EP3235966B1 - Canopy system and method for operating such a canopy system - Google Patents

Canopy system and method for operating such a canopy system Download PDF

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Publication number
EP3235966B1
EP3235966B1 EP17000668.8A EP17000668A EP3235966B1 EP 3235966 B1 EP3235966 B1 EP 3235966B1 EP 17000668 A EP17000668 A EP 17000668A EP 3235966 B1 EP3235966 B1 EP 3235966B1
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EP
European Patent Office
Prior art keywords
sensor
canopy
predetermined line
motor
final element
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EP17000668.8A
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German (de)
French (fr)
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EP3235966A1 (en
Inventor
Roland Landgraf
Dominik Grieger
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Aquacomet GmbH
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Aquacomet GmbH
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H3/00—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons
    • E04H3/10—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons for meetings, entertainments, or sports
    • E04H3/14—Gymnasiums; Other sporting buildings
    • E04H3/16—Gymnasiums; Other sporting buildings for swimming
    • E04H3/165—Gymnasiums; Other sporting buildings for swimming having movable parts
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/06—Safety devices; Coverings for baths
    • E04H4/08—Coverings consisting of rigid elements, e.g. coverings composed of separate or connected elements
    • E04H4/086—Sliding covers

Definitions

  • the present invention relates to a roofing system according to the preamble of claim 1 and a method for operating such a roofing system.
  • a generic roofing system is from the DE 20 2013 009 331 U1 known.
  • roofs of such roofing systems which usually consist of several, self-moving elements, for example, serve outdoors to protect in the extended state ("roofing closed") swimming pool or outdoor seating from adverse weather conditions.
  • the elements can be so interlocked, d. h., Push that the pool or the outdoor area is at least for the most part not covered (“roofing open”).
  • the object of the present invention is to provide a roofing system which has as few disadvantages as possible and in particular avoids the aforementioned disadvantages.
  • the object of the present invention is furthermore to specify a method for operating such a roofing system.
  • FR 2 802 557 discloses a roofing system according to the preamble of the first claim.
  • FIG. 1 shows, as already stated, a known roofing system in side view.
  • the roofing ÜD of the roofing system is arranged on a substrate U.
  • the underground U may be z. B. a swimming pool or a patio.
  • the roof ÜD is shown in fully extended condition. It comprises several elements, namely a first element E1, a last element EL and further elements E2 and E3 arranged between these elements E1, EL.
  • the first element E1 is fixedly arranged on the substrate U, but may also be arranged displaceably.
  • the last element EL and the further elements E2, E3 are pressed against the first element E1 along a straight line (in Fig.
  • Fig. 2 shown with two-sided arrows and denoted by the reference numeral "L") on the first element E1 out (and back again) freely movable, z. B. at least for the most part in the first element E1 into it.
  • This condition is in Fig. 2 shown, which also shows the roofing system according to the invention in side view.
  • the last element EL has at least two motor units M1, M2, each of which contains at least one of the electric motors.
  • the electric motors of the motor units M1, M2 cause in operation by means of in the Fig.
  • wheel units R1, R2 a method of the last element EL and, as a result, a method of all other elements E2, E3 on the first element E1 to (and into this, at least for the most part, a method in this direction is in With regard to a possibly below the canopy swimming pool or a free seat hereinafter referred to as "opening") and again away from the first element E1 (Method of the elements in the opposite direction, which is hereinafter also referred to as "closing").
  • the process of the last element EL and the further elements E2, E3 is carried out from an initial position P1 of the last element EL to an end position P2 thereof and back again.
  • the two positions P1, P2 are from the Fig. 1 and 2 seen.
  • Fig. 3 shows the known roofing system in plan view in the half-open state.
  • the known roofing system further comprises a control unit CTRL, which serves to control the two motor units M1, M2 and thus a process of the last element EL and the further elements E2, E3 such that, in operation in the one process direction, the last element EL from the initial position P1 to the end position P2 is movable and vice versa in the opposite direction accordingly.
  • CTRL control unit
  • each of these two positions P1, P2 can serve as starting position for the method.
  • the control unit CTRL is furthermore designed such that it can influence the rotational speeds u1, u2 of the two motor units M1, M2 independently of one another and can thus minimize deviations from the predetermined line L below.
  • the Telfiguren 4a and 4b which are part of the overall figure 4, show a closing process with a possible course, viewed from above.
  • the partfig. 4a shows how the last element EL and, as a result, the further element E2 when closing the roofing system (initially) can deviate laterally from the predetermined line L (cf. Fig. 4a the arrows attached directly to the last element EL, which are drawn to be non-parallel to the predetermined line L).
  • the last element EL and thus indirectly also the further element E2 is additionally moved in the direction of the predetermined line L, whereby a total of the entire roofing ÜD deviates less from the predetermined line L than before.
  • the Fig. 5 shows, viewed from the front, for reasons of clarity, only a portion of the canopy ÜD a possible, non-inventive roofing system, namely the last element EL together with the motor units M1, M2 and the wheel units R1, R2, disposed on the substrate U, and the predetermined Line L. Because of the selected view, the latter is shown from the front only as a point, since it runs perpendicular to the plane of the drawing. Furthermore, symbolically, the control unit CTRL is still shown.
  • a sensor strip SL and a sensor counterpart SG shown. The sensor strip SL and the sensor counterpart SG are in Fig. 5 additionally shown as clearly enlarged details.
  • the sensor strip SL contains a plurality of sensors S whose positions within the sensor strip SL (and thus with respect to the last element EL) of the control unit CTRL are known. From the Fig. 5 It can also be seen that the sensor strip SL is arranged on an end region of the last element EL opposite the substrate U. On the other hand, the sensor counterpart SG is embedded in the surface of the substrate U or arranged on it and lies (at the in Fig. 5 shown situation) of the sensor strip SL opposite.
  • the sensor strip SL contains a multiplicity of sensors S which are arranged transversely to the predetermined line L and which react, for example, to light reflected by a respective sensor counterpart SG or on a between a respective sensor S and a sensor counterpart SG when moving the canopy ÜD occurring magnetic field. Other known sensor techniques are also applicable here.
  • the individual sensors are indicated only extremely schematically because of their small size. In the case of the method according to the invention, if the roofing ÜD is actuated by a motor, the sensor strip SL will at some point (as in FIG Fig. 5 shown) across a sensor counterpart SG (for more details, see below with reference to the description Fig. 6 ).
  • This sensor S then indicates this to the control unit CTRL, which assumes this both as a measure of the lateral deviation of the last element EL from the predetermined line L and as a measure of the distance traveled by the starting point P1 or P2 path of the last element EL.
  • FIG. 6a shows another possible, not according to the invention, embodiment of the roofing system, by means of which the method according to the invention will be explained in more detail.
  • the Fig. 6 shows the roofing system in side view, while the sectionfig. 6a shows only the last element EL together with the sensor strip SL from below, ie, from the side facing the background U. That in the Operafig.
  • Sensor integrator SG also shown in FIG. 6a, is not part of the last element EL but part of the background U, as already described. It is therefore only shown here as fictitious.
  • Fig. 6 the background U is shown, in which a plurality of sensor counterparts SG is introduced. Also, the predetermined line L is shown. The sensor counterparts SG are arranged along the predetermined line L.
  • the predetermined line L is virtual and, in practice, a collection of coordinates by means of which the control unit CTRL calculates how the motor units M1, M2 of the last element EL are to be controlled in order to reach the end positions P2 and P1, respectively.
  • the roofing ÜD is shown with the first element E1, another element E2 and the last element EL.
  • the sensor strip SL with the plurality of sensors S is arranged at the bottom, ie, at the lower side US facing the background U, transversely to the predetermined line L.
  • control unit CTRL knows both the position of the respective sensor counterpart SG and thus the distance of the respective sensor element S from the starting position P1 or P2, as well as the position of the respective sensor S in the last element EL, and thus also the lateral distance of this Sensor S of the predetermined line L, the control unit CTRL calculates from these information by means of known from navigation technology and algorithms used there and / or methods known from odometry values, by means of which the motor units M1 and M2 of the wheel units R1 and R2 separately controlled so as to adjust the rotational speeds u1, u2 of the motor units M1 and M2 independently of each other.
  • the last element EL and thus the entire roofing ÜD, can again lead in the direction of the predetermined line L, whereby the lateral deviation of the last element EL from the predetermined line L is reduced.
  • Such lateral deviations can be known to have their cause in traction as well as loose and uneven ground.
  • the Fig. 7 shows an advantageous embodiment of the present invention. It differs from the embodiment Fig. 6 in that the sensor faces SG are arranged at mutually equal distances d, ie equidistant from each other, on or in the ground (which is the case in the embodiment after Fig. 6 is not necessary) and that the last element EL has a second sensor strip SL with a plurality of sensors S, wherein the two sensor strips SL are arranged at the same distance d from each other as the sensor counterparts SG from each other (see the Operafig 7a; the sensor counterparts SG, as in the subfigure 6a, are shown only fictitiously).
  • the control unit CTRL determines not only those relating to the description Fig.
  • control unit CTRL can determine the extent of canting (eg in angular degrees) by applying simple geometric theorems.

Description

Die vorliegende Erfindung betrifft ein Überdachungssystem gemäß dem Oberbegriff von Patentanspruch 1 sowie ein Verfahren zum Betreiben eines solchen Überdachungssystems. Ein gattungsgemäßes Überdachungssystem ist aus der DE 20 2013 009 331 U1 bekannt.The present invention relates to a roofing system according to the preamble of claim 1 and a method for operating such a roofing system. A generic roofing system is from the DE 20 2013 009 331 U1 known.

Die Überdachungen derartiger Überdachungssysteme, die üblicherweise aus mehreren, in sich verfahrbaren Elementen bestehen, dienen beispielsweise im Freien dazu, um im ausgefahrenen Zustand ("Überdachung geschlossen") Schwimmbecken oder Freisitze vor negativen Witterungseinflüssen zu schützen. Will man so geschützte Schwimmbecken oder Freisitze jedoch benutzen, so lassen sich die Elemente derart ineinander verfahren, d. h., schieben, dass das Schwimmbecken bzw. der Freisitz zumindest zum überwiegenden Teil nicht mehr überdacht ist ("Überdachung geöffnet").The roofs of such roofing systems, which usually consist of several, self-moving elements, for example, serve outdoors to protect in the extended state ("roofing closed") swimming pool or outdoor seating from adverse weather conditions. However, if you want to use so protected swimming pools or outdoor seats, so the elements can be so interlocked, d. h., Push that the pool or the outdoor area is at least for the most part not covered ("roofing open").

Beim Betätigen einer solchen Überdachung, d. h., beim Öffnen und Schließen, besteht jedoch die Gefahr, dass die einzelnen Elemente miteinander verkanten und/oder sich nicht entlang einer gemeinsamen Linie bewegen (z. B. seitlich ausbrechen, von oben betrachtet) und so das Betätigen der Überdachung erschweren oder gar verhindern. Deshalb wird eine solche Überdachung herkömmlich mittels externer Führungsschienen geführt, so dass solche Nachteile nicht mehr auftreten können. Allerdings haben derartige Führungsschienen ebenfalls gravierende Nachteile: sie sind Stolperfallen, in denen man z. B. mit Schuhen, insbesondere solchen mit kleinen Absätzen, oder aber auch mit den Zehen beim barfuss Gehen hängen bleiben kann, was bekanntlich zu Stürzen mit z. T. gravierenden Folgen führen kann. Um diese Gefahr zu bannen, könnte man natürlich die freien Räume innerhalb der Führungsschienen bei Nichtgebrauch mit Füllmaterial wie z. B. Leisten oder Sand ausfüllen und so diese Stolperfallen entschärfen. Allerdings muss man dann vor jedem Gebrauch der Überdachung das Füllmaterial wieder entfernen, was zumindest lästig ist.When operating such a canopy, ie, when opening and closing, there is a risk, however, that the individual elements tilt together and / or do not move along a common line (eg, break sideways, viewed from above) and thus actuate the roofing difficult or even prevent. Therefore, such a roofing is conventionally performed by means of external guide rails, so that such disadvantages can no longer occur. However, such guide rails also have serious disadvantages: they are trip hazards in which z. B. with shoes, especially those with small heels, or even with the toes when walking barefoot, which is known to fall with z. T. serious consequences. To avert this danger, one could of course the free spaces within the guide rails when not in use with filling material such. B. Fill bars or sand and thus defuse these tripping hazards. Indeed you must then remove the filler before each use of the roof, which is at least annoying.

Aufgabe der vorliegenden Erfindung ist es, ein Überdachungssystem zu schaffen, das möglichst wenig Nachteile aufweist und das insbesondere die vorgenannten Nachteile vermeidet. Aufgabe der vorliegenden Erfindung ist es weiterhin, ein Verfahren anzugeben zum Betreiben eines solchen Überdachungssystems.The object of the present invention is to provide a roofing system which has as few disadvantages as possible and in particular avoids the aforementioned disadvantages. The object of the present invention is furthermore to specify a method for operating such a roofing system.

Die vorstehend genannte DE 20 2013 009 331 U1 offenbart ein Überdachungssystem ohne Führungsschienen. Mit der vorliegenden Erfindung soll eine weitere Lösung bereitgestellt werden.The above DE 20 2013 009 331 U1 discloses a roofing system without guide rails. With the present invention, a further solution is to be provided.

FR 2 802 557 offenbart ein Überdachungssystem gemäß dem Oberbegriff des ersten Anspruchs. FR 2 802 557 discloses a roofing system according to the preamble of the first claim.

Diese Aufgabe wird bei einem gattungsgemäßen Überdachungssystem mit den kennzeichnenden Merkmalen von Patentanspruch 1 gelöst sowie bei einem Verfahren zum Betreiben eines solchen Überdachungssystems durch die Merkmale von Patentanspruch 3. Vorteilhafte Aus- und Weiterbildungen sind in jeweiligen Unteransprüchen gekennzeichnet.This object is achieved in a generic roofing system with the characterizing features of claim 1 and in a method for operating such a canopy system by the features of claim 3. Advantageous embodiments and further developments are characterized in respective claims.

Nachstehend wird die Erfindung anhand einer Zeichnung näher erläutert. Dabei zeigen:

  • Die Fig. 1 und 2 ein bekanntes Überdachungssystem in Seitenansicht; je 1mal in auseinandergezogenem, d. h., in geschlossenem Zustand und in zusammengeschobenem, d. h., in geöffnetem Zustand,
  • die Fig. 3 das Überdachungssystem nach den Fig. 1 und 2 in Draufsicht, jedoch in halb geöffnetem Zustand,
  • die Fig. 4a und 4b rein schematisch einen möglichen Schließvorgang,
  • die Fig. 5 und 6 mit Teilfig. 6a mögliche, nicht erfindungsgemäße Überdachungssysteme unter Anwendung des erfindungsgemäßen Verfahrens und
  • die Fig. 7 mit Teilfig. und 7a ein Ausführungsbeispiel des erfindungsgemäßen Überdachungssystems bzw. Teile davon einschließlich einer weiteren vorteilhaften Ausführungsform des erfindungsgemäßen Verfahrens.
The invention will be explained in more detail with reference to a drawing. Showing:
  • The Fig. 1 and 2 a known roofing system in side view; each time in an exploded, ie, in the closed state and in zusammengeschobenem, ie, in the open state,
  • the Fig. 3 the roofing system after the Fig. 1 and 2 in plan view, but in half open condition,
  • the Fig. 4a and 4b purely schematically a possible closing operation,
  • the Fig. 5 and 6 with partfig. 6a possible, not according to the invention roofing systems using the method according to the invention and
  • the Fig. 7 with partfig. and FIG. 7a shows an exemplary embodiment of the roofing system according to the invention or parts thereof, including FIG a further advantageous embodiment of the method according to the invention.

Figur 1 zeigt, wie bereits angegeben, ein bekanntes Überdachungssystem in Seitenansicht. Die Überdachung ÜD des Überdachungssystems ist dabei auf einem Untergrund U angeordnet. Der Untergrund U mag z. B. ein Schwimmbecken oder ein Freisitz sein. Die Überdachung ÜD ist in voll ausgefahrenem Zustand gezeigt. Sie weist mehrere Elemente auf, nämlich ein erstes Element E1, ein letztes Element EL sowie zwischen diesen Elementen E1, EL angeordnete weitere Elemente E2 und E3. Das erste Element E1 ist ortsfest auf dem Untergrund U angeordnet, kann aber auch verschiebbar angeordnet sein. Das letzte Element EL und die weiteren Elemente E2, E3 sind gegen das erste Element E1 entlang einer geraden Linie (in Fig. 2 mit beidseitigen Pfeilen dargestellt und mit dem Bezugszeichen "L" bezeichnet) auf das erste Element E1 hin (und auch wieder zurück) frei verfahrbar, z. B. zumindest größtenteils in das erste Element E1 hinein. Dieser Zustand ist in Fig. 2 dargestellt, die das erfindungsgemäße Überdachungssystem ebenfalls in Seitenansicht zeigt. FIG. 1 shows, as already stated, a known roofing system in side view. The roofing ÜD of the roofing system is arranged on a substrate U. The underground U may be z. B. a swimming pool or a patio. The roof ÜD is shown in fully extended condition. It comprises several elements, namely a first element E1, a last element EL and further elements E2 and E3 arranged between these elements E1, EL. The first element E1 is fixedly arranged on the substrate U, but may also be arranged displaceably. The last element EL and the further elements E2, E3 are pressed against the first element E1 along a straight line (in Fig. 2 shown with two-sided arrows and denoted by the reference numeral "L") on the first element E1 out (and back again) freely movable, z. B. at least for the most part in the first element E1 into it. This condition is in Fig. 2 shown, which also shows the roofing system according to the invention in side view.

Das Verfahren der weiteren Elemente E2, E3 und des letzten Elements EL, d. h., das Öffnen und Schließen des bekannten Überdachungssystems, erfolgt mittels Elektromotoren. Zu diesem Zweck weist das letzte Element EL wenigstens zwei Motoreinheiten M1, M2 auf, von denen eine jede mindestens einen der Elektromotoren beinhaltet. Die Elektromotoren der Motoreinheiten M1, M2 bewirken im Betrieb mittels den in den Fig. 1 und 3 stark schematisiert gezeigten Radeinheiten R1, R2 ein Verfahren des letzten Elements EL und, daraus resultierend, ein Verfahren sämtlicher weiterer Elemente E2, E3 auf das erste Element E1 zu (und in dieses hinein, zumindest zum größten Teil; ein Verfahren in diese Richtung wird im Hinblick auf ein unterhalb der Überdachung ggf. befindliches Schwimmbecken bzw. einen Freisitz nachfolgend als "Öffnen" bezeichnet) und auch wieder von dem ersten Element E1 weg (Verfahren der Elemente in die Gegenrichtung, was nachfolgend entsprechend auch als "Schließen" bezeichnet wird).The method of the further elements E2, E3 and the last element EL, ie, the opening and closing of the known roofing system, by means of electric motors. For this purpose, the last element EL has at least two motor units M1, M2, each of which contains at least one of the electric motors. The electric motors of the motor units M1, M2 cause in operation by means of in the Fig. 1 and 3 highly schematically shown wheel units R1, R2, a method of the last element EL and, as a result, a method of all other elements E2, E3 on the first element E1 to (and into this, at least for the most part, a method in this direction is in With regard to a possibly below the canopy swimming pool or a free seat hereinafter referred to as "opening") and again away from the first element E1 (Method of the elements in the opposite direction, which is hereinafter also referred to as "closing").

Das Verfahren des letzten Elements EL und der weiteren Elemente E2, E3 erfolgt von einer Anfangsposition P1 des letzten Elements EL bis zu einer Endposition P2 desselben und wieder zurück. Die beiden Positionen P1, P2 sind aus den Fig. 1 und 2 ersichtlich.The process of the last element EL and the further elements E2, E3 is carried out from an initial position P1 of the last element EL to an end position P2 thereof and back again. The two positions P1, P2 are from the Fig. 1 and 2 seen.

Fig. 3 zeigt das bekannte Überdachungssystem in Draufsicht in halb geöffnetem Zustand. Fig. 3 shows the known roofing system in plan view in the half-open state.

Wie in den Fig. 1 und 3 gezeigt, weist das bekannte Überdachungssystem weiterhin eine Steuereinheit CTRL auf, die einem Steuern der beiden Motoreinheiten M1, M2 dient und somit einem Verfahren des letzten Elements EL und der weiteren Elemente E2, E3 derart, dass im Betrieb in der einen Verfahrensrichtung das letzte Element EL von der Anfangsposition P1 bis zur Endposition P2 verfahrbar ist und in der Gegenrichtung entsprechend umgekehrt. Jede dieser beiden Positionen P1, P2 kann dabei naturgemäß als Startposition für das Verfahren dienen.As in the Fig. 1 and 3 2, the known roofing system further comprises a control unit CTRL, which serves to control the two motor units M1, M2 and thus a process of the last element EL and the further elements E2, E3 such that, in operation in the one process direction, the last element EL from the initial position P1 to the end position P2 is movable and vice versa in the opposite direction accordingly. Naturally, each of these two positions P1, P2 can serve as starting position for the method.

Die Steuereinheit CTRL ist weiterhin so ausgelegt, dass sie die Drehzahlen u1, u2 der beiden Motoreinheiten M1, M2 unabhängig voneinander beeinflussen kann und so Abweichungen von der vorgegebenen Linie L nachfolgend minimieren kann.The control unit CTRL is furthermore designed such that it can influence the rotational speeds u1, u2 of the two motor units M1, M2 independently of one another and can thus minimize deviations from the predetermined line L below.

Die Telfiguren 4a und 4b, die Teil der Gesamtfigur 4 sind, zeigen einen Schließvorgang mit einem möglichen Verlauf, von oben betrachtet. In der Teilfig. 4a ist gezeigt, wie das letzte Element EL und infolgedessen das weitere Element E2 beim Schließen des Überdachungssystems (zunächst) seitlich von der vorgegebenen Linie L abweichen können (vgl. dazu in Fig. 4a die unmittelbar am letzten Element EL angebrachten Pfeile, die als nicht parallel zur vorgegebenen Linie L verlaufend gezeichnet sind). Im weiteren Verlauf des Schließvorgangs bewirkt dann das nachstehend noch beschriebene Verfahren, dass das letzte Element EL (und somit mittelbar auch das weitere Element E2) zusätzlich auch in Richtung auf die vorgegebenen Linie L hin verfahren wird, wodurch insgesamt die gesamte Überdachung ÜD weniger von der vorgegebenen Linie L abweicht als zuvor. Dieser Vorgang ist in der Teilfig. 4a durch zwei gestrichelte Linien dargestellt, die von den beiden vorstehend angegebenen Pfeilen aus zu zwei weiteren Pfeilen verlaufen, die parallel zur vorgegebenen Linie L angeordnet sind. Der sich dadurch im weiteren Verlauf einstellende Endzustand ist dann in der Teilfig. 4b dargestellt.The Telfiguren 4a and 4b, which are part of the overall figure 4, show a closing process with a possible course, viewed from above. In the partfig. 4a shows how the last element EL and, as a result, the further element E2 when closing the roofing system (initially) can deviate laterally from the predetermined line L (cf. Fig. 4a the arrows attached directly to the last element EL, which are drawn to be non-parallel to the predetermined line L). In the further course of the closing process then causes the method described below, that the last element EL (and thus indirectly also the further element E2) is additionally moved in the direction of the predetermined line L, whereby a total of the entire roofing ÜD deviates less from the predetermined line L than before. This process is in the subfig. 4a shown by two dashed lines, which extend from the two above-mentioned arrows to two other arrows, which are arranged parallel to the predetermined line L. The resulting in the course adjusting final state is then in the Teilfig. 4b shown.

Die Fig. 5 zeigt, von vorne betrachtet, aus Gründen der Übersichtlichkeit lediglich einen Teil der Überdachung ÜD eines möglichen, nicht erfindungsgemäßen Überdachungssystems, nämlich das letzte Element EL samt den Motoreinheiten M1, M2 und den Radeinheiten R1, R2, angeordnet auf dem Untergrund U, sowie die vorgegebene Linie L. Letztere ist wegen der gewählten Ansicht von vorne nur als Punkt dargestellt, da senkrecht zur Zeichenebene verlaufend. Weiterhin ist noch, symbolisch, die Steuereinheit CTRL dargestellt. Darüber hinaus sind in Fig. 5 eine Sensorleiste SL sowie ein Sensorgegenstück SG dargestellt. Die Sensorleiste SL und das Sensorgegenstück SG sind in Fig. 5 noch zusätzlich als deutlich vergrößerte Einzelheiten gezeigt. Daraus ist auch ersichtlich, dass die Sensorleiste SL eine Mehrzahl von Sensoren S enthält, deren Positionen innerhalb der Sensorleiste SL (und somit hinsichtlich des letzten Elements EL) der Steuereinheit CTRL bekannt sind. Aus der Fig. 5 ist auch ersichtlich, dass die Sensorleiste SL an einem dem Untergrund U gegenüberliegenden Endbereich des letzten Elements EL angeordnet ist. Das Sensorgegenstück SG hingegen ist in die Oberfläche des Untergrunds U eingebettet bzw. auf diesem angeordnet und liegt (bei der in Fig. 5 gezeigten Situation) der Sensorleiste SL gegenüber. Die Sensorleiste SL enthält eine Vielzahl von quer zur vorgegebene Linie L angeordnete Sensoren S, die beispielsweise auf von einem jeweiligen Sensorgegenstück SG reflektiertes Licht reagieren oder auf ein zwischen einem jeweiligen Sensor S und einem Sensorgegenstück SG beim Verschieben der Überdachung ÜD auftretendes Magnetfeld. Andere bekannte Sensortechniken sind hier ebenfalls anwendbar. Die einzelnen Sensoren sind wegen ihrer Kleinheit nur äußerst schematisch angedeutet. Beim erfindungsgemäßen Verfahren wird, wenn die Überdachung ÜD motorisch betätigt wird, die Sensorleiste SL irgendwann (so wie in Fig. 5 dargestellt) über ein Sensorgegenstück SG hinweg gleiten (Näheres dazu siehe nachstehend anhand der Beschreibung zu Fig. 6). Dieses registriert derjenige der Sensoren S der Sensorleiste SL, der über das Sensorgegenstück SG hinweg gleitet. Dieser Sensor S zeigt dies dann der Steuereinheit CTRL an, welche dies sowohl als Maß für die seitliche Abweichung des letzten Elements EL von der vorgegebenen Linie L als auch als Maß für den vom Startpunkt P1 bzw. P2 zurückgelegten Weg des letzten Elements EL annimmt.The Fig. 5 shows, viewed from the front, for reasons of clarity, only a portion of the canopy ÜD a possible, non-inventive roofing system, namely the last element EL together with the motor units M1, M2 and the wheel units R1, R2, disposed on the substrate U, and the predetermined Line L. Because of the selected view, the latter is shown from the front only as a point, since it runs perpendicular to the plane of the drawing. Furthermore, symbolically, the control unit CTRL is still shown. In addition, in Fig. 5 a sensor strip SL and a sensor counterpart SG shown. The sensor strip SL and the sensor counterpart SG are in Fig. 5 additionally shown as clearly enlarged details. It can also be seen that the sensor strip SL contains a plurality of sensors S whose positions within the sensor strip SL (and thus with respect to the last element EL) of the control unit CTRL are known. From the Fig. 5 It can also be seen that the sensor strip SL is arranged on an end region of the last element EL opposite the substrate U. On the other hand, the sensor counterpart SG is embedded in the surface of the substrate U or arranged on it and lies (at the in Fig. 5 shown situation) of the sensor strip SL opposite. The sensor strip SL contains a multiplicity of sensors S which are arranged transversely to the predetermined line L and which react, for example, to light reflected by a respective sensor counterpart SG or on a between a respective sensor S and a sensor counterpart SG when moving the canopy ÜD occurring magnetic field. Other known sensor techniques are also applicable here. The individual sensors are indicated only extremely schematically because of their small size. In the case of the method according to the invention, if the roofing ÜD is actuated by a motor, the sensor strip SL will at some point (as in FIG Fig. 5 shown) across a sensor counterpart SG (for more details, see below with reference to the description Fig. 6 ). This registers that of the sensors S of the sensor strip SL, which slides over the sensor counterpart SG away. This sensor S then indicates this to the control unit CTRL, which assumes this both as a measure of the lateral deviation of the last element EL from the predetermined line L and as a measure of the distance traveled by the starting point P1 or P2 path of the last element EL.

Fig. 6 samt ihrer Teilfig. 6a zeigt eine andere mögliche, nicht erfindungsgemäße, Ausführungsform des Überdachungssystems, anhand derer das erfindungsgemäße Verfahren näher erläutert wird. Die Fig. 6 zeigt das Überdachungssystem in Seitenansicht, während die Teilfig. 6a lediglich das letzte Element EL samt der Sensorleiste SL von unten zeigt, d. h., von der dem Untergrund U zugewandten Seite. Das in der Teilfig. 6a ebenfalls gezeigte Sensorgegenstück SG ist nicht Teil des letzten Elements EL, sondern Teil des Untergrunds U, wie bereits beschrieben. Es ist deshalb hier nur als fiktiv dargestellt. Fig. 6 together with her partfig. FIG. 6a shows another possible, not according to the invention, embodiment of the roofing system, by means of which the method according to the invention will be explained in more detail. The Fig. 6 shows the roofing system in side view, while the Teilfig. 6a shows only the last element EL together with the sensor strip SL from below, ie, from the side facing the background U. That in the Teilfig. Sensor integrator SG, also shown in FIG. 6a, is not part of the last element EL but part of the background U, as already described. It is therefore only shown here as fictitious.

In Fig. 6 ist der Untergrund U gezeigt, in dem eine Mehrzahl von Sensorgegenstücken SG eingebracht ist. Auch die vorgegebene Linie L ist dargestellt. Die Sensorgegenstücke SG sind entlang der vorgegebenen Linie L angeordnet. Die vorgegebene Linie L ist virtuell und in der Praxis eine Sammlung von Koordinaten, mit Hilfe derer die Steuereinheit CTRL berechnet, wie die Motoreinheiten M1, M2 des letzten Elements EL zu steuern sind, um die Endposition P2 bzw. P1 zu erreichen. Auf dem Untergrund U ist die Überdachung ÜD dargestellt mit dem ersten Element E1, einem weiteren Element E2 und dem letzten Element EL. An der Stirnseite des letzten Elements EL ist unten, d. h., an der dem Untergrund U zugewandten unteren Seite US, quer zur vorgegebenen Linie L, die Sensorleiste SL mit der Vielzahl von Sensoren S angeordnet. Wenn nun die Überdachung ÜD zum Schließen oder Öffnen des Überdachungssystems über den Untergrund U entlang der vorgegebenen Linie L bewegt wird, dann wird gemäß dem erfindungsgemäßen Verfahren jedes Mal, wenn sich die Sensorleiste SL über eines der Sensorgegenstücke SG hinweg bewegt, derjenige Sensor S, der sich gerade über dem Sensorgegenstück SG befindet, dieses erkennen. Da der Steuereinheit CTRL dabei sowohl die Position des jeweiligen Sensorgegenstücks SG und somit die Entfernung des jeweiligen Sensorelements S von der Startposition P1 bzw. P2 bekannt ist wie auch die Position des jeweiligen Sensors S im letzten Element EL bekannt ist und somit auch die seitliche Entfernung dieses Sensors S von der vorgegebenen Linie L, berechnet die Steuereinheit CTRL aus diesen Informationen mittels aus der Navigationstechnik bekannter und dort verwendeter Algorithmen und/oder nach aus der Odometrie bekannten Methoden Werte, mittels derer die Motoreinheiten M1 und M2 der Radeinheiten R1 und R2 separat voneinander angesteuert werden, um so die Drehzahlen u1, u2 der Motoreinheiten M1 und M2 unabhängig voneinander einzustellen. So lässt sich das letzte Element EL, und somit die gesamte Überdachung ÜD, wieder in Richtung auf die vorgegebene Linie L hinführen, wodurch die seitliche Abweichung des letzten Elements EL von der vorgegebenen Linie L verringert wird. Solche seitlichen Abweichungen können bekanntlich ihre Ursache in Antriebsschlupf sowie losem und auch in unebenem Untergrund haben.In Fig. 6 the background U is shown, in which a plurality of sensor counterparts SG is introduced. Also, the predetermined line L is shown. The sensor counterparts SG are arranged along the predetermined line L. The predetermined line L is virtual and, in practice, a collection of coordinates by means of which the control unit CTRL calculates how the motor units M1, M2 of the last element EL are to be controlled in order to reach the end positions P2 and P1, respectively. On the subsoil U, the roofing ÜD is shown with the first element E1, another element E2 and the last element EL. At the end face of the last element EL, the sensor strip SL with the plurality of sensors S is arranged at the bottom, ie, at the lower side US facing the background U, transversely to the predetermined line L. Now, if the roofing ÜD for closing or opening the roofing system over the substrate U along the predetermined line L is moved, then according to the inventive method, each time when the sensor bar SL moves over one of the sensor guesses SG away, the sensor S, the is just above the sensor counterpart SG, recognize this. In this case, the control unit CTRL knows both the position of the respective sensor counterpart SG and thus the distance of the respective sensor element S from the starting position P1 or P2, as well as the position of the respective sensor S in the last element EL, and thus also the lateral distance of this Sensor S of the predetermined line L, the control unit CTRL calculates from these information by means of known from navigation technology and algorithms used there and / or methods known from odometry values, by means of which the motor units M1 and M2 of the wheel units R1 and R2 separately controlled so as to adjust the rotational speeds u1, u2 of the motor units M1 and M2 independently of each other. Thus, the last element EL, and thus the entire roofing ÜD, can again lead in the direction of the predetermined line L, whereby the lateral deviation of the last element EL from the predetermined line L is reduced. Such lateral deviations can be known to have their cause in traction as well as loose and uneven ground.

Die Fig. 7 zeigt eine vorteilhafte Ausführungsform der vorliegenden Erfindung. Sie unterscheidet sich von der Ausführungsform nach Fig. 6 dadurch, dass die Sensorgegenstücke SG in zueinander gleichen Abständen d, also äquidistant zueinander, auf bzw. im Untergrund angeordnet sind (was bei der Ausführungsform nach Fig. 6 nicht notwendig ist) und dass das letzte Element EL eine zweite Sensorleiste SL mit einer Mehrzahl von Sensoren S aufweist, wobei die beiden Sensorleisten SL im selben Abstand d voneinander angeordnet sind wie die Sensorgegenstücke SG voneinander (siehe dazu die Teilfig. 7a; auch hier sind die Sensorgegenstücke SG, wie bei der Teilfig. 6a, lediglich fiktiv dargestellt). In dem Fall, in dem eine der beiden Sensorleisten SL über ein Sensorgegenstück SG gleitet, gleitet auch die jeweils andere Sensorleiste SL über ein dem einen Sensorgegenstück SG benachbartes Sensorgegenstück SG. Somit wird dies in den beiden Sensorleiste SL gleichzeitig erkannt. Aus den aus den jeweiligen Positionen abgeleiteten Daten ermittelt dann die Steuereinheit CTRL nicht nur die bzgl. der Beschreibung zu Fig. 6 bereits beschriebenen Daten und Werte zum Steuern der beiden Motoreinheiten M1 und M2, sondern sie erkennt auch, ob das letzte Element EL gegenüber dem ersten Element E1 und somit gegenüber dem gewünschten Fahrtweg verkantet ist oder ob es lediglich seitlich-parallel zur vorgegebenen Linie L verschoben ist. Im letzteren Fall werden die beiden Motoreinheiten M1 und M2 mit einander gleichen Werten angesteuert, so dass insgesamt eine Parallelverschiebung des letzten Elements EL hin in Richtung auf die vorgegebene Linie L erfolgt, während im ersteren Fall die durch die Steuereinheit CTRL ermittelten Daten und Werte voneinander verschieden sind. Die Steuereinheit CTRL kann dabei durch Anwenden einfacher geometrischer Lehrsätze das Ausmaß der Verkantung (z. B. in Winkelgrad) ermitteln. The Fig. 7 shows an advantageous embodiment of the present invention. It differs from the embodiment Fig. 6 in that the sensor faces SG are arranged at mutually equal distances d, ie equidistant from each other, on or in the ground (which is the case in the embodiment after Fig. 6 is not necessary) and that the last element EL has a second sensor strip SL with a plurality of sensors S, wherein the two sensor strips SL are arranged at the same distance d from each other as the sensor counterparts SG from each other (see the Teilfig 7a; the sensor counterparts SG, as in the subfigure 6a, are shown only fictitiously). In the case in which one of the two sensor strips SL slides over a sensor counterpart SG, the respective other sensor strip SL also slides over a sensor counterpart SG which is adjacent to the one sensor counterpart SG. Thus, this is detected simultaneously in the two sensor strip SL. From the data derived from the respective positions, the control unit CTRL then determines not only those relating to the description Fig. 6 already described data and values for controlling the two motor units M1 and M2, but it also recognizes whether the last element EL is tilted relative to the first element E1 and thus to the desired travel path or whether it is only laterally-parallel to the predetermined line L is shifted , In the latter case, the two motor units M1 and M2 are driven with mutually equal values, so that overall a parallel displacement of the last element EL towards the predetermined line L takes place, while in the former case the data and values determined by the control unit CTRL differ from one another are. The control unit CTRL can determine the extent of canting (eg in angular degrees) by applying simple geometric theorems.

Claims (4)

  1. Canopy system having a motor-drivable canopy (UD) and a base (U) on which the motor-drivable canopy (UD) is arranged,
    - in which the motor-drivable canopy (UD) has a first element (E1) and a final element (EL), wherein the first element (E1) can be arranged in a fixed position on the base (U) and the final element (EL) is configured to be movable with respect to the first element (E1) along a predetermined line (L) between a starting position (P1) and an end position (P2),
    - in which the final element (EL) has at least one first motor unit (M1) and at least one second motor unit (M2) having a respective wheel unit (R1, R2),
    - in which the canopy (UD) has a control unit (CTRL) for controlling the two motor units (M1, M2),
    wherein the final element (EL) on its side (US) facing the base (U) has two sensor strips (SL) which are arranged transversely with respect to the predetermined line (L) and having in each case a plurality of sensors (S),
    characterized in that the base (U) has a plurality of sensor counterparts (SG), which are arranged at equal distances (d) from one another, along the predetermined line (L), and in that the two sensor strips (SL) are arranged at the same distance (d) from each other as the sensor counterparts (SG).
  2. Canopy system according to Claim 1, characterized in that at least one further element (E2, E3) is also arranged between the first element (E1) and the final element (EL) in such a manner that a movement of the final element (EL) brings about a movement of the at least one further element (E2, E3).
  3. Method for operating a canopy system according to Patent Claim 1 having a motor-drivable canopy (UD) along a predetermined line (L) on a base (U),
    - in which the motor-drivable canopy (ÜD) has a first element (E1) and a final element (EL), wherein the first element (E1) can be arranged in a fixed position and the final element (EL) is configured to be movable with respect to the first element (E1) along the predetermined line (L) between a starting position (P1) and an end position (P2),
    - in which the final element (EL) has at least one first motor unit (M1) and at least one second motor unit (M2) having a respective wheel unit (R1, R2),
    - in which the final element (EL) on its side (US) facing the base (U) has at least one sensor strip (SL) which is arranged transversely with respect to the predetermined line (L) and has a plurality of sensors (S),
    - in which the canopy (ÜD) has a control unit (CTRL) for controlling the two motor units (M1, M2), and
    - in which the base (U) has a plurality of senor counterparts (SG) along the predetermined line (L), in which the method has the following features:
    - during the operation of the motor-drivable canopy (UD), each time when the at least one sensor strip (S) is located above one of the senor counterparts (SG), the distance of the final element (EL) from its starting position (P1) and the lateral deviation of the final element (EL) from the predetermined line (L) is determined, and
    - from the determined distance and the determined lateral deviation, the control unit (CTRL) calculates values by means of which the rotational speeds (u1, u2) of the two motor units (M1, M2) are influenced independently of each other in such a manner that the lateral deviation is minimized over the further course of operation of the canopy (UD).
  4. Method according to Claim 3, in which the sensor counterparts (SG) are arranged at equal distances (d) from one another, in which the final element (EL) on its side (US) facing the base (U) has two sensor strips (SL) which are arranged transversely with respect to the predetermined line (L) and having in each case a plurality of sensors (S), and in which the two sensor strips (SL) are arranged at the same distance (d) from each other as the sensor counterparts (SG),
    characterized in that each time when the two sensor strips (SL)- are located above sensor counterparts (SG), the distance of the final element (EL) from its starting position (P1) and the lateral deviation of the final element (EL) from the predetermined line (L) both in the region of the first sensor strip (SL) and in the region of the second sensor strip (SL) is determined by the control unit (CTRL), and in that the control unit (CTRL) determines values therefrom, by means of which the rotational speeds (u1, u2) of the two motor units (M1, M2) are influenced independently of each other in such a manner that the lateral deviation is minimized over the further course of the operation of the canopy (ÜD).
EP17000668.8A 2016-04-20 2017-04-20 Canopy system and method for operating such a canopy system Active EP3235966B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016004741.0A DE102016004741A1 (en) 2016-04-20 2016-04-20 Roofing system and method for operating a motorized roofing

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EP3235966A1 EP3235966A1 (en) 2017-10-25
EP3235966B1 true EP3235966B1 (en) 2019-11-27

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DE (1) DE102016004741A1 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9105454U1 (en) * 1991-05-02 1991-07-18 Geze Gmbh & Co, 7250 Leonberg, De
FR2802557B1 (en) * 1999-12-20 2002-03-08 Jose Rosset DEVICE FOR SELF-GUIDING ALL MOBILE MACHINERY OR TROLLEYS WITHOUT CONNECTION TO THE ELECTRICAL NETWORK AND IN PARTICULAR ALL MOBILE POOL SHELTERS
FR2861112B1 (en) * 2003-10-21 2007-04-27 Laurent Fusilier AUTOMATIC OR MANUAL CONTROL OF DRIVING MOTORS IN TRANSLATION OF THE LAST MODULE OF A POOL SHELTER WITHOUT GROUND GUIDANCE
DE202013009331U1 (en) 2013-10-21 2013-11-20 Aquacomet GmbH Motorized roof
DE102014015588A1 (en) * 2014-10-21 2016-04-21 Aquacomet GmbH Motorized roof

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* Cited by examiner, † Cited by third party
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