EP2216284A1 - Apparatus for transporting a load from a first to a second level, in particular a stairlift - Google Patents
Apparatus for transporting a load from a first to a second level, in particular a stairlift Download PDFInfo
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- EP2216284A1 EP2216284A1 EP10152426A EP10152426A EP2216284A1 EP 2216284 A1 EP2216284 A1 EP 2216284A1 EP 10152426 A EP10152426 A EP 10152426A EP 10152426 A EP10152426 A EP 10152426A EP 2216284 A1 EP2216284 A1 EP 2216284A1
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- Prior art keywords
- control system
- signal
- load carrier
- range
- frame
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- 230000005484 gravity Effects 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 239000000969 carrier Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009257 reactivity Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
- B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
- B66B9/0838—Levelling gears
Definitions
- the invention relates to an apparatus for transporting a load from a first to a second level, in particular a stairlift, comprising a frame which is displaceable along a rail and which is provided with support, guide and drive means arranged to engage the rail, a load carrier mounted on said frame, and means for maintaining the load carrier in a predetermined position relative to the direction of gravity, which position-maintaining means comprise at least one adjusting motor arranged to move the load carrier relative to the frame, a control system for controlling the adjusting motor so that a correctional rotation occurs, and sensors connected therewith arranged to generate signals to the control system, wherein said sensors comprise an accelerometer mounted on the load carrier.
- a gyroscope mounted on the frame measures the rate of tilt of the frame and generates an equal and opposite tilt on the seat, so keeping the seat level.
- a pendulum accelerelerometer
- the pendulum fixed to the seat is not only sensitive to rotation of the carrier, but also to linear movement of the carriage. In order to decrease the reactivity of the system to the linear movement of the carriage, the sensitivity of the control unit to the pendulum signal is set low.
- the invention has for its object to provide a transporting apparatus of the above described type that is more accurate and/or responsive and/or efficient and/or stable.
- said sensors further comprise a gyroscope mounted on the load carrier.
- a gyroscope is to be interpreted as any device that is arranged to sense angular velocity, and an accelerometer as any device that is arranged to measure an angle.
- the control system is arranged to derive the amount of deviation of the load carrier from the gravity acceleration from the signal of the accelerometer and to use said amount to maintain the load carrier in the predetermined position, wherein the control system is arranged to combine the signal of the accelerometer with the signal of the gyroscope, in such a manner that a second amount of deviation of the load carrier from the gravity acceleration is calculated.
- the control system is further arranged to use said second amount of deviation of the load carrier from the gravity acceleration for controlling the adjusting motor.
- control system further comprises an amplifier that is arranged to amplify the signal of the gyroscope before it is combined with the signal of the accelerometer, wherein preferably, the amplifier has a gain in a range of 5 - 15, more preferably in a range of 8 - 12, and even more preferably in a range of 9.5 - 10.5.
- control system further comprises a Low Pass filter that is arranged to filter the combined signal of the gyroscope and the accelerometer, wherein preferably, the Low Pass filter has a cutoff frequency in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0.015 - 0.017 Hz.
- control system further comprises a High Pass filter that is arranged to filter the filtered combined signal of the gyroscope and the accelerometer, wherein preferably, the High Pass filter has a cutoff frequency a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0.015 - 0.017 Hz.
- the control system further comprises a second Low Pass filter that is arranged to filter the signal of the accelerometer, wherein preferably, the second Low Pass filter filters frequencies in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0 . 015 - 0.017 Hz.
- a second Low Pass filter filters frequencies in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0 . 015 - 0.017 Hz.
- control system is arranged to combine the doubly filtered combined signal of the gyroscope and the accelerometer and the filtered signal of the accelerometer, wherein preferably, the control system is further arranged to subtract this combined signal from a predetermined amount of deviation of the load carrier from the gravity acceleration, and wherein preferably, the control system further comprises a PI controller that is arranged to determine the correctional rotation needed in order to reach the predetermined amount of deviation of the load carrier from the gravity acceleration.
- said sensors further comprise a second gyroscope mounted on the frame, wherein preferably, the control system is arranged to use the signal of the second gyroscope for controlling the adjusting motor so that a correctional rotation occurs.
- the control system is arranged such that as soon as said second gyroscope senses an angular velocity of rotation the adjusting motor will start a correctional counter-rotation at the same angular velocity.
- An installation 1 for transporting a load from a first to a second level in the shown embodiment a stairlift installation, comprises a rail 3 which is placed along a staircase 2 and which encloses an angle ⁇ with the horizontal H, and an apparatus 4 movable along rail 3 for transporting the load between the different levels, here therefore a stairlift.
- Rail 3, which in the shown embodiment has a round cross-section, is supported by a number of posts 5 which are arranged distributed along staircase 2 and which are fixed to a protruding part 6 extending along rail 3 ( fig. 2 ). The function of this protruding part 6 is elucidated hereinbelow.
- Rail 3 is further provided with a propelling part, here in the form of a gear rack 8, which has a round cross-section.
- Stairlift 4 comprises a frame 9 which is displaceable along rail 3 and on which a load carrier 10 is mounted, here in the form of a chair with a seat 11, back rest 12, armrests 13 and a footrest 14.
- Chair 10 is connected to frame 9 for pivoting on a horizontal shaft 45 ( fig. 3 ), and arranged in frame 9 and carrier 10 is a maintaining mechanism 70 to be elucidated further hereinbelow and consisting of, among other parts, of an adjusting motor 71 connected to shaft 45 so that the position of chair 10 can be kept constant at all times irrespective of the inclination of rail 3.
- Frame 9 of stairlift 4 is further provided with support and guide means 15 which engage round a part of the periphery of rail 3.
- the frame 9 is given a substantially L-shaped form with an upright back 38 and two feet 26 engaging under rail 3.
- the support and guide means 15 are adapted to absorb moments directed transversely of the direction of displacement of stairlift 4.
- the support and guide means 15 comprise a number of guide rollers 17 which are arranged with interspacing in the direction of displacement and which engage on rail 3.
- Guide rollers 17 are each rotatable on a shaft 18 and received per pair in a recess in a roller carrier 20.
- the outer recesses are covered with a closing plate 19.
- roller carrier 20 takes the form of a ring segment open to one side and having a spherical outer surface 21. The open side serves to allow the ring segment to engage round the protruding part 6 of rail 3.
- roller carrier 20 there are two roller carriers 20 present, in each of which three pairs of roller 17 are arranged with a mutual spacing of 120° in peripheral direction.
- Each roller carrier 20 is mounted at two diametrically opposite points in bowl-shaped dishes 24 connected to frame 9 such that it is in principle movable in all directions. Dishes 24 are fixed with a number of screws 25 to the foot 26 protruding under rail 3 and to a part 27 of frame 9 engaging over rail 3.
- An imaginary line connecting the roller carriers 20 encloses a small angle ⁇ with the vertical V.
- roller carrier 20 In order to limit the mobility of roller carrier 20 to two mutually perpendicular directions transversely of the direction of displacement of the stairlift, thus a tilting movement transversely of rail 3, there are formed in the outer surface 21 thereof two grooves 22 which run practically in the direction of displacement and in which a pin 23 engages in each case. This pin 23 protrudes out the bowl-shaped dish 24 in the middle. Through sliding of pins 23 in grooves 22 a rotating movement of roller carrier 20 about a practically horizontal axis is thus allowed, while a rotation of roller carrier 20 on pins 23 is also possible. On the other hand, the pins 23 prevent a tilting movement on the longitudinal axis of rail 3. In this manner bends in staircase 2, and thus also in rail 3, which generally cause rotations in both the horizontal and vertical plane ( fig. 4 ), can be followed extremely well.
- Stairlift 4 is also provided with drive means 16 which co-act with the propelling part 8 of rail 3.
- These drive means 16 are accommodated in a sub-frame 28 which here has a reverse L-shape and which is formed between the feet 26 of frame 9.
- a roller 29 is mounted in sub-frame 28 for rotation on a shaft 30, whereby sub-frame 28 supports on rail 3.
- Drive means 16 comprise a motor 31 with an output shaft 32 on which a rotatable drive member 33 is arranged which engages on the propelling part 8 of rail 3.
- two batteries 34 are arranged at the top of sub-frame 28 in the shown embodiment.
- the propelling part 8 is a gear rack and drive member 33 is thus embodied as a toothed wheel. Since gear rack 8 is arranged on the side of the rail 3 remote from frame 9, an output shaft 32 driven by motor 31 extends transversely of the direction of displacement under rail 3.
- the output shaft 32 even extends beyond gear rack 8 and toothed wheel 33 as far as the protruding part 6 of rail 3.
- a support wheel 35 which engages on the protruding part or strip 6 of rail 3.
- a further closing roller 36 is mounted rotatably on a shaft 37 opposite support wheel 35.
- the reverse L-shaped sub-frame 28 with the closing roller 36 mounted therein and the protruding shaft 32 with support wheel 35 thus form a unit almost wholly enclosing rail 3.
- the sub-frame 28 with drive means 16 therein is movable relative to frame 9 substantially transversely of the direction of displacement of stairlift 4, whereby differences in distance from the centre line of rail 3 can be compensated in inside and outside bends.
- Sub-frame 28 is connected for this purpose to the back 38 of frame 9 via a member 39 which has a pivot shaft 40 respectively 41 on either side.
- the pivot shafts 40, 41 are herein oriented substantially in the direction of displacement of stairlift 4. Making use of two parallel pivot shafts 40, 41 achieves that sub-frame 28 is movable transversely of rail 3 in two mutually perpendicular directions.
- force-transmitting means 42 are arranged in the shown embodiment between the sub-frame 28 of drive means 16 and the frame 9. These force-transmitting means 42 must be movable to be able to follow the movements between sub-frame 28 and frame 9.
- the force-transmitting means 42 comprise for this purpose two co-acting pushing members or slide bearings 43, 44, one on sub-frame 28 and one on frame 9, which are freely movable transversely of the direction of displacement of stairlift 4.
- these pushing members 43, 44 slide along each other, roughly in the manner of buffer stops on mutually coupled railway carriages. The drive forces can thus be transmitted at all times from rail 3 to stairlift 4, irrespective of the relative position of sub-frame 28 and frame 9.
- the sub-frame 128 in which drive means 116 are arranged is movable relative to frame 109 by means of two linkages 150 on either side thereof.
- Each linkage 150 comprises a substantially vertically directed bar 139 which is pivotally connected at the top and bottom via shafts 140, 141 to in each case two pivoting bars 151, 152 directed toward and away from rail 103 and oriented obliquely upward.
- the bars 151 directed toward rail 3 are herein pivotally connected at their other end to sub-frame 128 via a shaft 153, while the bars 152 directed away from rail 103 are connected to frame 109 via a pivot shaft 154. Achieved once again in this manner is that relative to frame 109 the sub-frame 128 is movable transversely of rail 3 in two mutually perpendicular directions.
- force-transmitting means 142 in the form of two pull and push rods or Panhard rods 155, an end 156 of which is connected to sub-frame 128 via for instance a hinge 157, while the other end 158 can likewise be connected via a hinge 159 to a spacer bar 160 of frame 109.
- the support and guide means 115 otherwise comprise two relatively large guide rollers 117 on either side of rail 103 which are mounted directly in frame 109.
- stairlift 4, 104 comprises a position-maintaining means 70, 170 which consists of an adjusting motor 71, 171 which is connected drivingly to pivot shaft 45, 145 of carrier 10.
- the construction and operation of this mechanism 70 is elucidated on the basis of the first embodiment of stairlift 4 and with reference to figs. 6,7 and 8 a , b , c , d .
- the operation of adjusting motor 71 is controlled by an electronic control system 78 which receives signals from three sensors 73,74,75.
- Sensor 73 is a first gyroscope mounted on the frame 9 close to the rail 3.
- Sensor 74 is a second gyroscope mounted on the lower part of the carrier 10 approximately at the level of the rail 3.
- the gyroscopes 73 and 74 are arranged to sense the angular velocity of the rotation of frame 9 ( ⁇ frame ) and carrier 10 ( ⁇ carrier ) respectively, around said rotation axis.
- Modern accelerometers and vibrating structure gyroscopes belonging to the group of micro electro-mechanical systems (MEMS), are very small and cost effective devices and thereby very suitable for the current apparatus.
- MEMS micro electro-mechanical systems
- control system 78 The three signals are processed in control system 78 and on the basis thereof a control signal 80 is generated to adjusting motor 71.
- the rotation of this adjusting motor 71 is transmitted to shaft 45 by a transmission 72 which is preferably self-locking, such as for instance a worm wheel transmission.
- the gyroscope 73 on the frame 9 provides information on the angular velocity of rotation of the frame 9 around the rotation axis of carrier 10.
- the control system is arranged such that during movement of the frame 9 along the rail 3, as soon as the signal of gyroscope 73 on the frame 9 indicates an angular velocity of rotation, the adjusting motor 71 will start a correctional counter-rotation at the same angular velocity.
- the signal of accelerometer 75 is not only influenced by a change in gravitational acceleration due to rotation of the carrier 10 relative to the horizontal plane, but also by linear acceleration of the carrier.
- This problem is also described in GB-A-2 358 389 , and that document proposes to set the sensitivity of the control unit to the accelerometer signal low.
- an error correction is provided, by using the fact that a linear acceleration will cause an acceleration signal from the accelerometer 75 on the carrier 10, which will alter the calculated angle of carrier 10 with the horizontal plane ( ⁇ Xy ), but will not cause a simultaneous angular velocity signal of gyroscope 74 on the carrier 10 ( ⁇ carrier ) because gyroscope 74 is not sensitive to linear acceleration.
- control system 78 is arranged such that by use of block 82 (see also figs. 8 c , d ) a second, more accurate and/or more stable angle of the carrier 10 with the horizontal plane ( ⁇ carrier ) based on the angle calculated from the signal of accelerometer 75 ( ⁇ xy ) and the angular velocity signal of gyroscope 74 ( ⁇ carrier ) is calculated.
- the difference ( ⁇ error ) between the second calculated angle of the carrier 10 and the horizontal plane ( ⁇ carrier ) and the predetermined angle ( ⁇ predetermined ) is determined by a subtractor 83 and subsequently used by a PI controller 84 to determine the correctional rotation needed ( ⁇ corr ) in order to reach the predetermined angle of the carrier 10 and the horizontal plane.
- the predetermined angle of the carrier 10 and the horizontal plane can for example be 0 degrees, which corresponds to a predetermined position of the load carrier in which the seat 11 of the carrier 10 is horizontal.
- Said correctional rotation ( ⁇ corr ) is added by a summer 85 to the correctional rotation based on the angular velocity signal of the gyroscope 73 on the frame 9 ( ⁇ frame ), so that a correctional rotation is started by the adjusting motor 71 ( ⁇ motor ) such that the predetermined angle of the carrier 10 and the horizontal plane is reached.
- Fig. 8 c shows an arrangement of block 82 to calculate the second angle of the carrier 10 and the horizontal plane ( ⁇ carrier ) based on the angle calculated from the signal of accelerometer 75 ( ⁇ xy ) and the angular velocity signal of gyroscope 74 ( ⁇ carrier ).
- the angular velocity signal of gyroscope 74 ( ⁇ carrier ) is integrated by an integrator 87 in order to obtain a gyroscopic angle signal ( ⁇ gyro ).
- Time constant ⁇ 1 in integrator 87 for example has a value equal to 1 s. Due to integration an integration constant is present in the gyroscopic angle signal ( ⁇ gyro ).
- the offset present in the angular velocity signal of gyroscope 74 ( ⁇ carrier ) is also integrated by integrator 87 and this integrated offset is therefore also present in the gyroscopic angle signal ( ⁇ gyro ).
- the gyroscopic angle signal ( ⁇ gyro ) is filtered by a High Pass filter 88.
- the offset of the gyroscope 74 remains in the signal as a more or less constant signal.
- the angle signal from the accelerometer 75 ( ⁇ xy ) is filtered by a Low Pass filter 89, which will reduce high frequency signals due to linear acceleration (for example due to shocks), and subsequently added by a summer 90 to the integrated and filtered gyroscopic angular velocity signal.
- This combined signal is already a more accurate signal for the angle of the carrier 10 and the horizontal plane but still contains the offset of the gyroscope 74.
- This combined signal is therefore filtered by a High Pass filter 91 in order to remove the offset of the gyroscope 74.
- This signal is added by a summer 93 to the by a Low Pass filter 92 filtered angle signal from the accelerometer 75, which results in a signal for the second angle of the carrier 10 and the horizontal plane ( ⁇ carrier ) that combines the best qualities of both sensors 74 and 75 in respectively their high and low frequency areas.
- This signal is therefore an accurate signal for the angle of the carrier 10 and the horizontal plane ( ⁇ carrier ).
- Fig. 8 d shows a practical arrangement of block 82 to calculate the second angle of the carrier 10 and the horizontal plane ( ⁇ carrier ) based on the angle calculated from the signal of accelerometer 75 ( ⁇ xy ) and the angular velocity signal of gyroscope 74 ( ⁇ carrier ).
- the angular velocity signal of gyroscope 74 ( ⁇ carrier ) is practically first filtered by a High Pass filter and subsequently integrated in order to prevent the integrator to obtain an unlimited value.
- Cutoff frequencies of Low Pass filters 89, 91, 96, 98 and High Pass filters 88, 91, 97 are preferably in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0.015 - 0.017 Hz.
- Gain of amplifier 94 is preferably in a range of 5 - 15, more preferably in a range of 8 - 12, and even more preferably in a range of 9.5 - 10.5.
- the angular velocity signal of gyroscope 74 ( ⁇ carrier ) can be used to control the adjusting motor 71 such that the carrier 10 is maintained horizontal.
- gyroscope 73 will not produce a rotation signal, but gyroscope 74 may, due to the weight of a person, and also in that situation the carrier 10 is maintained horizontal by the above arrangement. This may for instance occur if the person on the carrier moves its centre of gravity on the seat 11.
- the drive means could therefore also be slidable, for instance along two guides enclosing a mutual angle.
- the drive means could therefore also be slidable, for instance along two guides enclosing a mutual angle.
- the guide rollers could also be mounted in the frame in a different way, for instance by means of a cardan suspension or a linkage, while the force-transmitting means could also take another form. It is possible here to envisage balls or flexible elements rotatable in all directions, such as pulling cables, springs and the like.
- connection between the drive means and the support and guide means is rigid enough.
- the form and location of the drive could of course also be varied, for instance by applying a straight gear rack or a worm wheel.
- the support wheel have to be combined with the drive, but it could be mounted separately on the frame or sub-frame.
- the position-maintaining mechanism could also be embodied differently. More or fewer sensors could be used, and the sensors used could also be of electromechanical nature, for instance in the form of encoders which convert a mechanical movement into an electric signal. Time constants, cutoff frequencies and gains of integrators, Low and High Pass filters and Amplifiers can be in a different range.
- the position-maintaining mechanism as described here could also be applied in combination with another type of stairlift.
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Abstract
Description
- The invention relates to an apparatus for transporting a load from a first to a second level, in particular a stairlift, comprising a frame which is displaceable along a rail and which is provided with support, guide and drive means arranged to engage the rail, a load carrier mounted on said frame, and means for maintaining the load carrier in a predetermined position relative to the direction of gravity, which position-maintaining means comprise at least one adjusting motor arranged to move the load carrier relative to the frame, a control system for controlling the adjusting motor so that a correctional rotation occurs, and sensors connected therewith arranged to generate signals to the control system, wherein said sensors comprise an accelerometer mounted on the load carrier.
- Such an apparatus is described in
GB-A-2 358 389 - The invention has for its object to provide a transporting apparatus of the above described type that is more accurate and/or responsive and/or efficient and/or stable.
- According to the invention this is achieved by the feature that said sensors further comprise a gyroscope mounted on the load carrier. A gyroscope is to be interpreted as any device that is arranged to sense angular velocity, and an accelerometer as any device that is arranged to measure an angle.
- Preferably, the control system is arranged to derive the amount of deviation of the load carrier from the gravity acceleration from the signal of the accelerometer and to use said amount to maintain the load carrier in the predetermined position, wherein the control system is arranged to combine the signal of the accelerometer with the signal of the gyroscope, in such a manner that a second amount of deviation of the load carrier from the gravity acceleration is calculated. The control system is further arranged to use said second amount of deviation of the load carrier from the gravity acceleration for controlling the adjusting motor. An advantage of such an arrangement of the control system is that said second amount of deviation of the load carrier from the gravity acceleration is a more accurate and/or stable signal than the amount derived from the signal of the accelerometer alone.
- Preferably, the control system further comprises an amplifier that is arranged to amplify the signal of the gyroscope before it is combined with the signal of the accelerometer, wherein preferably, the amplifier has a gain in a range of 5 - 15, more preferably in a range of 8 - 12, and even more preferably in a range of 9.5 - 10.5.
- Preferably, the control system further comprises a Low Pass filter that is arranged to filter the combined signal of the gyroscope and the accelerometer, wherein preferably, the Low Pass filter has a cutoff frequency in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0.015 - 0.017 Hz.
- Preferably, the control system further comprises a High Pass filter that is arranged to filter the filtered combined signal of the gyroscope and the accelerometer, wherein preferably, the High Pass filter has a cutoff frequency a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0.015 - 0.017 Hz.
- Preferably, the control system further comprises a second Low Pass filter that is arranged to filter the signal of the accelerometer, wherein preferably, the second Low Pass filter filters frequencies in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0 . 015 - 0.017 Hz. An advantage of said second Low Pass filter is that high frequency signals due to linear acceleration (for example due to shocks) are reduced.
- Preferably, the control system is arranged to combine the doubly filtered combined signal of the gyroscope and the accelerometer and the filtered signal of the accelerometer, wherein preferably, the control system is further arranged to subtract this combined signal from a predetermined amount of deviation of the load carrier from the gravity acceleration, and wherein preferably, the control system further comprises a PI controller that is arranged to determine the correctional rotation needed in order to reach the predetermined amount of deviation of the load carrier from the gravity acceleration.
- Preferably, said sensors further comprise a second gyroscope mounted on the frame, wherein preferably, the control system is arranged to use the signal of the second gyroscope for controlling the adjusting motor so that a correctional rotation occurs. An advantage of said second gyroscope is that the control system is arranged such that as soon as said second gyroscope senses an angular velocity of rotation the adjusting motor will start a correctional counter-rotation at the same angular velocity.
- The invention is now elucidated on the basis of two embodiments, wherein reference is made to the annexed drawing in which corresponding components are designated with reference numerals increased by 100, and in which:
-
Fig. 1 shows a perspective front view of a stairlift installation according to a first embodiment of the invention, -
Fig. 2 shows a partly broken-away, perspective rear view of a part of the stairlift installation offig. 1 , -
Fig. 3 shows a side view according to arrow III infig. 2 , -
Fig. 4 is a partly broken-away, perspective rear view of the stairlift installation offig. 1 in a bend of the rail, -
Fig. 5 is a partly broken-away, perspective rear view of an alternative embodiment of the stairlift installation, -
Fig. 6 is a perspective front view of the stairlift installation offig. 1-4 with a number of sensors for determining the position of the load carrier, and -
Fig. 7 shows a block diagram of a system for maintaining the position of the load carrier. -
Figs. 8 a ,b ,c ,d show a block diagram of the electronic control system for processing the sensor inputs and controlling the adjusting motor. - An
installation 1 for transporting a load from a first to a second level (fig. 1 ), in the shown embodiment a stairlift installation, comprises arail 3 which is placed along astaircase 2 and which encloses an angle α with the horizontal H, and anapparatus 4 movable alongrail 3 for transporting the load between the different levels, here therefore a stairlift.Rail 3, which in the shown embodiment has a round cross-section, is supported by a number ofposts 5 which are arranged distributed alongstaircase 2 and which are fixed to a protrudingpart 6 extending along rail 3 (fig. 2 ). The function of thisprotruding part 6 is elucidated hereinbelow.Rail 3 is further provided with a propelling part, here in the form of agear rack 8, which has a round cross-section. - Stairlift 4 comprises a
frame 9 which is displaceable alongrail 3 and on which aload carrier 10 is mounted, here in the form of a chair with aseat 11,back rest 12,armrests 13 and afootrest 14.Chair 10 is connected toframe 9 for pivoting on a horizontal shaft 45 (fig. 3 ), and arranged inframe 9 andcarrier 10 is a maintainingmechanism 70 to be elucidated further hereinbelow and consisting of, among other parts, of an adjustingmotor 71 connected toshaft 45 so that the position ofchair 10 can be kept constant at all times irrespective of the inclination ofrail 3. -
Frame 9 ofstairlift 4 is further provided with support and guide means 15 which engage round a part of the periphery ofrail 3. For this purpose theframe 9 is given a substantially L-shaped form with anupright back 38 and twofeet 26 engaging underrail 3. The support and guide means 15 are adapted to absorb moments directed transversely of the direction of displacement ofstairlift 4. To this end the support and guide means 15 comprise a number ofguide rollers 17 which are arranged with interspacing in the direction of displacement and which engage onrail 3. In the shown embodiment there are even a plurality of pairs ofguide rollers 17, which are moreover arranged distributed in peripheral direction ofrail 3. By making use of a large number ofguide rollers 17, they can each be given a relatively small form, thereby achieving a compact construction. The loads ofstairlift 4 are moreover thus spread uniformly overrail 3 and the resistance is minimized.Guide rollers 17 are each rotatable on ashaft 18 and received per pair in a recess in aroller carrier 20. The outer recesses are covered with aclosing plate 19. - In the shown
embodiment roller carrier 20 takes the form of a ring segment open to one side and having a sphericalouter surface 21. The open side serves to allow the ring segment to engage round the protrudingpart 6 ofrail 3. In the shown embodiment there are tworoller carriers 20 present, in each of which three pairs ofroller 17 are arranged with a mutual spacing of 120° in peripheral direction. Eachroller carrier 20 is mounted at two diametrically opposite points in bowl-shaped dishes 24 connected toframe 9 such that it is in principle movable in all directions.Dishes 24 are fixed with a number ofscrews 25 to thefoot 26 protruding underrail 3 and to apart 27 offrame 9 engaging overrail 3. An imaginary line connecting theroller carriers 20 encloses a small angle β with the vertical V. - In order to limit the mobility of
roller carrier 20 to two mutually perpendicular directions transversely of the direction of displacement of the stairlift, thus a tilting movement transversely ofrail 3, there are formed in theouter surface 21 thereof twogrooves 22 which run practically in the direction of displacement and in which apin 23 engages in each case. Thispin 23 protrudes out the bowl-shaped dish 24 in the middle. Through sliding ofpins 23 in grooves 22 a rotating movement ofroller carrier 20 about a practically horizontal axis is thus allowed, while a rotation ofroller carrier 20 onpins 23 is also possible. On the other hand, thepins 23 prevent a tilting movement on the longitudinal axis ofrail 3. In this manner bends instaircase 2, and thus also inrail 3, which generally cause rotations in both the horizontal and vertical plane (fig. 4 ), can be followed extremely well. - Stairlift 4 is also provided with drive means 16 which co-act with the propelling
part 8 ofrail 3. These drive means 16 are accommodated in asub-frame 28 which here has a reverse L-shape and which is formed between thefeet 26 offrame 9. Aroller 29 is mounted insub-frame 28 for rotation on ashaft 30, wherebysub-frame 28 supports onrail 3. Drive means 16 comprise a motor 31 with anoutput shaft 32 on which arotatable drive member 33 is arranged which engages on the propellingpart 8 ofrail 3. For power supply to motor 31 in the shown embodiment, twobatteries 34 are arranged at the top ofsub-frame 28 in the shown embodiment. - As stated, in the shown embodiment the
propelling part 8 is a gear rack and drivemember 33 is thus embodied as a toothed wheel. Sincegear rack 8 is arranged on the side of therail 3 remote fromframe 9, anoutput shaft 32 driven by motor 31 extends transversely of the direction of displacement underrail 3. - In the shown embodiment the
output shaft 32 even extends beyondgear rack 8 andtoothed wheel 33 as far as theprotruding part 6 ofrail 3. Mounted on the protruding part ofshaft 32 is asupport wheel 35 which engages on the protruding part orstrip 6 ofrail 3. A moment directedround rail 3, which is the result of the weight ofload carrier 10 and the load carried thereby, can hereby be absorbed by drive means 16. - In order to ensure an optimal engagement of
toothed wheel 33 ingear rack 8, afurther closing roller 36 is mounted rotatably on ashaft 37opposite support wheel 35. The reverse L-shapedsub-frame 28 with the closingroller 36 mounted therein and the protrudingshaft 32 withsupport wheel 35 thus form a unit almost wholly enclosingrail 3. - Because the support and guide means 15 and drive means 16 are offset as seen in the direction of displacement of
stairlift 4 and because the propellingpart 8 does not coincide withrail 3, guiderollers 17 andtoothed wheel 33 will not display the same displacement whenrail 3 goes through a bend. There is therefore the danger of thetoothed wheel 30 moving out of engagement with propellingpart 8 ofrail 3, wherebystairlift 4 could come to a stop or at least move in jolting manner. Such differences would also disrupt the electronic control of the position-maintainingmeans 70. The invention therefore provides that drive means 16 are received inframe 9 for movement relative to support and guide means 15. - In the shown embodiment the
sub-frame 28 with drive means 16 therein is movable relative to frame 9 substantially transversely of the direction of displacement ofstairlift 4, whereby differences in distance from the centre line ofrail 3 can be compensated in inside and outside bends.Sub-frame 28 is connected for this purpose to theback 38 offrame 9 via amember 39 which has apivot shaft 40 respectively 41 on either side. Thepivot shafts stairlift 4. Making use of twoparallel pivot shafts sub-frame 28 is movable transversely ofrail 3 in two mutually perpendicular directions. - In order to enable transmission to frame 9 of
stairlift 4 of the drive forces generated by engagement oftoothed wheel 30 ingear rack 8, force-transmitting means 42 are arranged in the shown embodiment between thesub-frame 28 of drive means 16 and theframe 9. These force-transmitting means 42 must be movable to be able to follow the movements betweensub-frame 28 andframe 9. In the shown embodiment the force-transmitting means 42 comprise for this purpose two co-acting pushing members orslide bearings sub-frame 28 and one onframe 9, which are freely movable transversely of the direction of displacement ofstairlift 4. During a relative movement offrame 9 andsub-frame 28 these pushingmembers rail 3 tostairlift 4, irrespective of the relative position ofsub-frame 28 andframe 9. - In an alternative embodiment of the stairlift 104 (
fig. 5 ), thesub-frame 128 in which drive means 116 are arranged is movable relative to frame 109 by means of twolinkages 150 on either side thereof. Eachlinkage 150 comprises a substantially vertically directedbar 139 which is pivotally connected at the top and bottom viashafts 140, 141 to in each case two pivotingbars bars 151 directed towardrail 3 are herein pivotally connected at their other end to sub-frame 128 via ashaft 153, while thebars 152 directed away from rail 103 are connected to frame 109 via apivot shaft 154. Achieved once again in this manner is that relative to frame 109 thesub-frame 128 is movable transversely ofrail 3 in two mutually perpendicular directions. - In order to transmit the drive forces from drive means 116 to frame 109, use is made in this embodiment of force-transmitting means 142 in the form of two pull and push rods or
Panhard rods 155, anend 156 of which is connected to sub-frame 128 via for instance ahinge 157, while theother end 158 can likewise be connected via ahinge 159 to a spacer bar 160 offrame 109. - In this embodiment the support and guide means 115 otherwise comprise two relatively
large guide rollers 117 on either side of rail 103 which are mounted directly inframe 109. - As stated above,
stairlift means 70, 170 which consists of an adjustingmotor 71, 171 which is connected drivingly to pivotshaft carrier 10. The construction and operation of thismechanism 70 is elucidated on the basis of the first embodiment ofstairlift 4 and with reference tofigs. 6,7 and8 a ,b ,c ,d . The operation of adjustingmotor 71 is controlled by anelectronic control system 78 which receives signals from threesensors Sensor 73 is a first gyroscope mounted on theframe 9 close to therail 3.Sensor 74 is a second gyroscope mounted on the lower part of thecarrier 10 approximately at the level of therail 3.Sensor 75 is an accelerometer which is also mounted on the lower part of thecarrier 10 approximately at the level of therail 3.Accelerometer 75 is arranged such to measure the two components of gravitation gx and gy (fig. 8 b) in the vertical plane of the direction of movement of the frame, which are perpendicular to each other and to the rotation axis of thecarrier 10, i.e. toshaft 45. From said components the angle ofcarrier 10 with the horizontal plane ((ϕxy) can be calculated with use of the formula ϕxy = -arctan(gy/gx) , possibly corrected with a constant angle. Thegyroscopes - The three signals are processed in
control system 78 and on the basis thereof acontrol signal 80 is generated to adjustingmotor 71. The rotation of this adjustingmotor 71 is transmitted toshaft 45 by atransmission 72 which is preferably self-locking, such as for instance a worm wheel transmission. - The
gyroscope 73 on theframe 9 provides information on the angular velocity of rotation of theframe 9 around the rotation axis ofcarrier 10. The control system is arranged such that during movement of theframe 9 along therail 3, as soon as the signal ofgyroscope 73 on theframe 9 indicates an angular velocity of rotation, the adjustingmotor 71 will start a correctional counter-rotation at the same angular velocity. - The precise, and final, amount of counter-rotation is determined by the angle of
chair 10 with the horizontal plane (ϕxy), calculated from the signal ofaccelerometer 75 on thecarrier 10, such that thecarrier 10 is maintained horizontal. A method of this kind is described in more detail inGB-A-2 358 389 - However, the signal of
accelerometer 75 is not only influenced by a change in gravitational acceleration due to rotation of thecarrier 10 relative to the horizontal plane, but also by linear acceleration of the carrier. This problem is also described inGB-A-2 358 389 accelerometer 75 on thecarrier 10, which will alter the calculated angle ofcarrier 10 with the horizontal plane (ϕXy), but will not cause a simultaneous angular velocity signal ofgyroscope 74 on the carrier 10 (ωcarrier) becausegyroscope 74 is not sensitive to linear acceleration. Therefore, thecontrol system 78 is arranged such that by use of block 82 (see alsofigs. 8 c ,d ) a second, more accurate and/or more stable angle of thecarrier 10 with the horizontal plane (ϕcarrier) based on the angle calculated from the signal of accelerometer 75 (ϕxy) and the angular velocity signal of gyroscope 74 (ωcarrier) is calculated. The difference (ϕerror) between the second calculated angle of thecarrier 10 and the horizontal plane (ϕcarrier) and the predetermined angle (ϕpredetermined) is determined by asubtractor 83 and subsequently used by aPI controller 84 to determine the correctional rotation needed (ωcorr) in order to reach the predetermined angle of thecarrier 10 and the horizontal plane. The predetermined angle of thecarrier 10 and the horizontal plane can for example be 0 degrees, which corresponds to a predetermined position of the load carrier in which theseat 11 of thecarrier 10 is horizontal. Said correctional rotation (ωcorr) is added by asummer 85 to the correctional rotation based on the angular velocity signal of thegyroscope 73 on the frame 9 (ωframe), so that a correctional rotation is started by the adjusting motor 71 (ωmotor) such that the predetermined angle of thecarrier 10 and the horizontal plane is reached. -
Fig. 8 c shows an arrangement ofblock 82 to calculate the second angle of thecarrier 10 and the horizontal plane (ϕcarrier) based on the angle calculated from the signal of accelerometer 75 (ϕxy) and the angular velocity signal of gyroscope 74 (ωcarrier). The angular velocity signal of gyroscope 74 (ωcarrier) is integrated by anintegrator 87 in order to obtain a gyroscopic angle signal (ϕgyro). Time constant τ1 inintegrator 87 for example has a value equal to 1 s. Due to integration an integration constant is present in the gyroscopic angle signal (ϕgyro). The offset present in the angular velocity signal of gyroscope 74 (ωcarrier) is also integrated byintegrator 87 and this integrated offset is therefore also present in the gyroscopic angle signal (ϕgyro). In order to remove the integration constant the gyroscopic angle signal (ϕgyro) is filtered by aHigh Pass filter 88. The offset of thegyroscope 74 remains in the signal as a more or less constant signal. The angle signal from the accelerometer 75 (ϕxy) is filtered by aLow Pass filter 89, which will reduce high frequency signals due to linear acceleration (for example due to shocks), and subsequently added by asummer 90 to the integrated and filtered gyroscopic angular velocity signal. This combined signal is already a more accurate signal for the angle of thecarrier 10 and the horizontal plane but still contains the offset of thegyroscope 74. This combined signal is therefore filtered by aHigh Pass filter 91 in order to remove the offset of thegyroscope 74. This signal is added by asummer 93 to the by aLow Pass filter 92 filtered angle signal from theaccelerometer 75, which results in a signal for the second angle of thecarrier 10 and the horizontal plane (ϕcarrier) that combines the best qualities of bothsensors carrier 10 and the horizontal plane (ϕcarrier). -
Fig. 8 d shows a practical arrangement ofblock 82 to calculate the second angle of thecarrier 10 and the horizontal plane (ϕcarrier) based on the angle calculated from the signal of accelerometer 75 (ϕxy) and the angular velocity signal of gyroscope 74 (ωcarrier). The angular velocity signal of gyroscope 74 (ωcarrier) is practically first filtered by a High Pass filter and subsequently integrated in order to prevent the integrator to obtain an unlimited value. This is done by amplifying the angular velocity signal of gyroscope 74 (ωcarrier) by anamplifier 94, subsequently adding this signal to the the signal of accelerometer 75 (ϕxy) by asummer 95 and then by filtering this combined signal by aLow Pass filter 96. In order to remove the offset ofgyroscope 74 this combined signal is filtered by aHigh Pass filter 97 and added by asummer 99 to the by aLow Pass filter 98 filtered angle signal from theaccelerometer 75, which results in a signal for the second angle of thecarrier 10 and the horizontal plane (ϕcarrier) that combines the best qualities of bothsensors carrier 10 and the horizontal plane (ϕcarrier). It is noted here that the control arrangements shown infigs. 8 c ,d ofblock 82 are substantially the same as to function. - Practical values for time constants τ2 and τ3 in
figs. 8 c) ,d ) are for example τ2 = τ3 = 10s. Cutoff frequencies of Low Pass filters 89, 91, 96, 98 and High Pass filters 88, 91, 97 are preferably in a range of 0.01 - 0.03 Hz, more preferably in a range of 0.013 - 0.02 Hz, and even more preferably in a range of 0.015 - 0.017 Hz. Gain ofamplifier 94 is preferably in a range of 5 - 15, more preferably in a range of 8 - 12, and even more preferably in a range of 9.5 - 10.5. - In described control system the angular velocity signal of gyroscope 74 (ωcarrier) can be used to control the adjusting
motor 71 such that thecarrier 10 is maintained horizontal. At stand-stillgyroscope 73 will not produce a rotation signal, butgyroscope 74 may, due to the weight of a person, and also in that situation thecarrier 10 is maintained horizontal by the above arrangement. This may for instance occur if the person on the carrier moves its centre of gravity on theseat 11. - Although the invention is described above on the basis of a number of embodiments, it will be apparent that the invention is not limited thereto. Instead of being pivotable, the drive means could therefore also be slidable, for instance along two guides enclosing a mutual angle. There could also be provided only one sub-frame with at least two guide rollers, whereby a more compact but more heavily loaded construction is obtained. The guide rollers could also be mounted in the frame in a different way, for instance by means of a cardan suspension or a linkage, while the force-transmitting means could also take another form. It is possible here to envisage balls or flexible elements rotatable in all directions, such as pulling cables, springs and the like. It would even be possible to dispense with the use of separate force-transmitting means if the connection between the drive means and the support and guide means is rigid enough. The form and location of the drive could of course also be varied, for instance by applying a straight gear rack or a worm wheel. Nor does the support wheel have to be combined with the drive, but it could be mounted separately on the frame or sub-frame. In addition, there could also be a different choice in the distribution of the loads over the support and guide means on the one hand and the drive means on the other. The position-maintaining mechanism could also be embodied differently. More or fewer sensors could be used, and the sensors used could also be of electromechanical nature, for instance in the form of encoders which convert a mechanical movement into an electric signal. Time constants, cutoff frequencies and gains of integrators, Low and High Pass filters and Amplifiers can be in a different range. Finally, the position-maintaining mechanism as described here could also be applied in combination with another type of stairlift.
- The scope of the invention is therefore defined solely by the appended claims.
Claims (13)
- Apparatus for transporting a load from a first to a second level, in particular a stairlift, comprising:a frame which is displaceable along a rail and which is provided with support, guide and drive means arranged to engage the rail,a load carrier mounted on said frame, andmeans for maintaining the load carrier in a predetermined position relative to the direction of gravity, which position-maintaining means comprise at least one adjusting motor arranged to move the load carrier relative to the frame, a control system for controlling the adjusting motor so that a correctional rotation occurs, and sensors connected therewith arranged to generate signals to the control system,wherein said sensors comprise an accelerometer mounted on the load carrier,characterized in that said sensors further comprise a gyroscope mounted on the load carrier.
- Apparatus according to claim 1, characterized in that the control system is arranged to derive the amount of deviation of the load carrier from the gravity acceleration from the signal of the accelerometer and to use said amount to maintain the load carrier in the predetermined position, wherein the control system is arranged to combine the signal of the accelerometer with the signal of the gyroscope, in such a manner that a second amount of deviation of the load carrier from the gravity acceleration is calculated, wherein the control system is further arranged to use said second amount of deviation of the load carrier from the gravity acceleration for controlling the adjusting motor.
- Apparatus according to claim 2, characterized in that the control system further comprises an amplifier that is arranged to amplify the signal of the gyroscope before it is combined with the signal of the accelerometer.
- Apparatus according to claim 3, characterized in that said amplifier has a gain in a range of 5 - 15, preferably in a range of 8 - 12, more preferably in a range of 9.5 - 10.5.
- Apparatus according to claim 3 or 4, characterized in that the control system further comprises a Low Pass filter that is arranged to filter the combined signal of the gyroscope and the accelerometer.
- Apparatus according to claim 5, characterized in that said Low Pass filter has a cutoff frequency in a range of 0.01 - 0.03 Hz, preferably in a range of 0.013 - 0.02 Hz, more preferably in a range of 0.015 - 0.017 Hz.
- Apparatus according to claim 5 or 6, characterized in that the control system further comprises a High Pass filter that is arranged to filter the filtered combined signal of the gyroscope and the accelerometer.
- Apparatus according to claim 7, characterized in that said High Pass filter has a cutoff frequency in a range of 0.01 - 0.03 Hz, preferably in a range of 0.013 - 0.02 Hz, more preferably in a range of 0.015 - 0.017 Hz.
- Apparatus according to claim 7 or 8, characterized in that the control system further comprises a second Low Pass filter that is arranged to filter the signal of the accelerometer.
- Apparatus according to claim 9, characterized in that said second Low Pass filter has a cutoff frequency in a range of 0.01 - 0.03 Hz, preferably in a range of 0.013 - 0.02 Hz, more preferably in a range of 0.015 - 0.017 Hz.
- Apparatus according to claim 9 or 10, characterized in that the control system is arranged to combine the doubly filtered combined signal of the gyroscope and the accelerometer and the filtered signal of the accelerometer, wherein the control system is further arranged to subtract this combined signal from a predetermined amount of deviation of the load carrier from the gravity acceleration, and wherein the control system further comprises a PI controller that is arranged to determine the correctional rotation needed in order to reach the predetermined amount of deviation of the load carrier from the gravity acceleration.
- Apparatus according to any of the preceding claims 1 - 11, characterized in that said sensors further comprise a second gyroscope mounted on the frame.
- Apparatus according to claim 12, characterized in that the control system is arranged to use the signal of the second gyroscope for controlling the adjusting motor so that a correctional rotation occurs.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2002503A NL2002503C2 (en) | 2009-02-06 | 2009-02-06 | Apparatus for transporting a load from a first to a second level, in particular a stairlift. |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2216284A1 true EP2216284A1 (en) | 2010-08-11 |
EP2216284B1 EP2216284B1 (en) | 2012-06-20 |
Family
ID=41000020
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10152426A Active EP2216284B1 (en) | 2009-02-06 | 2010-02-02 | Apparatus for transporting a load from a first to a second level, in particular a stairlift |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2216284B1 (en) |
ES (1) | ES2388719T3 (en) |
NL (1) | NL2002503C2 (en) |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
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US20100101894A1 (en) * | 2006-10-20 | 2010-04-29 | Stannah Stairlifts Limited | Improvements in or relating to stairlifts |
WO2012096662A1 (en) * | 2011-01-13 | 2012-07-19 | Otis Elevator Company | Device and method for determining position using accelerometers |
GB2495953A (en) * | 2011-10-26 | 2013-05-01 | Acorn Mobility Services Ltd | Stairlift control system |
NL2008385C2 (en) * | 2012-02-29 | 2013-09-02 | Ooms Otto Bv | DEVICE AND RAIL SYSTEM FOR TRANSPORTING A LOAD FROM A FIRST TO A SECOND LEVEL, IN PARTICULAR A STAIRLIFT. |
WO2013137733A1 (en) | 2012-03-15 | 2013-09-19 | Otto Ooms B.V. | Method, device and computer programme for extracting information about one or more spatial objects |
NL2010014C2 (en) * | 2012-12-19 | 2014-06-23 | Thyssenkrupp Accessibility B V | Stair lift drive with rotatable mounting part for seat. |
NL2010013C2 (en) * | 2012-12-19 | 2014-06-23 | Thyssenkrupp Accessibility B V | Stair lift drive. |
GB2526621A (en) * | 2014-05-30 | 2015-12-02 | Stannah Stairlifts Ltd | Improvements in or relating to stairlifts |
GB2527410A (en) * | 2011-10-26 | 2015-12-23 | Acorn Mobility Services Ltd | Lift system |
CN105621205A (en) * | 2014-10-31 | 2016-06-01 | 天津丰宁机电制品有限公司 | Intelligent chair type elevator |
WO2016124666A1 (en) | 2015-02-05 | 2016-08-11 | Otto Ooms B.V. | Stairlift |
WO2016135467A1 (en) * | 2015-02-23 | 2016-09-01 | Stannah Stairlifts Limited | Stairlift speed control |
WO2016156822A1 (en) * | 2015-03-30 | 2016-10-06 | Stannah Stairlifts Limited | Improvements in or relating to stairlifts |
EP3326955A1 (en) | 2016-11-23 | 2018-05-30 | Otto Ooms B.V. | An apparatus for transporting a load from a first to a second level, in particular a stairlift |
GB2566333A (en) * | 2017-09-12 | 2019-03-13 | Stannah Stairlifts Ltd | Improvements in or relating to stairlifts |
WO2020079395A2 (en) | 2018-10-18 | 2020-04-23 | Stannah Stairlifts Limited | Stairlift and method of operating a stairlift |
EP3722241A1 (en) | 2019-04-10 | 2020-10-14 | Otolift Trapliften B.V. | An apparatus for transporting a load from a first to a second level, in particular a stairlift |
EP3747817A1 (en) | 2019-06-05 | 2020-12-09 | Otolift Trapliften B.V. | An apparatus for transporting a load from a first to a second level |
WO2021190998A1 (en) | 2020-03-23 | 2021-09-30 | Otolift Trapliften B.V. | Method, computer device and computer programme for extracting information about staircase |
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Families Citing this family (1)
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EP3202699B1 (en) | 2016-02-03 | 2022-08-10 | TK Home Solutions B.V. | Method for controlling a stairlift |
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WO1999046198A1 (en) | 1998-03-09 | 1999-09-16 | Bison Bede Limited | Control of seat orientation for stair lift |
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Also Published As
Publication number | Publication date |
---|---|
ES2388719T3 (en) | 2012-10-17 |
NL2002503C2 (en) | 2010-08-09 |
EP2216284B1 (en) | 2012-06-20 |
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