EP3745913B1 - Electrically height-adjustable table and method for controlling the same - Google Patents

Description

The present application relates to an electrically height-adjustable table and a method for controlling the same. In particular, it is also about a device and a method for detecting collisions in an electrically height-adjustable table.

When a height-adjustable tabletop of a table is moved up or down, it can collide with obstacles, for example walls or objects, which can lead to damage to the table or the obstacle. It is also critical when people or animals collide with the table, which can result in injuries such as bruises. In order to reduce the risk of injury and damage, it is necessary to detect a collision with an obstacle in order to be able to take appropriate measures, such as stopping the movement of the table top after the collision or retracting the table top.

The EP 1 891 872 B1 discloses an apparatus and method for detecting collisions in furniture, and more particularly relates to an apparatus and method for detecting collisions of automatically movable portions of furniture with obstacles by detecting a change in flexure. The known device comprises a sensor adapted to detect a change in bending of the movable portion and containing a piezoelectric material and a piezoelectric diaphragm for generating sound signals. When the sensor detects a flexure change of an attachment point of the movable portion when the movable portion collides with an obstacle, it is done by changing compression or stretching of the piezoelectric material with the flexure change of the location of the movable portion and generating an electrical signal through the piezoelectric material at the change of compression or stretching.

The EP 1 837 723 A2 describes a multi-part piece of furniture with at least one electric motor drive provided for the adjustment of a furniture part that can be moved in two opposite directions, wherein a control system comprises a safety device that is effective when the furniture part is adjusted and is provided to prevent impermissible operating states, the safety device being an inclination sensor attached to the movable furniture part is assigned, the output signal of which is evaluated by the safety device to detect an impermissible position of the movable furniture part. A capacitive acceleration sensor having a micromechanical sensor element can be used as the inclination sensor.

The DE 20 2007 006 673 U1 relates to an electrically height-adjustable table, comprising a height-adjustable underframe, a tabletop which is arranged on the underframe, at least one drive device for adjusting the height of the underframe/the tabletops, in that the drive device is fixed to the underframe or to the tabletop, the drive device being at least an electric motor for the operation thereof, a controller for controlling the drive means and an operator for activating the controller, the table comprising a "tilt device" which causes the drive means to stop or reverse and then stop if the table is tilted becomes.

The DE 10 2006 038 558 A1 relates to an arrangement for controlling the drive of an electrically adjustable piece of furniture. Said arrangement has a control device which is connected to at least one motor and one operating device. Furthermore, at least one acceleration sensor arranged on the piece of furniture is connected to the control device and the control device is designed such that when an acceleration is measured by the acceleration sensor, the at least one motor is controlled in such a way that the movement of the piece of furniture is stopped.

The DE 10 2016 102 382 A1 relates to an electrically adjustable table and a control method for the electrically adjustable table. The power table control method includes the following steps: initializing an internal setting value or a user setting value, entering a sleep state, extending or retracting a table base for adjusting the height of a table top moving in a first direction in accordance with an operation on a hand control device, stopping the height adjustment of the table top when a motion sensor unit is used and detecting that the table top is moving during the height adjustment of the table top is inclined. The motion sensor unit is a gyroscope or an accelerometer sensor. Finally revealed the DE 10 2016 101 955 A1 an electrically adjustable piece of furniture. The piece of furniture has an electric drive motor for adjusting at least one furniture adjustment section relative to a furniture support section, the piece of furniture being provided with a sensor device for detecting the inclination or change in inclination of the furniture adjustment section. The sensor device can include a gyro sensor, via which the inclination or change in inclination or angle of the furniture adjustment section can be determined. In addition, the sensor device can include a gravitational sensor, via which the absolute inclination of the furniture adjustment section can be determined. Other relevant prior art documents are US2016/309889 A1 , DE102016101954 A1 , DE202006018530 U1 , US2014/137773 A1 , WO2009/003918 A1 , US2014/109802 A1 and EP3637206 A1 .

In the prior art mentioned above, however, the sensor devices cannot be positioned in any desired orientation on an electrically height-adjustable table for correct detection of collisions. This makes assembly more difficult and thus leads to higher production costs.

The present invention is therefore based on the object of enabling any desired positioning of a sensor device for detecting a collision in an electrically height-adjustable table.

According to the invention, this object is achieved by an electrically height-adjustable table, comprising: an electrically height-adjustable underframe, a tabletop that is arranged on or on the underframe, a drive device for adjusting the height of the underframe/the tabletop, the drive device on the underframe or on the Table top is fixed and comprises at least one electric motor, a control device and an operating device for operating the control device, and a sensor device for detecting an initial absolute inclination of the table top Receiving an input of a movement command via the operating device and a subsequent absolute inclination and a subsequent change in inclination of the table top over time during the movement of the table top up or down according to the movement command, the sensor device having a 3-axis acceleration sensor for determining the absolute inclination of the table top and a 3-axis gyroscope, preferably integral therewith, for determining the change in inclination of the tabletop over time, preferably wherein the acceleration sensor and the gyroscope are housed in a microelectronic mechanical system (MEMS) component, the sensor device also having a computing device, in particular a microprocessor, which is designed to determine the initial absolute inclination of the tabletop each time before executing an input movement command, an initial detection of acceleration components by the acceleration sensor in a three-dimensional Cartesian coordinate system dependent on the installation orientation of the acceleration sensor and a comparison of the detected Acceleration components with known acceleration components under the same conditions in a global three-dimensional Cartesian coordinate system, the z-axis of which is oriented in the direction of gravitational acceleration, and any offset correction of the detected acceleration components and any inversion of the acceleration components in the z-direction, and a conversion of the detected and possibly offset-corrected and/or possibly inverted acceleration components into an inclination angle or vector, and in order to correspondingly determine an absolute inclination of the tabletop by detecting acceleration components by the acceleration sensor and determining a change in inclination of the tabletop over time or a cause the change in inclination of the table top over time, which is representative of the size, during the subsequent execution of the movement command by detecting angular velocity components by the gyroscope, possibly inverting the angular velocity components and summing the angular velocity components and comparing the determined sum of the angular velocity components with a predetermined angular velocity limit value.

Furthermore, this object is achieved by a method for controlling an electrically height-adjustable table according to one of the preceding claims, comprising: receiving, on the operating device, an input of a movement command by a user, as a reaction to the movement command, determining an initial absolute inclination of the table top, by the computing device, through an initial detection of acceleration components via the acceleration sensor in a three-dimensional Cartesian coordinate system dependent on the installation orientation of the acceleration sensor and a comparison of the detected acceleration components with known acceleration components under the same conditions in a global three-dimensional Cartesian coordinate system, with its z-axis in direction is oriented to the acceleration due to gravity, and any offset correction of the detected acceleration components and any inversion of the acceleration components in the z-direction, as well as a conversion of the detected and possibly offset-corrected and/or inverted acceleration components into an inclination angle or vector and subsequent method of Table top up or down according to the movement command via the drive device and determination of an absolute inclination of the table top by detecting acceleration components by the acceleration sensor and determination of a change in inclination of the table top over time or a variable representative of the change in inclination of the table top over time, by the computing device, during the Method in which the change in inclination of the table top over time is determined by detecting angular velocity components via the gyroscope, possibly inverting the angular velocity components and summing the angular velocity components and comparing the determined sum of the angular velocity components with a previously defined angular velocity limit value.

In the case of the table, it can be provided that the control device is designed to stop the drive device or to activate it in the opposite direction in the event that the determined sum of the angular velocity components exceeds the angular velocity limit value, and/or the control device is designed to that the determined absolute inclination exceeds a predetermined inclination limit value to stop the drive device or to control in the opposite direction. If namely, if the sum of the angular velocities and thus the change in inclination or the variable representative thereof exceeds the limit value, it is assumed that a collision has occurred and countermeasures are then taken.

Furthermore, it can be provided that the control device is designed to control the drive device depending on the determined inclination or the determined change in inclination of the table top over time or the determined variable representative of the table top over time.

According to a further special embodiment, the sensor device can be attached to the table top, preferably by gluing, preferably detachably. For example, the sensor device can be fastened on or under the tabletop.

The sensor device is advantageously fastened in the operating device, preferably detachably. For example, the sensor device can be mounted in a manual switch.

Alternatively, the sensor device can be integrated in the control device.

The operating device advantageously has a manual switch device.

According to a further particular embodiment of the present invention, the table has a display device which is designed to display the location and/or the magnitude of a determined change in inclination. The term "magnitude" is intended to include "amount". Optionally, alternatively or additionally, a direction of the change in inclination can also be displayed on the display device. In this case, the term "determined slope change" can refer to both the slope change over time (°/s) and the change in slope (in °).

Conveniently, the table has a database designed to store the location and/or magnitude of a determined change in inclination.

In particular, it can be provided that the display device is located in the vicinity of or within the operating device, in particular is an integral part of the same.

The method can provide that, in the event that the determined sum of the angular velocity components exceeds the angular velocity limit value, the drive device is stopped or the drive device is activated in the opposite direction and/or comprehensively, in the event that the determined absolute inclination exceeds a predetermined one exceeds inclination limit, stopping the drive device or driving the drive device in the opposite direction includes.

Provision can also be made for the control device to control the drive device depending on the determined inclination or determined temporal change in inclination of the tabletop (12) or determined variable representative of the temporal change in inclination of the tabletop.

Furthermore, the method can include displaying, by the display device, the location and/or the size of a determined change in inclination of the tabletop.

Finally, the method advantageously includes storing, by the database, the location and/or the magnitude of a determined change in inclination of the tabletop.

The present invention is based on the surprising finding that by combining a 3-axis acceleration sensor with a 3-axis gyroscope and, if necessary, correcting the measurement data depending on the installation orientation of the sensors - mathematically also referred to as coordinate transformation - any positioning and Orientation of the sensor device is possible on the electrically height-adjustable table. The "coordinate transformation" takes place in an upstream initialization process. In said initialization process, the actual installation direction(s) of the sensor device or sensors is/are indirectly determined and subsequently the measured values for the inclination as a function of the actual one(s). Installation direction(s) corrected. At least in one special embodiment, the sensor device can even be positioned without tools.

Based on an absolute inclination determined during initialization, common acceleration sensors can usually measure from about 0.5° due to their design.

Figur 1

eine perspektivische Ansicht (schräg von unten) von einem elektrisch höhenverstellbaren Tisch gemäß einer besonderen Ausführungsform der vorliegenden Erfindung;

Figur 2

den Tisch von Figur 1 in perspektivischer Ansicht (schräg von oben) sowie eine Detailansicht;

Figur 3

den Tisch von Figur 1 in Seitenansicht und in Draufsicht;

Figur 4

eine Seitenansicht von einem elektrisch höhenverstellbaren Tisch gemäß einer weiteren besonderen Ausführungsform der vorliegenden Erfindung sowie eine Detailansicht einer Anzeigeeinrichtung des Tisches;

Figur 5

ein Flussdiagramm eines Verfahrens zum Steuern beispielsweise des Tisches von Figuren 1 und 2 gemäß einer besonderen Ausführungsform der vorliegenden Erfindung;

Figur 6

ein Flussdiagramm eines "Unterverfahrens" des Verfahrens von Figur 5;

Figur 7

ein Flussdiagramm eines "Unterverfahrens" des Verfahrens von Figur 5; und

Figur 8

ein Flussdiagramm eines "Unterverfahrens" des Verfahrens von Figur 5.

The gyroscope can be used to determine a rapid change in inclination, as in the case of a collision. A "rapid" change in inclination should mean an angular velocity ≥ 1°/s (total of all sensors). For example, sensor data can be recorded every 10 ms and, if necessary, converted and compared before a decision is made. In addition, the data can then be deleted for new measurements. Further features and advantages of the invention result from the appended claims and from the following description, in which several exemplary embodiments are explained in detail with reference to the schematic drawings. It shows:

figure 1

a perspective view (obliquely from below) of an electrically height-adjustable table according to a particular embodiment of the present invention;

figure 2

the table of figure 1 in a perspective view (obliquely from above) and a detailed view;

figure 3

the table of figure 1 in side view and in top view;

figure 4

a side view of an electrically height-adjustable table according to a further particular embodiment of the present invention and a detailed view of a display device of the table;

figure 5

a flowchart of a method for controlling, for example, the table of FIG figures 1 and 2 according to a particular embodiment of the present invention;

figure 6

Figure 12 shows a flow chart of a "sub-process" of the process of FIG figure 5 ;

figure 7

Figure 12 shows a flow chart of a "sub-process" of the process of FIG figure 5 ; and

figure 8

Figure 12 shows a flow chart of a "sub-process" of the process of FIG figure 5 .

The figures 1 , 2 and 3 show an electrically height-adjustable table 10 according to a particular embodiment of the present invention. The table 10 comprises an electrically height-adjustable underframe 14 with two lateral table legs 16, each with a table base 18 and a crossbar 17 connecting the two table legs 16, a tabletop 12, which is arranged on the underframe 14 and is releasably attached thereto, a drive device (not shown ) for adjusting the height of the underframe 14 and thus also the table top 12, with the drive device being fixed to the underframe 14 and at least one electric motor (not shown), a control device 70 in this example in the traverse 17 and an operating device for operating the control device 70, for example in the form of a manual switch 71, and a sensor device 72 for detecting an initial absolute inclination of the tabletop 12, which is usually stationary at the beginning, upon receipt of a movement command input via the manual switch 71 and a subsequent absolute inclination and a subsequent change in the inclination of the tabletop 12 over time during the movement the table top up or down according to the movement command. The sensor device 72 comprises a 3-axis acceleration sensor 74 for determining the absolute inclination of the tabletop 12 and a 3-axis gyroscope 73 integral therewith for determining the change in inclination of the tabletop 12 over time or a variable representative thereof, with the acceleration sensor 74 and the Gyroscope 73 are housed in a microelectronic mechanical system (MEMS) component. The sensor device 72 also includes a computing device (not shown), such as a microprocessor or at least one microprocessor, which is designed to determine the initial absolute inclination of the table top 12 each time Before executing an input movement command, acceleration components are initially detected by acceleration sensor 74 in a three-dimensional Cartesian coordinate system 731 that is oriented as a function of the installation orientation of the acceleration sensor (see figure 2 ), a comparison of the detected acceleration components with known acceleration components under the same conditions in a global three-dimensional Cartesian coordinate system 741 (see figure 2 ), with its z-axis being oriented in the direction of the acceleration due to gravity, and any offset correction of the detected acceleration components and any inversion of the acceleration components in the z-direction as well as a conversion of the detected and possibly offset-corrected and/or inverted acceleration components into to cause an inclination angle or vector, and for correspondingly determining an absolute inclination of the tabletop (12) by detecting acceleration components by the acceleration sensor (74) and determining a change in inclination of the tabletop (12) over time or one for the change in inclination of the tabletop over time 12 during the subsequent execution of the movement command by detecting angular velocity components by the gyroscope 73, inverting the angular velocity components if necessary and summing the angular velocity components and comparing the determined sum of the angular velocity components with a predetermined angular velocity limit value.

In the embodiment shown here, the sensor device 72 is located in the manual switch 71. As a result, no separate housing is required for the sensor device and no additional plug-in connection has to be provided on the control device. As indicated by the coordinates y` and x` in the figure 2 is to be expressed, the table top 12 can be inclined, for example around the x-axis (horizontal axis), in the event of a collision. The inclination or change in inclination can be detected by means of the sensor device 72 .

More precisely, the figure 2 represents a collision detection by means of the acceleration sensor 74. After initialization (table top 12 at rest) (inclination angle set to zero), a first local coordinate system 731 (x, y, z) recognized. If the tabletop 12 tilts about the x-axis 75 when moving, the local coordinate system changes to (x`, y', z`). The gravitational acceleration is now no longer measured via the only z-axis (example case), but also via the y'-axis. The pitch angle α can be measured by an argtangent calculation between the projected y' and z` values of acceleration and compared to a pitch limit (e.g. at 0.5°). In this example, when the tilt angle α reaches or exceeds the tilt limit, the table top is stopped (desk top movement aborted).

In the figure 3 a collision of the table top 12 is to be shown in plan view at the front left (collision location 76). The collision or inclination of the table top is caused by the rotation vector ω identified. Irrespective of where and how the sensor device 72 is arranged, the change in inclination over time can be determined via the rotation vector. This will be explained briefly using two examples. If, in a first example, the sensor device 72, as in figure 3 is shown below at the far right, the rotation vector can be represented in the shown x ₁ , y ₁ plane of a local coordinate system 731 . In a second example (see figure 3 bottom half right), the sensor device 72 is rotated around the z-axis ((x1, y1, z1) becomes (x2, y2, z1)). This has no effect on the sensor evaluation, since the angular velocities in °/s (as a vector value) can be added. The value Gyro_Summe=Gyro_x+Gyro_y+Gyro_z (whereby in the figure 3 , Gyro_z = 0 °/s) is compared with a second limit value, for example of 1.0 °/s (= short-term change in inclination). As soon as the value of the sum exceeds the second limit value, control of the method is aborted.

In the figure 5 is shown in rough steps, such as the table according to the figures 1 and 2 can be controlled. Initially, the table top 12 is in the rest position (step 750). If a movement command is then received from a user via the manual switch 71 (step 751), the sensors are first initialized (step 752), i.e. in this case the acceleration sensor 74 and the gyroscope 73, in the context of which the absolute inclination is determined of the table top 12 is carried out by means of the acceleration sensor 74 . After the absolute inclination of the tabletop 12 has been determined, a process of the tabletop 12 begins in the through Movement command specified direction (command direction step 753). During the movement of the table top 12, the absolute inclination of the table top is monitored (754). In addition, a check is made as to whether the determined change in inclination over time has exceeded a predefinable limit value, here in this example the angular velocity limit value (step 755). If so, a collision is assumed and "countermeasures" are taken in a step 757 or a series of steps. Countermeasures typically include stopping the table top 12 immediately, or traveling in the opposite direction and then stopping the table top (step 758).

If the limit value, in this example the angular velocity limit value, has not been exceeded, it is also checked whether the tabletop has reached the target position according to the movement command (step 756). If so, the tabletop is stopped (step 758). If not, the table top is further moved according to the move command (step 753).

figure 6 shows details of the initialization of the sensors according to a particular embodiment of the present invention. The starting point or trigger is the receipt of a movement command from a user (step 751). First, the sensor data is initialized at rest by retrieving the accelerations in the x, y, and z directions from the accelerometer (step 760) and the angular velocities from the gyroscope (step 762). The local coordinate system 731 is initially stored as an offset for the subsequent evaluations (step 761) and the measurement noise of the gyroscope is reduced directly by the microprocessor after a brief reference recording (step 763). The offset is the gravitational acceleration projected in the x, y and z directions (only measurable acceleration when the tabletop is stationary), which is saved during initialization. An offset correction of the measured data is carried out by using the offset data stored during initialization for the respective components. As a result, the sensors are then initialized (764).

figure 7 Figure 12 shows details of tilt monitoring according to a particular embodiment of the present invention. After the table has entered a traversing mode (753), the sensor data are queried continuously or at intervals Change in inclination Sensor data of the acceleration sensor, which are representative for acceleration components in the x, y and z direction and retrieved (step 770), an offset correction for the transformation into the global coordinate system 741 (step 771), and optionally a z component - inversion (step 773) for the calculation of an angle change with the x and y components (step 774). Temporal changes in inclination are determined in parallel by retrieving the sensor data from the gyroscope 73 in the x, y and z directions (step 775), optionally inverting the x, y and/or z components, if negative (step 776) and takes into account a summation of the x, y and z components.

figure 8 Figure 12 shows details of handling a collision according to a particular embodiment of the present invention. If the check in step 755 has shown that a collision may have occurred, the tabletop X cm is moved in the opposite direction to the movement command (step 781). Optionally, the collision location and/or the intensity of the collision can then also be determined and stored, for example, in a database (step 782) and/or displayed using a display device (step 783). Finally, the tabletop is stopped (step 758).

At the in the figure 4 In the electrically height-adjustable table 10 shown as an example according to a particular embodiment of the present invention, the operating device has, for example in the form of a manual switch 71, a display device 77 which is integral in this example and has a rectangular display area which is divided into sub-areas A, B, C and D . By reference number 783 according to figure 8 is intended to express the fact that the collision location 76 is displayed in the sub-area D at the bottom left by means of the display device 77 . In addition, with the reference number 782 according to figure 8 be expressed that the collision location 76 and the collision intensity are stored in a database DB.

More precisely, the figure 4 represents the possibility that since both parts (gyroscope and accelerometer) can be located, the entire sensor device 72 can be used as a localization tool for collisions in a global coordinate system. Depending on the subsurface or sector A, B, C and D in which a collision occurs, This collision is evaluated differently by the sensors (gyroscope and acceleration sensor). For the gyroscope 73, the signs of the x and y components of the rotation vector in the coordinate system 741 are considered. For example at the in figure 4 shown rectangular tabletop, which is supported by a traverse 17 as in figure 1 is held, the following signs result for the x and y components of the rotation vector: Sector D (-x; - y) Sector C (-x; +y), Sector B (+x, +y) and Sector A ( +x; -y). In the case of the acceleration sensor, the location is determined with the sign of the projected value z` on the x, y-plane of the coordinate system (see figure 2 ) detected.

The angular velocities determined by means of the gyroscope are no longer added for this type of evaluation, but are considered individually (sign) depending on the sector. Therefore, the integration of the sensor device in a known positioned system (global coordinate system 741) ( X , Y , Z ) (see also figure 2 ) (e.g. manual switch or controller) is required in order to be able to locate the collision based on the measured values. <u>Reference List</u> 10 Table 12 Table top 14 base 16 Table leg 18 table base 17 traverse 70 control device 71 handset 72 sensor device 73 gyroscope 74 accelerometer 75 X axis 76 collision 77 display device 731 coordinate system 741 global coordinate system A,B,C,D subsurfaces DB Database a tilt angle

Claims (15)

1. Electrically height-adjustable table (10), comprising:

   - an electrically height-adjustable subframe (14),

   - a tabletop (12), which is arranged on or on top of the subframe (14),

   - a drive device for adjusting the height of the subframe (14)/the tabletop (12), wherein the drive device is fixed to the subframe (14) and to the tabletop (12) and comprises at least one electric motor, a control device (70) and an operating device for operating the control device (70), and

   - a sensor device (72) for detecting an initial absolute inclination of the tabletop (12) upon receiving an input of a movement command via the operating device and a subsequent absolute inclination and a subsequent change in inclination of the tabletop (12) over time during the movement of the tabletop (12) upwards or downwards in accordance with the movement command, wherein the sensor device (72) comprises a 3-axis acceleration sensor (74) for determining the absolute inclination of the tabletop (12) and a 3-axis gyroscope (73), preferably integral therewith, for determining the change in inclination of the tabletop (12) over time, preferably wherein the acceleration sensor (74) and the gyroscope (72) are accommodated in a microelectronic-mechanical-system (MEMS) component,

   wherein the sensor device (72) further comprises a computing device, in particular a microprocessor, which, for the determination of the initial absolute inclination of the tabletop (12) each time before executing an input movement command, is configured to arrange for an initial detection of acceleration components by the acceleration sensor (74) in a three-dimensional Cartesian coordinate system oriented on the basis of the installation orientation of the acceleration sensor (74) and a comparison of the detected acceleration components with known acceleration components under the same conditions in a global three-dimensional Cartesian coordinate system (741), wherein the z-axis thereof is oriented in the direction of gravity, and to arrange for any offset correction of the detected acceleration components and any inversion of the acceleration components in the z direction and a conversion of the detected and possibly offset-corrected and/or possibly inverted acceleration components into an angle or vector of inclination and, for the corresponding determination of an absolute inclination of the tabletop (12) by means of a detection of acceleration components by the acceleration sensor (74), and for the determination of a change in inclination of the tabletop (12) over time or of a variable representative of the change in inclination of the tabletop (12) over time during the subsequent execution of the movement command by means of a detection of angular velocity components by the gyroscope (73), to arrange for any inversion of the angular velocity components and a summation of the angular velocity components and a comparison of the determined sum of the angular velocity components with a previously defined angular velocity limiting value.
2. Table (10) according to Claim 1, wherein, for the case in which the determined sum of the angular velocity components exceeds the angular velocity limiting value, the control device (70) is configured to stop the drive device or to control it in the opposite direction, and/or wherein, for the case in which the determined absolute inclination exceeds a previously defined inclination limiting value, the control device (70) is configured to stop the drive device or to control it in the opposite direction.
3. Table (10) according to Claim 1 or 2, wherein the control device (70) is configured to control the drive device as a function of the determined inclination or the determined change in inclination of the tabletop (12) over time or the determined variable representative of the change in inclination of the tabletop over time.
4. Table (10) according to one of Claims 1 to 3, wherein the sensor device (72) is fastened to the tabletop, preferably detachably, preferably by adhesive bonding.
5. Table (10) according to one of Claims 1 to 3, wherein the sensor device (72) is fastened in the operating device, preferably detachably.
6. Table (10) according to one of Claims 1 to 3, wherein the sensor device (72) is integrated in the control device (70).
7. Table (10) according to one of the preceding claims, wherein the operating device has a manual switching device.
8. Table (10) according to one of the preceding claims, wherein it has a display device (77), which is configured to display the location and/or the magnitude of a determined change in inclination of the tabletop (12).
9. Table (10) according to Claim 8, wherein it has a database, which is configured to store the location and/or the magnitude of a determined change in inclination of the tabletop (12).
10. Table (10) according to Claim 8 or 9, wherein the display device (77) is located in the vicinity of or inside the operating device, in particular is an integral constituent part of the latter.
11. Method for controlling an electrically height-adjustable table (10) according to one of the preceding claims, comprising:

    - receiving an input of a movement command by a user on the operating device,

    - as a reaction to the movement command, determining an initial absolute inclination of the tabletop (12) by means of the computing device, by means of an initial detection of acceleration components via the acceleration sensor (74) in a three-dimensional Cartesian coordinate system oriented on the basis of the installation orientation of the acceleration sensor (74) and a comparison of the detected acceleration components with known acceleration components under the same conditions in a global three-dimensional Cartesian coordinate system (741), wherein the z-axis thereof is oriented in the direction of gravity, and any offset correction of the detected acceleration components and any inversion of the acceleration component in the z direction and a conversion of the detected and possibly offset-corrected and/or inverted acceleration components into an angle or vector of inclination, and

    - subsequently moving the tabletop (12) upwards or downwards in accordance with the movement command via the drive device, and

    - determining an absolute inclination of the tabletop (12) by means of a detection of acceleration components by the acceleration sensor (74) and determining a change in inclination of the tabletop (12) over time or a variable representative of the change in inclination of the tabletop (12) over time by the computing device during the movement of the tabletop (12), wherein the determination of the change in inclination of the tabletop (12) over time is carried out by means of detecting angular velocity components via the gyroscope (73), possibly inverting the angular velocity components and summing the angular velocity components and comparing the determined sum of the angular velocity components with a previously defined angular velocity limiting value.
12. Method according to Claim 11, for the case in which the determined sum of the angular velocity components exceeds the angular velocity limiting value, further comprising stopping the drive device or controlling the drive device in the opposite direction and/or, for the case in which the determined absolute inclination exceeds a previously defined inclination limiting value, comprising stopping the drive device or controlling the drive device in the opposite direction.
13. Method according to Claim 11 or 12, comprising controlling the drive device by means of the control device (70) as a function of the determined inclination or determined change in inclination of the tabletop (12) over time or the determined variable representative of the change in inclination of the tabletop (12) over time.
14. Method according to one of Claims 11 to 13, comprising displays of the location and/or the magnitude of a determined change in inclination of the tabletop (12) by means of the display device.
15. Method according to Claim 14, comprising storing the location and/or the magnitude of a determined change in inclination of the tabletop (12) via the database.

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