EP2905408B1 - Procédé de détection d'obstacles à appliquer à un vantail à mouvement horizontal ou pivotant autour d'un axe vertical - Google Patents

Procédé de détection d'obstacles à appliquer à un vantail à mouvement horizontal ou pivotant autour d'un axe vertical Download PDF

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Publication number
EP2905408B1
EP2905408B1 EP15153752.9A EP15153752A EP2905408B1 EP 2905408 B1 EP2905408 B1 EP 2905408B1 EP 15153752 A EP15153752 A EP 15153752A EP 2905408 B1 EP2905408 B1 EP 2905408B1
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EP
European Patent Office
Prior art keywords
gate
acceleration
control unit
unit
activation
Prior art date
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EP15153752.9A
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German (de)
English (en)
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EP2905408A1 (fr
Inventor
Pierpaolo De Filippi
Sergio Matteo Savaresi
Ivo Emanuele Francesco Boniolo
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Politecnico di Milano
BFT SpA
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Politecnico di Milano
BFT SpA
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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E05F15/635—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by push-pull mechanisms, e.g. flexible or rigid rack-and-pinion arrangements
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/55—Obstruction or resistance detection by using load sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/40—Physical or chemical protection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/73—Multiple functions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates

Definitions

  • the present finding concerns a method for detecting obstacles to be applied to a gate moving horizontally or pivoting about a vertical axis, according to the general part of claim 1.
  • Gates are increasingly motorised by means of electrical actuation operators. Legislation in force obliges manufacturers to implement measures suitable for preventing and reducing the effects of a collision or crushing of people or things present in the manoeuvring area of the gate.
  • the dangers connected with the motorised manoeuvring of a gate are many and partially protected by the application of photocells that recognise when people or objects pass during such manoeuvring.
  • This protective measure, if applied by itself, is not however considered adequate to comply with the need to make a system safe. The reason for this is linked to the fact that it does not always protect against accidental contact between the mobile gate and possible obstacles present on its trajectory.
  • the legislation offers the possibility of a mobile gate coming into contact with an obstacle, provided that the forces exerted on it are limited in terms of maximum peak and of application time.
  • the peak of the force deriving from crushing must be kept below a maximum value of 400 N, while in a maximum time period of 5s the gate must substantially free the obstacle, exerting a residual force of no more than 25 N, measured using a load cell and a spring with predetermined elastic constant.
  • the manufacturers of motorisation systems have adopted numerous methods and implemented numerous devices suitable for reducing the operating forces through systems for recognising the condition of the motor's rotor being blocked or through application to the edges to be protected of deformable ribs equipped with pressure-sensitive elements (manometers, metallic cables kept under tension by spring systems that act on microswitches, pairs of photoelectric sensors, resistive profiles).
  • the deformable ribs almost always manage to limit the forces exerted within acceptable limits, since the sensitive element is directly applied to the area involved in making contact with the obstacle and, being equipped with an elastic deformation section, dampen the reaction forces within acceptable limits, even if the reaction times of the control unit are long.
  • Document EP1970516 A2 describes an example of application of an accelerometer fixedly connected to a pivoting gate, the motion of which is rotation-translation: the signal transduced varies as a function of the rotation, making it possible to determine both the position of the gate with respect to the open and closed positions, and the presence of obstacles through the analysis of the variation of the component orthogonal to the gate of the downward acceleration, normally equal to "g".
  • Document ES 1071173 U describes an accelerometer associated with the end element of a gate moving exclusively vertically, in which he values of the signal are compared with a range of predetermined values and obtained in an initial calibration step.
  • reaction time with conventional detection systems i.e. those that intercept the blocked situation of the rotor
  • it is always necessary to apply a damping profile on the contact edge generally but not exclusively consisting of a rubber profile with hollow section, the deformation of which anticipates and attenuates the effects of direct metal-on-metal contact. This effect is particularly significant in the case of horizontal sliding gates, the kinetic energy of which discharges completely and almost instantaneously at the moment of contact.
  • the present finding thus proposes to make a method for detecting obstacles that comprises an at least bi-axial acceleration sensor and some treatment and processing steps of the signal aimed at anticipating the reaction to the collision and improving the robustness of the intervention criterion.
  • the gate 1 slides on a linear track from an open position to a closed position, encountering the obstacle 2 at the closing point.
  • the gate is actuated by the driving unit 3 with a speed V x 9 and is controlled by the unit 4, here represented for the sake of simplicity as an integral part of the control unit of the driving unit 3.
  • the first part of the control method is thus represented in fig. 2 : the activation unit 25 manages the activation logic, described hereafter, by sending an obstacle signal to the control unit of the motor 4, based on a series of suitably processed and treated input signals. Some of these signals are generated by the accelerometer 5, while others are generated directly by the control unit of the motor 3.
  • the input signal 7, proportional to the horizontal acceleration (A x ) of the gate 1, has a high pass filter 10 applied to it, with limit frequency f1 and a low pass filter 11 with limit frequency f2.
  • the signal sampled is thus rebuilt with a rebuilder 13 FOH, to be transmitted to the unit 25.
  • the signal 8, proportional to the vertical acceleration A z of the gate 1 has a high pass filter 22 applied to it, with limit frequency f 3 and a low pass filter 23, with limit frequency f 4 , also rebuilt with a rebuilder 13.
  • the two signals of the accelerometer are thus acquired independently from each other and parametrised by the activation unit. These signals are not however sufficient to ensure adequate robustness of the activation criterion: it is thus suitable to carry out an integration of the horizontal acceleration signal, which creates a signal 12 through the integrator 15 and then once again filter, with a high pass filter 16, the signal that, rebuilt through the rebuilder 13, will be another parameter indicating the variation in speed of displacement 17 of the gate in the direction of the obstacle.
  • Another condition for identifying the obstacle interception situation is given by the analysis of the actual manoeuvring speed 18, which is made possible through the acquisition of a signal provided by the control unit of the motor, filtered with a low pass filter 19 and compared with a lower limit value V x,TH .
  • the parameter of the reference speed 21 is used which, if greater than a certain value, identifies the condition of the motor in operation.
  • This parameter does not need any filtering, given that it is a parameter provided by the control unit 4 of the motor and it is assigned based on control commands of the unit itself.
  • the unit 25 can apply the activation criteria, indicated in fig. 3 . It represents the 2 states, "ON" 29, relative to triggering equal to 1 as activation state, i.e. detection of the obstacle and "OFF" 28, relative to triggering equal to 0, i.e. no obstacle, respectively, as well as the switching criteria from one state to another.
  • 26 is the criterion of passing from 28 to 29 and 27 is the criterion that vice versa goes from state 29 to 28.
  • the criterion 26 comprises five different conditions to be satisfied simultaneously, three of them relating to parameters acquired by the accelerometer.
  • the horizontal acceleration value A x,f 12 processed by the application of at least one filter must be less than or equal to a certain threshold A x,TH, with the acceleration being considered negative with respect to the longitudinal reference axis.
  • a certain threshold A x,TH the acceleration being considered negative with respect to the longitudinal reference axis.
  • the value A z,m 24 of the vertical acceleration processed by the application of at least one filter must be less than a threshold A z, TH , this being a typical condition linked to vertical interference not resulting from a true obstacle.
  • the integration in time of the acceleration A x 12 processed, i.e. speed V x 17, must be below the threshold V x,TH .
  • the other two conditions are, on the other hand, provided by parameters acquired by the control unit of the motor 4, given that it is a reference speed 21 assigned based on the operating or stop state of the motor and on a signal 20 proportional to the actual instantaneous speed of the gate acquired through an encoder or similar, not represented here for the sake of simplicity.
  • the criterion 27 for switching the trigger from 1 to 0 is simpler, since it is given by a single condition being satisfied, i.e. the decrease in speed 20 below a threshold Speed TH low , which represents the situation of the motor being stopped, faced with which it makes no sense to provide any reaction to the collision.
  • Fig. 4 represents a graph of the reaction forces expressed in Newtons and measured as the effect of the impact of the gate as a function of time in seconds, in the state of the art and with the described method.
  • the time to represents the moment of activation of all three different methods, here compared based on experimental measurements.
  • the curve 31 represents the variation of the force according to the conventional activation method, with the application of a rubber damping rib on the contact edge: it is clear that there is a significant reaction time delay (t 0 -t 1 ), where t 1 is the moment of contact and t 0 is the moment of activation, even if the forces in play are limited within acceptable limits.
  • the curve 32 represents the variation of the same interception method, but without a damping rib: it is clear that the reaction time (t 2 -t 0 ) is lower, but the maximum force peak obtained is excessive.
  • the curve 33 represents, the variation of the force with the method of the present finding. It should be noted that without applying any damping element a high reactivity is obtained in terms of time (t 3 -t 0 ) and this also translates into an acceptable peak force.
  • Fig. 5 represents this variant.
  • the accelerometer is installed at the tip of the gate, with an axis parallel to the tangent to the trajectory of the gate 1.

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  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Position Or Direction (AREA)

Claims (6)

  1. PROCEDE DE DETECTION D'OBSTACLES A APPLIQUER A UN VANTAIL A MOUVEMENT HORIZONTAL OU PIVOTANT AUTOUR D'UN AXE VERTICAL, ce vantail (1) comprenant au moins un moyen de détection (5) adapté pour déterminer son accélération, qui comprend les étapes suivantes :
    a) le moyen de détection (5) détermine les valeurs d'accélération horizontale (7) et verticale (8) du vantail (1), les traite et les transmet à une unité d'activation (25) ;
    b) l'unité d'activation (25) compare les valeurs d'accélération avec une plage de valeurs prédéterminées en fonction d'un critère prédéterminé (26) et vérifie l'état de l'unité de moteur (3) par le biais d'une unité de commande (4) ;
    c) l'unité d'activation (25) transmet un signal de reconnaissance d'obstacle à l'unité de commande (4) du vantail (1) ;
    d) l'unité de commande (4) commande une unité de moteur (3) pour effectuer une manoeuvre pour éviter l'obstacle (2),
    ledit procédé étant caractérisé en ce que le critère d'activation (26) est fourni par la présence simultanée des trois conditions suivantes :
    - la valeur de l'accélération verticale (24) traitée par l'application d'au moins un filtre est inférieure à un seuil prédéterminé (Az, TH) ;
    - la valeur de l'accélération horizontale (12) traitée par l'application d'au moins un filtre est inférieure à un seuil prédéterminé (Ax, TH) ;
    - la vitesse horizontale (17), obtenue par l'intégration dans le temps de la valeur de l'accélération horizontale (12), est inférieure à un seuil prédéterminé (Vx, TH).
  2. PROCEDE DE DETECTION D'OBSTACLES, selon la revendication 1,
    caractérisé en ce que l'accélération verticale (24), l'accélération horizontale (12) et la vitesse (17) traitées maximales sont stockées par l'unité de commande (4) et par l'unité d'activation (25) durant une phase initiale d'apprentissage.
  3. PROCEDE DE DETECTION D'OBSTACLES, selon la revendication 1 ou 2,
    caractérisé en ce que le critère (26) comprend également une condition relative à la vitesse minimale (20) du vantail (1) et à la vitesse de référence (21), ces deux valeurs étant déterminées par l'unité de commande (4).
  4. PROCEDE DE DETECTION D'OBSTACLES, selon la revendication 3,
    caractérisé en ce que la condition d'activation de l'unité (5) peut être commutée lors de la réduction de la vitesse (20) du vantail (1) en fonction de critères fournis par une condition (27), dans laquelle la vitesse (20) du vantail baisse au-dessous d'une valeur prédéterminée.
  5. PROCEDE DE DETECTION D'OBSTACLES, selon une ou plusieurs des revendications précédentes, caractérisé en ce que la transmission entre l'unité d'activation (25) et l'unité de commande (4) a lieu par fréquence radio.
  6. PROCEDE DE DETECTION D'OBSTACLES, selon une ou plusieurs des revendications précédentes, caractérisé en ce que l'unité d'activation (25) est intégrée dans l'unité de commande (4).
EP15153752.9A 2014-02-05 2015-02-04 Procédé de détection d'obstacles à appliquer à un vantail à mouvement horizontal ou pivotant autour d'un axe vertical Active EP2905408B1 (fr)

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Application Number Priority Date Filing Date Title
ITVI20140035 2014-02-05

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EP2905408B1 true EP2905408B1 (fr) 2017-03-08

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EP15153752.9A Active EP2905408B1 (fr) 2014-02-05 2015-02-04 Procédé de détection d'obstacles à appliquer à un vantail à mouvement horizontal ou pivotant autour d'un axe vertical

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201800008011A1 (it) * 2018-08-09 2020-02-09 Gunnebo Entrance Control Ltd Safety sensing swing gate/door unit having a moving leaf

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Publication number Priority date Publication date Assignee Title
ITPD20070093A1 (it) 2007-03-15 2008-09-16 Ballan S P A Dispositivo per il controllo della sicurezza di un serramento durante la sua movimentazione.
FR2941991B1 (fr) 2009-02-06 2011-02-25 Somfy Sas Procede de detection de la presence d'un element entre un seuil d'une ouverture et une extremite d'un ecran domotique motorise.
ES1071173Y (es) 2009-06-30 2010-05-05 Jcm Technologies S A Conjunto de puerta automatica de movimiento vertical

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