying position information of at least one other crawler type vehicle (10) by sending a request to the at least one other crawler type vehicle (10), receiving a current position, and comparing the current position with the predicted positions of the crawler type vehicles (10), wherein the prediction takes into account momentary positions and / or measured data of the crawler type vehicles (10), and a planned route (80) for the crawler type vehicles (10),- planning the path for the crawler type vehicle (10) or the group of synchronized crawler type vehicles (10) from the starting floor (5) to the destination floor (5) by solving an optimization problem, minimizing the traveling time taking into account route length, potential wait time of a possible route, and predicted positions of other crawler type vehicles (10) to avoid collisions.

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