COVERING APPARATUS AND METHOD FOR OPERATING A COVERING APPARATUS

Abstract

 Covering apparatus (1) which comprises a plurality of covering blades (10), and movement means (12) operatively connected to the covering blades (10) in order to actuate the movement thereof. Such movement means (12) comprise at least one electric motor (25) mechanically connected to the covering blades (10), and an electronic control unit (26) operatively connected to the electric motor (25) in order to control the operation thereof. More in detail, the electronic control unit (26) comprises: an acquisition module (29) operatively connected to the electric motor (25) and configured for acquiring first values of a first operating electrical parameter (i(t)) of the electric motor (25) in at least one operating travel of the covering blades (10); a processing module (32) configured for calculating, as a function of the first values of the first operating electrical parameter (i(t)), corresponding values of a position parameter (xP) indicative of corresponding operating positions of the covering blades (10) in the operating travel; a control module (33) operatively connected to the electric motor (25) in order to send, to the latter, a drive signal as a function of the aforesaid position parameter (xP).

Description

Field of application

[0001] The present invention regards a covering apparatus and a method for operating a covering apparatus.

[0002] The present apparatus is intended to be used for covering outside surfaces, protecting them from weathering agents and in particular from the sun and rain.

[0003] The present covering apparatus is indicated for making pergolas, verandas and more generally covering structures, both in gardens of private homes and in open public spaces, such as restaurants, hotels, bathing establishments or other structures.

[0004] The covering apparatus, object of the present invention, therefore falls within the industrial field of production of awnings for covering outside environments.

State of the art

[0005] Numerous solutions for covering apparatuses for outdoor environments are known on the market. In the jargon of the field such covering apparatuses are termed brise-soleil, and they comprise a support structure, e.g. canopy-like, fixed to the ground and provided with two lateral longitudinal members which support a plurality of rotatable covering blades adapted to protect an underlying surface of the ground.

[0006] For example, the Italian patent application No. UD2012A000217 describes a brise-soleil covering apparatus of known type comprising a plurality of covering blades, each of which provided at its ends with rotation pins hinged to the corresponding longitudinal members.

[0007] The apparatus also comprises movement means connected to the covering blades in order to actuate the latter to rotate between a closed position, in which the blades are arranged substantially horizontal and partially superimposed one over the next to prevent the passage of light and/or rain, and an open position, in which the blades are arranged tilted, delimiting openings between them for the passage of light.

[0008] In particular, the movement means comprise at least one linear actuator, with electrical actuation, which is arranged along one of the longitudinal members of the covering apparatus and is mechanically connected to the covering blades by means of an articulated parallelogram kinematic mechanism.

[0009] The covering apparatus also comprises a control unit connected to the linear actuator and adapted to control the operation thereof in order to control the movement of the covering blades, for example as a function of commands received from a user (by means of a control interface). In particular, the control unit is programmed to define the position of the covering blades as a function of a predefined time interval indicative of the time that the covering blades employ in order to be moved between the open position and the closed position. More in detail, the aforesaid time interval is defined on the basis of a specific movement speed of the covering blades and hence a specific operating speed of the electric motor of the linear actuators.

[0010] A first drawback of the above-described covering apparatus of known type is due to the fact that, during the movement of the blades, the load to which the motor of the linear actuators is subjected can vary, due for example to friction phenomena associated with the covering blades or to the kinematic movement mechanism, or due to the presence of obstacles in the movement space of the covering blades. Variations of the load of the motor determine a variation of the rotation speed of the latter and hence a variation of the movement time of the blades with respect to the time references predefined in the control unit. Therefore, this involves a discrepancy between the estimated time of movement of the covering blades (stored in the control unit) and the time actually employed by the covering blades for completing a specific movement, hence causing an incorrect positioning of the covering blades.

[0011] In addition, the variation of the load of the motor causes unpredictable variations of the current absorption curves of the motor with each movement of the covering blades, not allowing the use of such parameter in order to identify dangerous situations linked to safety conditions.

Presentation of the invention

[0012] In this situation, the problem underlying the present invention is therefore that of eliminating the drawbacks of the abovementioned solutions of known type, by providing a covering apparatus and a method for operating a covering apparatus which are able to reliably control the operating position of the covering blades.

[0013] A further object of the present invention is to provide a covering apparatus and a method for operating a covering apparatus which are able to identify, in an entirely reliable manner, the presence of obstacles which obstruct the movement of the covering blades.

[0014] A further object of the present invention is to provide a covering apparatus which has a simplified wiring for the electrical components.

Brief description of the drawings

[0015] The technical characteristics of the present invention, according to the aforesaid objects, can be clearly found in the contents of the below-reported claims and the advantages thereof will be more evident in the following detailed description, made with reference to the enclosed drawings, which represent a merely exemplifying and non-limiting embodiment of the invention, in which:

• figure 1 shows a top perspective view of the covering apparatus, object of the present invention;
• figure 2 shows a perspective view of a detail of the covering apparatus relative to movement means adapted to move the covering blades;
• figure 3 shows a sectional view of a lateral beam of the present covering apparatus, with the aforesaid movement means depicted;
• figure 4 shows a diagram relative to the movement means of the covering apparatus;
• figure 5 shows an exemplifying block diagram of the operating method, object of the present invention.

Detailed description of a preferred embodiment

[0016] With reference to the enclosed drawings, reference number 1 overall indicates the covering apparatus, object of the present invention.

[0017] The present covering apparatus 1 is indicated for making pergolas, verandas and more generally covering structures for outside environments, such as for example gardens of private homes and open public spaces, such as restaurants, hotels, bathing establishments, etc.

[0018] In accordance with the embodiment illustrated in the enclosed figures the covering apparatus 1, object of the present invention, comprises a support structure 2 provided with two lateral beams 3 that are parallel to and side-by-side each other, each of which longitudinally extended, between a first end 4 thereof and a second end 5 thereof, along a corresponding first extension direction X that is preferably substantially horizontal.

[0019] Preferably, in accordance with a particular characteristic of the present invention, the support structure 2 of the covering apparatus 1 comprises two transverse beams 8 that are parallel to and side-by-side each other, placed to connect the aforesaid lateral beams 3.

[0020] Advantageously, each beam 3, 8 of the support structure 2 is obtained with one or more metal sections (in particular made of extruded aluminum), preferably hollow.

[0021] Advantageously, the support structure 2 also comprises two first columns 6 set against the ground, each of which supports the first end 4 of the corresponding lateral beam 3.

[0022] Preferably, the support structure 2 further comprises two second columns 7 placed to support the second ends 5 of the corresponding lateral beams 3, thus attaining a self-supporting structure in particular with substantially parallelepiped shape.

[0023] Otherwise, in accordance with a different embodiment, not illustrated in the enclosed figures, the support structure 2 of the covering apparatus 1 leans against a vertical wall (such as the wall of a building), to which the second ends 5 of the lateral beams 3 are anchored.

[0024] In accordance with a further different embodiment, not illustrated in the enclosed figures, the first and the second ends 4, 5 of the lateral beams 3 of the support structure 2 are respectively supported by a first and by a second lateral wall facing each other, such that the support structure 2 of the covering apparatus 1 is interposed between the two aforesaid vertical walls.

[0025] In accordance with a further different embodiment, not illustrated in the enclosed figures, the support structure 2 leans against a vertical wall at one of the lateral beams 3, with the corresponding ends of the transverse beams 8 anchored to such vertical wall.

[0026] According to the present invention the covering apparatus 1 comprises a plurality of covering blades 10 arranged one after the other according to the aforesaid first extension direction X of the lateral beams 3.

[0027] Each covering blade 10 is extended along a second extension direction Y substantially orthogonal to the first extension direction X of the lateral beams 3 and is provided with two opposite ends 11 associated with the respective lateral beams 3.

[0028] According to the invention, the covering apparatus comprises movement means 12 (described in detail hereinbelow) operatively connected to the covering blades 10 and adapted to move the latter between a closed position, in which the covering blades 10 are arranged partially superimposed one over the next to cover an underlying surface of the ground in order to protect the latter from sun and/or from rain, and an open position, in which the covering blades 10 are arranged spaced one from the next, delimiting passage openings between them that are susceptible of being crossed by light and air.

[0029] In accordance with the particular embodiment illustrated in figures 2 and 3, the movement means 12 comprise at least one displacement element 13 actuatable to slide along the corresponding lateral beam 3 and mechanically connected to the corresponding ends 11 of the covering blades 10.

[0030] In particular, the movement means 12 comprise two aforesaid displacement elements 13, each arranged at the respective lateral beam 3.

[0031] Advantageously, the covering apparatus 1 comprises two longitudinal guides 14, each of which fixed along the respective lateral beam 3 extended along a slide direction parallel to the first extension direction X of the lateral beam 3. At each of such longitudinal guides 14, the corresponding displacement element 13 is slidably constrained in order to be moved along the corresponding slide direction.

[0032] Preferably, each displacement element 13 comprises a corresponding displacement rod 15 arranged along the corresponding lateral beam 3 parallel to the first extension direction X. Each displacement rod 15 is advantageously slidably constrained to the corresponding longitudinal guide 14 in particular by means of engagement elements 16 comprising for example idle small wheels.

[0033] In accordance with the aforesaid particular embodiment, the covering apparatus 1 comprises a plurality of orientation guides 17 fixed along each lateral beam 3 at the ends 11 of the covering blades 10.

[0034] Each covering blade 10 comprises, at each end 11 thereof, a first coupling element 18, which is rotatably constrained to the corresponding displacement element 13, and a second coupling element 19 slidably constrained in the corresponding said orientation guide 17.

[0035] The movement of the displacement elements 13 along the corresponding lateral beams 3 involves a rotary-translation movement of each covering blade 10 with the second coupling element 19 which slides in the corresponding orientation guide 17 in order to move the covering blade 10 between the closed position and the open position.

[0036] The aforesaid particular embodiment of the aforesaid covering blades 10 and of the displacement elements is described in detail in the Italian patent application No. PD2014A000283 from page 8 line 23 to page 27 line 10, which is intended as incorporated herein for reference purposes. Of course, without departing from the protective scope of the present patent, the covering blades 10 can have different characteristics from those of the abovementioned embodiment, for example being hinged to the lateral beams 3 of the support structure 2 of the covering apparatus 1 and moved by means of articulated parallelogram kinematic mechanisms.

[0037] Advantageously, the movement means 12 comprise actuator means 20 arranged in order to actuate each displacement element 13 to slide along the respective longitudinal guide 14.

[0038] In particular, the aforesaid actuator means 20 comprise at least one linear actuator 21 fixed to the corresponding lateral beam 3 and mechanically connected to the corresponding displacement element 13. In particular, two aforesaid linear actuators 21 are provided, each acting on the corresponding displacement element 13.

[0039] Preferably, each linear actuator 21 is arranged within the metal section of the corresponding lateral beam 3, is provided with a jacket 22 fixed to the aforesaid metal section and with an actuation stem 23 movable parallel to the first extension direction X and fixed to the corresponding displacement rod 15 by means of preferably a connection arm 24.

[0040] The actuator means 20 can also be different from the abovementioned embodiment relative to the linear actuators 21, since for example they can be made by means of kinematic chains or series of gears (e.g. pinion and rack gears).

[0041] According to the invention, the movement means comprise at least one electric motor 25, preferably of direct current type, mechanically connected to the covering blades 10 in order to actuate the movement thereof.

[0042] In particular, the electric motor 25 is mechanically connected to the covering blades by means of the actuator means 20 and the displacement element 13.

[0043] Advantageously, the electric motor 25 is operatively connected to the actuator means 20. In order to control the actuation thereof, in particular, it is connected to the corresponding linear actuator 21. Preferably, the electric motor 25 is integrated in the corresponding linear actuator 21.

[0044] The movement means 12 comprise an electronic control unit 26 operatively connected to the electric motor 25 in order to control the operation thereof, in order to actuate the movement of the covering blades 10.

[0045] In particular, the electronic control unit 26 is arranged in order to control the actuation of the electric motor 25 in a manner such to be able to position the covering blades 10 in multiple different operating positions (comprised between the aforesaid closed position and open position), in which advantageously the covering blades 10 have corresponding different tilts in order to allow, for example, protection from solar rays with the variation of the position that the sun has with respect to the horizon at different times of the day.

[0046] Preferably, with reference to the abovementioned embodiment, the electronic control unit 26 is connected to both electric motors 25 associated with the two linear actuators 21 of the actuator means 20.

[0047] Advantageously, the electronic control unit 26 comprises at least one processor, which in particular is programmed for actuating the movement of the electric motor 25 in an automated manner and/or upon command by a user.

[0048] In particular, the electronic control unit 26 is provided with at least one communication module 27 connected, via cable or wireless, to one or more control devices 28, such as a remote control or a control panel.

[0049] According to the idea underlying the present invention, the electronic control unit 26 comprises an acquisition module 29 operatively connected to the electric motor 25 and configured for acquiring first values of a first operating electrical parameter i(t) of the electric motor 25 during at least one operating travel of the covering blades 10.

[0050] The aforesaid operating travel of the covering blades 10 comprises any one displacement (actuated by the electric motor 25) of the covering blades 10 between any two of the operating positions between the closed position and the open position.

[0051] In particular, the operating travel can correspond with a complete movement of the covering blades 10 from a first end stop position (open position) to a second end stop position (closed position) or vice versa, or a movement from one of the aforesaid end stop positions to an intermediate operating position or vice versa, or a movement between two different intermediate operating positions.

[0052] Advantageously, the acquisition module 29 is arranged for acquiring the first values of the first operating electrical parameter i(t) during multiple operating travels and, preferably, during each operating travel of the covering blades 10.

[0053] Advantageously, the aforesaid first operating electrical parameter i(t) is representative of the intensity of current absorbed by the electric motor 25 in the corresponding operating travel.

[0054] In particular, the covering apparatus 1 comprises a current sensor 30 operatively connected to the electric motor 25 in order to detect electrical measurements indicative of the intensity of current absorbed by the electric motor 25 itself in each operating travel. The current sensor 30 is operatively connected to the acquisition module 29 of the electronic control unit 26 in order to send, to such acquisition module 29, the aforesaid electrical measurements representative of the first operating electrical parameter i(t).

[0055] For example, the current sensor 30 comprises a shunt electrically connected to the corresponding electric motor 25.

[0056] Preferably, the acquisition module 29 of the electronic control unit 26 is configured for processing the received electrical measurements in order to obtain the first values of the first operating electrical parameter i(t), by means of for example operations of filtering, sampling, quantizing, etc.

[0057] Advantageously, the electronic control unit 26 comprises a memory unit 31 arranged for storing the first values acquired by the acquisition module 29.

[0058] According to the invention, the electronic control unit 26 comprises a processing module 32 configured for calculating, as a function of the aforesaid first values of the first operating electrical parameter i(t), corresponding values of a position parameter xP indicative of corresponding operating positions of the covering blades 10 during the corresponding operating travel.

[0059] In addition, the electronic control unit 26 comprises a control module 33 operatively connected to the electric motor 25 and configured for sending to the latter at least one drive signal as a function of the aforesaid position parameter xP, as described in detail hereinbelow.

[0060] Preferably, the control module 33 is operatively connected to the communication module 27 in order to receive control signals coming from the control device 28 actuatable by the user in order to control the movement of the covering blades 10.

[0061] Advantageously, the control module 33 comprises a control circuit 34 operatively connected to the electric motor 25 in order to apply to the latter, during the operating travel, the drive signal so to control the operation of the electric motor 25 itself.

[0062] For example, the control circuit 34 comprises an H bridge, in particular obtained by means of four electronic switches (e.g. MOSFET), and electrically connected to the electric motor 25, in a manner per se known to the man skilled in the art.

[0063] Preferably, the control circuit 34 comprises a drive module connected to the H bridge in order to control the actuation of the electronic switches of the latter.

[0064] Advantageously, the drive signal applied by the control circuit 34 to the electric motor 25 is obtained by means of a drive voltage applied to the electric motor 25 in particular by means of the H bridge of the control circuit 34 itself.

[0065] Preferably, the drive voltage is obtained by means of a PWM-driven voltage signal. For such purpose, in particular, the drive module of the control circuit 34 comprises a PWM generator connected to the electronic switches of the H bridge in order to control the opening and closing thereof, in a manner per se known to the man skilled in the art.

[0066] Advantageously, the control module 33 is functionally connected to the acquisition module 29 in order to send, to the latter, second values of a second operating electrical parameter v(t) representative of the drive voltage applied to the electric motor 25 during the operating travel. For example, the second values of the aforesaid second operating electrical parameter v(t) are representative of the mean voltage of the PWM-driven voltage signal applied by the H bridge of the control circuit 34 to the electric motor 25.

[0067] Advantageously, the processing module 32 is configured for calculating operating values indicative of the angular speed ω(t) of the electric motor 25 as a function of the first values of the first operating electrical parameter i(t) (intensity of the absorbed current) and of the second values of the second operating electrical parameter v(t) (drive voltage).

[0068] In particular, the operating values of the angular speed ω(t) of the electric motor 25 are calculated by the processing module 32 by means of the following electrical balance equation:

where: k_v is the speed constant of the electric motor 25, ω(t) is the angular speed of the electric motor 25, v(t) is the second operating electrical parameter relative to the drive voltage, R is the resistance of the rotor windings of the electric motor 25, i(t) is the first operating electrical parameter relative to the current absorbed by the electric motor 25.

[0069] The processing module 32 is configured for obtaining, from the aforesaid operating values of the angular speed ω(t), the corresponding values of the position parameter xP relative to the operating travel.

[0070] In particular, the values of the position parameter xP are obtained by means of time integration of the angular speed ω(t) between the initial instant and the final instant of the operating travel of the covering blades 10, in this manner obtaining values indicative of the angular travel carried out by the rotor of the electric motor 25 in the aforesaid operating travel. Such angular travel determines the corresponding operating travel of the covering blades 10, as will be described in detail hereinbelow with reference to the operating method, object of the present invention.

[0071] For example, the angular travel of the rotor of the electric motor 25 causes a corresponding extension or retraction of the actuation stem 23 of the linear actuator 21 and, consequently, a corresponding translation of the displacement rod 15, which causes the operating travel of the covering blades 10, in accordance with that stated above.

[0072] Advantageously, the control module 33 of the electronic control unit 26 comprises a comparison module 35 configured for comparing the first values of the first operating electrical parameter i(t), acquired during the operating travel, with at least one reference curve R_F of the first operating electrical parameter i(t) as a function of the position parameter xP.

[0073] In particular, the aforesaid reference curve F_R comprises reference values of the first operating electrical parameter i(t) contained within a reference interval XR of values of the position parameter xP relative to a complete operating travel of the covering blades 10 (between the two open and closed end stop positions).

[0074] Preferably, the reference values of the reference curve F_R are relative to threshold values of the intensity of current absorbed by the electric motor 25, indicative of the presence of an obstacle that interferes with the movement of the covering blades 10. On such matter, when at least one of the covering blades 10, during its movement, intercepts an obstacle that prevents the movement thereof, the electric motor 25 is subjected to an increase of the resistance torque which causes a corresponding increase of the intensity of current absorbed by the electric motor 25 itself.

[0075] When at least one of the first values of the first operating electrical parameter i(t) is beyond the reference curve F_R, the comparison module 35 is configured in order to control the control module to stop the electric motor 25.

[0076] Such condition, indeed, is representative of the presence of an obstacle to the movement of the covering blades 10, which causes an increase of the intensity of current (first operating electrical parameter i(t)) of the electric motor 25 beyond the reference values of the reference curve F_R. In particular, the comparison module 35 is operatively connected to the control circuit 34 of the control module 33 in order to condition the operation of the control circuit 34 itself when the first values of the first operating electrical parameter i(t) during the operating travel exceed the reference values of the reference curve F_R.

[0077] Advantageously, the electronic control unit 26 comprises a mapping module 36 configured for calculating, from the first values of the first operating electrical parameter i(t) associated with the corresponding values of the position parameter xP, a series of mapping values i_m of the first operating electrical parameter as a function of the position parameter xP.

[0078] Such mapping values are obtained for example as a function of the mean of the first values of the first operating parameter i(t) in multiple operating travels.

[0079] The comparison module 35 is configured for deriving the aforesaid reference curve F_R from such series of mapping values i_m, as will be described in detail hereinbelow.

[0080] Preferably, the electronic control unit 26 can be obtained with a corresponding control unit installed in the covering apparatus 1 and connected to the electric motors 25, or it can be implemented by means of multiple physical units, possibly partly integrated in the actuator means 20 and in the electric motors 25.

[0081] For example, the control circuit 34 of the control module 33 of the electronic control unit 26 can be integrated in the control board of the corresponding electric motor 25 or in a separate central unit of the electronic control unit 26.

[0082] Preferably, the acquisition module 29, the processing module 32, the control module 33 and the mapping module 36 of the electronic control unit 26 can be integrated in a same hardware (e.g. in a same electronic board) or in different physical components, and can be implemented by means of one or more operating algorithms installed in the processor of the electronic control unit 26.

[0083] Also forming the object of the present invention is a method for operating a covering apparatus, in particular of the above-described type.

[0084] Hereinbelow, for the sake of description simplicity, reference will be made to the same nomenclature introduced up to now, even if it must be intended that the present method can also be obtained with covering apparatuses that are not provided with all of the abovementioned characteristics.

[0085] Advantageously, with reference to the embodiment of figure 5, the present method comprises an actuation step 1000, in which the electronic control unit 26 controls the electric motor 25 to move the covering blades 10, in a manner such that the latter perform an operating travel between two different operating positions. In particular, the actuation step 1000 can be enabled by an operator, by means of for example the control device 28 or directly by the electronic control unit 26 in an automated manner.

[0086] According to the idea underlying the present invention, the present method comprises an acquisition step 100, in which the electronic control unit 26 of the covering apparatus 1 acquires first values of a first operating electrical parameter i(t) of the electric motor 25 during the operating travel performed by the covering blades 10, in particular following the actuation step 1000.

[0087] Advantageously, the aforesaid acquisition step 100 is carried out during each operating travel of the covering blades 10.

[0088] Preferably, the aforesaid first values of the first operating electrical parameter i(t) are representative of the instantaneous values of the intensity of current absorbed by the electric motor 25 in the operating travel, for example detected by means of electrical measurements in particular obtained by the current sensor 30.

[0089] Advantageously, the electrical measurements are processed by the electronic control unit 26, by means of for example filtering processes, sampling processes etc., in order to obtain the first values of the first operating electrical parameter i(t).

[0090] Preferably, the first values of the first operating electrical parameter i(t) are acquired by the electronic control unit 26 with a specific sampling interval TC, e.g. of about 10 ms.

[0091] Advantageously, in the acquisition step 100, the electronic control unit 26 acquires second values of a second operating electrical parameter v(t) representative of an instantaneous drive voltage applied to the electric motor 25 during the operating travel in order to control the operation thereof.

[0092] Preferably, such second values are provided by the control module 33 of the electronic control unit 26.

[0093] The present method comprises a processing step 200, in which the electronic control unit 26 calculates, as a function of the first values of the first operating electrical parameter i(t) (acquired in the acquisition step 100), and advantageously also as a function of the second values of the second operating electrical parameter v(t), corresponding values of a position parameter xP indicative of corresponding operating positions of the covering blades 10 in the operating travel.

[0094] In particular, for each first value of the first operating electrical parameter i(t), the electronic control unit 26 calculates a corresponding value of the position parameter xP which represents the operating position taken by the covering blades 10 corresponding with the intensity of current absorbed by the electric motor 25 represented by such first value.

[0095] In this manner, advantageously, each first value of the first operating electrical parameter i(t) (indicative of the current absorbed by the electric motor 25) is associated with a corresponding value of the position parameter xP (indicative of the corresponding operating position taken by the covering blades 10).

[0096] The present method comprises a control step 300 in which the electronic control unit 26 controls the operation of the electric motor 25 as a function of the position parameter xP, in particular as described in detail hereinbelow.

[0097] Advantageously, the present method comprises a mapping step 400, in which the electronic control unit 26 calculates, from the first values of the first operating electrical parameter i(t) associated with the corresponding values of the position parameter xP, a series of mapping values i_m of the first operating electrical parameter i(t) as a function of the position parameter xP, and such mapping values i_m are advantageously employed in the aforesaid control step 300 as discussed hereinbelow.

[0098] Advantageously, in the processing step 200, the electronic control unit 26 calculates operating values indicative of the angular speed ω(t) of the electric motor 25 as a function of the first values of the first operating electrical parameter i(t) and of the second values of the second operating electrical parameter v(t).

[0099] In particular, with reference to the embodiment illustrated in figure 5, the processing step 200 comprises a calculation step 201 for calculating the values of the position parameter xP, wherein the values of the position parameter xP are derived on the basis of at least one electrical balance equation between said first operating electrical parameter i(t) and said second operating electrical parameter v(t).

[0100] Advantageously, the aforesaid electrical balance equation is given by:

where:

ω(t) is the angular speed of the electric motor 25,

i(t) is the first operating electrical parameter corresponding to the intensity of current absorbed by the electric motor 25,

v(t) is the second operating electrical parameter corresponding to the drive voltage applied to the electric motor 25,

k_v and R are the functional parameters of the electric motor 25, of which k_v is the speed constant of the electric motor 25, R is the resistance of the rotor windings of the electric motor 25.

[0101] From the aforesaid operating values of the angular speed ω(t), the electronic control unit 26 obtains the corresponding values of the position parameter xP in the operating travel.

[0102] More in detail, from the aforesaid electrical balance equation, in particular for each sampling interval TC, the corresponding operating value of the angular speed ω(t) is obtained as a function of the corresponding first values of the first operating electrical parameter i(t) and of the second values of the second operating electrical parameter v(t) in the corresponding sampling interval TC.

[0103] From each operating value of the angular speed ω(t), the angular travel completed by the rotor of the electric motor 25 is obtained, on the basis of the integral over time of the angular speed ω(t).

[0104] In this manner, the values of the position parameter xP obtained in the calculation step 201 are indicative of the angular travel carried out by the rotor of the electric motor 25 for each sampling interval TC of the operating travel. Such angular travel uniquely corresponds with the operating position of the covering blades 10 in the corresponding sampling interval TC. Advantageously, the processing step 200 comprises a step 202 of computing one or more of the functional parameters k_v, R of the electric motor 25.

[0105] Preferably, in accordance with the example illustrated in figure 5, the processing step 200 provides for performing the computing step 202 if the preceding acquisition step 100 is performed over a complete operating travel of the covering blades 10 in which the latter perform a complete movement from the first end stop position (open position) to the second end stop position (closed position) or vice versa.

[0106] Advantageously, the present method provides for a learning procedure for the functional parameters of the electric motor 25, for example actuated during installation of the covering apparatus 1, or during setting or resetting of the electronic control unit 26.

[0107] In particular, the aforesaid learning procedure provides for performing the acquisition step 100 during at least one complete operating travel of the covering blades 10. In particular, the acquisition step 100 is performed during a complete opening travel, in which the covering blades 10 are moved from the closed position to the open position, and during a complete closing travel, in which the covering blades 10 are moved from the open position to the closed position.

[0108] Advantageously, the learning procedure provides for performing the processing step 200, in which the computing step 202 determines a first value of the functional parameters k_v, R of the electric motor 25.

[0109] Preferably, the computing step 202 is implemented on the basis of the integration of the aforesaid electrical balance equation in the complete operating travel of the covering blades 10. In particular, by integrating the first expression k_v·ω(t) of the electrical balance equation in the time interval IC of the complete operating travel, one obtains:

where Ω is the angular travel of the rotor of the electric motor 25 carried out in order to determine the complete operating travel of the covering blades 10.

[0110] By integrating the second expression v(t) - R·i(t) of the electrical balance equation in the time interval IC of the complete operating travel, one obtains:

where V and I are the integrals in the time interval IC respectively of the second values of the second operating electrical parameter v(t) (drive voltage) and of the first values of the first operating electrical parameter i(t) (absorbed current) acquired in the acquisition step 100.

[0111] In particular, for the complete opening travel, one obtains

and for the complete closing travel one obtains:

where:

Ω_A and Ω_C are the angular travel of the rotor of the electric motor 25 respectively in the complete opening travel and in the complete closing travel,

V_A and V_C are the integrals in the time interval IC of the second values of the second operating electrical parameter v(t) respectively in the complete opening travel and in the complete closing travel,

I_A and I_C are the integrals in the time interval IC of the first values of the first operating electrical parameter i(t) respectively in the complete opening travel and in the complete closing travel.

V_A, V_C, I_A and I_C are obtained in the computing step 202 from the first and from the second values acquired in the acquisition steps 100. The angular travels Ω_A and Ω_C of the electric motor 25 are equal to a specific known value Ω_A = Ω_C = Ω.

[0112] In particular, if the value of the functional parameter R (relative to the resistance of the rotor windings of the electric motor 25) is known, the speed constant k_v is calculated by means of the following first equation:

or by means of the following second equation:

where k_v,a and k_v,c are the values of the speed constant obtained with the aforesaid first equation respectively for the complete opening travel and for the complete closing travel.

[0113] Otherwise, if none of the functional parameters R and k_v is known, the latter are obtained by means of the resolution of the following linear system:

[0114] In particular, the solution of the aforesaid linear system only exists in specific system conditions, i.e. for: I_C/I_A ≠ 1. In addition, even if such linear system is determinate, numerical conditioning problems could arise if the value of I_C approximates that of I_A.

[0115] If, in the computing step 202, the electronic control unit 26 detects conditions in which the aforesaid linear system is indeterminate or numerical conditioning problems, the first values of the functional parameters R and k_v are associated with corresponding predefined values, determined for example as a function of the characteristics of the electric motor 25.

[0116] In this manner, the computing step 202 performed in the learning procedure allows deriving initial values of the functional parameters R and k_v of the electric motor 25 present in the electrical balance equation employed for obtaining the values of the position parameter xP. Advantageously, the initial values of the functional parameters R and k_v are updated in successive actuations of the computing step 202, in particular during the normal use of the covering apparatus 1, as discussed in detail hereinbelow.

[0117] The processing step 200 in the learning procedure provides for performing the calculation step for calculating the values of the position parameter xP by using the first values of the functional parameters R and k_v calculated in the aforesaid computing step 202 and the first values of the first operating electrical parameter i(t) and the second values of the second operating electrical parameter v(t) acquired in the acquisition step 100 on the basis in particular of the aforesaid electrical balance equation as discussed above.

[0118] The present method, in the learning procedure, provides for performing the mapping step 400 in order to obtain a first estimation of the series of mapping values i_m. The series of mapping values i_m obtained in the mapping step 400 is advantageously employed for implementing the aforesaid control step 300, in accordance with the embodiment described in detail hereinbelow. After the learning procedure of the present method, the electronic control unit 26 obtains the first values of the functional parameters k_v, R and the initiation estimation of the mapping values i_m, which allow actuating the method during the normal use of the covering apparatus 1. With reference to the embodiment of figure 5, in particular during the normal use of the covering apparatus 1, the present method provides, with each operating travel of the covering blades 10 (actuated after the actuation step 1000), for implementing the corresponding acquisition step 100, in which the electronic control unit 26 acquires the first values of the first operating electrical parameter i(t) relative to the operating travel, in accordance in particular with that described above.

[0119] The present method provides for the processing step 200, in which the electronic control unit 26 calculates the values of the position parameter xP corresponding to the first values of the first operating electrical parameter i(t) acquired in the acquisition step 100, in particular by means of the above-described electrical balance equation.

[0120] Advantageously, if the operating travel (performed by the covering blades 10 in the acquisition step 100) is a complete operating travel, the processing step 200 provides for performing the computing step 202, in order to update the values of the functional parameters k_v, R as a function of the first values and of the second values acquired in the aforesaid operating travel. Advantageously, in the computing step 202, the electronic control unit 26 can implement computational algorithms which provide for calculating the values of the functional parameters k_v, R as a function of time integrals of the first values of the first operating electrical parameter i(t) and of the second values of the second operating electrical parameter v(t) relative to the multiple operating travels of the covering blades 10 (in particular to the latter operating travel and to specific preceding operating travels).

[0121] In particular, such computational algorithms are actuated if the electronic control unit 26 detects conditions of indeterminateness or numerical conditioning problems relative to the linear system:

[0122] Preferably, in accordance with a first embodiment of the aforesaid computational algorithms, the electronic control unit 26 determines a first data matrix A and a second data matrix B having more than two lines, according to the following equations:

where I_i and V_i, with i = 1, ..., n, are the integrals in the time interval IC respectively of the first values of the first operating electrical parameter i(t) and of the second values of the second operating electrical parameter v(t) acquired in the operating travel associated with the i-th actuation of the computing step 202.

[0123] Then, the computing step 202 provides for defining a pseudo-reverse matrix A according to the equation:

[0124] Then, it is provided to obtain the updated values of the functional parameters k_v, R as the following solution:

[0125] In accordance with a second embodiment variant of the aforesaid computational algorithms of the computing step 202 of the present method, when the covering blades 10 carry out a complete opening travel and a complete closing travel, the electronic control unit 26 calculates a corresponding pair of values k_v,i, R_i of the functional parameters k_v, R according to the equation:

[0126] Then the computing step 202 provides for adding such pair of values (k_v,i, R_i) in a plane < k_v,R> of points (k_v,i, R_i), and for calculating the updated values of the functional parameters k_v, R as centroid of the cloud of points (k_v,i, R_i) of the plane < k_v, R >, according to the equation:

where n is the number of actuations of the computing step 202 considered in such equation.

[0127] In accordance with a further embodiment variant of the computing step 202 of the present method, the electronic control unit 26 is advantageously adapted to differentiate the value of the currents absorbed by the electric motor 25 during a complete opening travel and a complete closing travel, in a manner such to obtain values of I_A and I_C that are significantly different. Advantageously, such embodiment variant of the computing step 202 is actuated if the electronic control unit 26 detects conditions of indeterminateness or numerical conditioning problems relative to the linear system:

[0128] In particular, since the integral I(0,t_f) of the first operating electrical parameter i(t) (relative to the current absorbed by the electric motor 25) is given by the equation

if the first values of the first operating electrical parameter i(t) are different in the complete closing travel and in the complete opening travel, significantly different values of I_A and I_C are reasonably obtained.

[0129] In particular, in the computing step 202, the electronic control unit 26 sets second values of the second operating electrical parameter v(t) (relative to the drive voltage of the electric motor 25) in order to perform the complete opening travel that are different from those for performing the complete closing travel, so as to obtain corresponding different first values of the first operating parameter i(t) (relative to the current absorbed by the electric motor 25) in such complete travels and, hence, corresponding different values of I_A and of I_C.

[0130] Advantageously, after the computing step 202, the processing step 200 provides for performing the calculation step 201, in order to obtain the values of the position parameter xP, in particular by employing the updated values of the functional parameters k_v, R.

[0131] If the operating travel (performed by the covering blades 10 in the acquisition step 100) is not a complete operating travel, the processing step 200 does not perform the computing step 202, and provides for performing the calculation step 201 in order to obtain the values of the position parameter xP by employing the values of the functional parameters k_v, R which were previously obtained, e.g. in the learning procedure or after preceding processing steps 200.

[0132] The present method then provides for the control step 300, in which the electronic control unit 26 controls the operation of the electric motor 25 on the basis of the position parameter xP.

[0133] Advantageously, the control step 300 comprises an obstacle recognition step 301 in order to detect the presence of possible obstacles arranged to interfere with the operating travel of the covering blades 10 and susceptible of preventing or slowing the continuation of the movement of the covering blades 10 themselves.

[0134] In such obstacle recognition step 301, the electronic control unit 26 compares the first values of the first operating electrical parameter i(t) with a reference curve F_R of the first operating electrical parameter i(t) as a function of the position parameter Xp.

[0135] In particular, the aforesaid reference curve F_R comprises reference values of the first operating electrical parameter i(t) contained within a reference interval XR of the position parameter xP relative to a complete operating travel of the covering blades 10.

[0136] Preferably, the reference values of the reference curve F_R are relative to threshold values of the intensity of current absorbed by the electric motor 25, indicative of the presence of an obstacle that interferes with the movement of the covering blades 10.

[0137] If at least one of the first values of the first operating electrical parameter i(t) (acquired in the acquisition step 100) goes beyond the reference curve, the electronic control unit 26 enables a step 302 of stopping the electric motor 25.

[0138] Advantageously, in the obstacle recognition step 301, each first value of the first operating electrical parameter i(t) is compared with the corresponding reference values of the reference curve F_R relative to the same value of the position parameter Xp.

[0139] In particular, the stopping step 302 is commanded when at least one of the first values of the first operating electrical parameter i(t) is higher than the corresponding reference value of the reference curve F_R.

[0140] Advantageously, the stopping step 302 is commanded if, in the obstacle recognition step 301, the first values of the first operating electrical parameter i(t) are higher than the reference curve F_R for at least one limit time interval TL during the operating travel.

[0141] The aforesaid condition of exceeding the reference curve F_R is indicative of the presence of an obstacle that interferes with the movement of the covering blades 10, determining an increase of the resistance torque to which the electric motor 25 is subjected and, therefore, a corresponding increase of the current absorbed by the electric motor 25 itself.

[0142] Advantageously, in the obstacle recognition step 301, the reference curve F_R is derived from the series of mapping values i_m calculated in the mapping step 400 of the present method. Preferably, the mapping step 400 determines the series of mapping values i_m of the first operating electrical parameter i(t) within the reference interval XR of the position parameter xP relative to complete travel of the covering blades 10.

[0143] In particular, the reference interval XR is divided into a specific number of position sub-intervals SI preferably of equal length.

[0144] The mapping step 400 associates, with each position sub-interval SI, a corresponding mapping value i_m.

[0145] Advantageously, the reference curve F_R (employed in the obstacle recognition step 301) is derived from the mapping values i_m added with a specific limit value δ, indicative in particular of the increase of current absorbed by the electric motor 25 in case of presence of an obstacle that opposes the movement of the covering blades 10.

[0146] Preferably, the reference curve F_R is obtained by means of an interpolation process for the series of mapping values i_m, advantageously added with the aforesaid limit value δ.

[0147] For example, the reference curve F_R is obtained by means of linear interpolation of the series of mapping values i_m, according to the equation:

where: x is the value of the position parameter xP, x_k is the higher value of the k-th position sub-interval SI of the reference interval XR, and i_m,k is the mapping value i_m associated with the k-th position sub-interval SI.

[0148] If, in the aforesaid obstacle recognition step 301, the first values of the first operating electrical parameter i(t) are lower than the reference curve F_R, the method provides for performing the mapping step 400, so as to update the mapping values i_m and, consequently, the reference curve

[0149] R_F.

[0150] Advantageously, in the mapping step, the mapping values i_m are calculated as a function of the first values of the first operating electrical parameter i(t) acquired in a specific number of acquisition steps 100.

[0151] Preferably, the mapping values i_m calculated in each iteration of the mapping step 400 are obtained as a function of the mapping values i_m calculated in a specific number of preceding iterations of the mapping step 400.

[0152] In particular, with each iteration of the mapping step 400, each position sub-interval SI of the reference interval XR is associated with a corresponding significant value i_s obtained from the first values of the first operating electrical parameter i(t) acquired in the corresponding acquisition step 100. For example, each of such significant values i_s is obtained from the mean of the first values associated with the values of the position parameter xP contained within the corresponding position sub-interval SI.

[0153] In particular, for each position sub-interval SI of the reference interval XR, the corresponding mapping value i_m is derived from the mean of the significant values i_s associated with such position sub-interval SI calculated for a specific number of iterations of the mapping step 400, for example by means of the equation:

where i_m,k is the mapping value associated with the k-th position sub-interval SI, i^k_s,i is the significant value associated with the k-th position sub-interval SI at the interaction i-th of the mapping step 400, and n is the number of considered iterations.

[0154] In accordance with a different embodiment, the reference curve F_R is given by values preset in the electronic control unit 26.

[0155] Advantageously, with reference to the embodiment of figure 5, following the aforesaid stopping step 302 (at the detection of an obstacle in the corresponding obstacle recognition step 301), the present method provides for a reactivation step 303, in which the electronic control unit 26 automatically controls the actuation of the electric motor 25 as a continuation of the operating travel interrupted with the stopping step 302.

[0156] Advantageously, the reactivation step 303 provides for a reversal step 304, in which the electronic control unit 26 controls the electric motor 25 to actuate a movement of the covering blades 10 in the sense opposite that of the interrupted operating travel, for a specific reversal travel.

[0157] Subsequently, the reactivation step 303 provides for a reactuation step 305, in which the electronic control unit 26 enables the actuation step 1000 in order to make the electric motor 25 restart the movement of the covering blades 10 according to the previously-interrupted operating travel.

[0158] Preferably, the reactuation step 305 is performed after a specific wait time from the end of the reversal step 304.

[0159] Advantageously, the reactivation step 303 is performed for a maximum number M of iterations, after which a step 306 for the permanent stopping of the electric motor 25 is provided. Advantageously, the implementation of the above-discussed mathematical equations can be obtained by means of suitable mathematical algorithms, which can also be performed with discrete and in particular digital values.

[0160] The invention thus conceived therefore attains the pre-established objects.

[0161] In particular, the identification of the values of the position parameter Xp (indicative of the operating positions of the covering blades 10) from the first values of the first operating electrical parameter i(t) of the electric motor 25 allows reliably controlling the movement of the covering blades 10, in particular without being affected by variations of the times of movement of the covering blades 10 themselves.

[0162] Advantageously, the identification of the values of the position parameter Xp according to the invention allows controlling the position of the covering blades 10 without having to install position sensors on the electric motor 25, such as encoders, etc.

[0163] In addition, the present invention advantageously allows reliably recognizing the presence of obstacles to the movement of the covering blades 10, preventing such obstacles from damaging the covering apparatus 1 and ensuring suitable safety conditions for the users. In particular, the comparison between the first values of the first operating electrical parameter i(t) and the reference curve R_F (in order to detect the presence of obstacles) is performed in the domain of the position parameter Xp, thus resulting insensitive to variations of the progression of the first operating electrical parameter i(t) with respect to the times of movement of the covering blades 10.

[0164] In addition, advantageously, the derivation of the reference curve R_F from the mapping values i_m, updatable with every movement of the covering blades 10, allows adapting the values of the reference curve R_F to variations of the behavior of the electric motor 25 due to aging factors of the covering apparatus 1.

Claims

1. Covering apparatus (1), which comprises:

- a support structure (2) provided with at least two lateral beams (3) that are parallel to and side-by-side each other, each of which longitudinally extended along a corresponding first extension direction (X);

- a plurality of covering blades (10) arranged one after the other according to said first extension direction (X), and each of such covering blades (10) is provided with two opposite ends (11) associated with the respective said lateral beams (3);

- movement means (12) operatively connected to said covering blades (10) and adapted to move said covering blades (10) between a closed position, in which said covering blades (10) are arranged partially superimposed one over the next to cover an underlying surface of the ground, and at least one open position, in which said covering blades (10) are arranged spaced one from the next, delimiting passage openings between them;

said movement means (12) comprising:

- at least one electric motor (25) mechanically connected to said covering blades (10);

- at least one electronic control unit (26) operatively connected to said electric motor (25) in order to control the operation of said electric motor (25);

said covering apparatus (1) being characterized in that said electronic control unit (26) comprises:

- an acquisition module (29) operatively connected to said electric motor (25) and configured for acquiring first values of at least one first operating electrical parameter (i(t)) of said electric motor (25) in at least one operating travel of said covering blades (10);

- a processing module (32) configured for calculating, as a function of said first values of said first operating electrical parameter (i(t)), corresponding values of a position parameter (xP) indicative of corresponding operating positions of said covering blades (10) in said operating travel;

- a control module (33) operatively connected to said electric motor (25) and configured for sending, to said electric motor (25), a drive signal as a function of said position parameter (xP).

2. Covering apparatus (1) according to claim 1, characterized in that it comprises a current sensor (30) operatively connected to said electric motor (25) in order to detect electrical measurements indicative of the intensity of current absorbed by said electric motor (25) in said operating travel, and operatively connected to the acquisition module (29) of said electronic control unit (26) in order to send, to said acquisition module (29), said electrical measurements representative of said first operating electrical parameter (i(t)).

3. Covering apparatus (1) according to claim 1 or 2, characterized in that said control module (33) comprises a control circuit (34) operatively connected to said electric motor (25) in order to apply to said electric motor (25), in said operating travel, said drive signal comprising a drive voltage; said control module (33) being connected to said acquisition module (29) in order to send, to said acquisition module (29), second values of a second operating electrical parameter (v(t)) representative of said drive voltage in said operating travel.

4. Covering apparatus (1) according to claims 2 and 3, characterized in that said processing module (32) is configured for calculating operating values indicative of the angular speed (ω(t)) of said electric motor (25) as a function of the first values of said first operating electrical parameter (i(t)) and of the second values of said second operating electrical parameter (v(t)), obtaining, from said operating values, corresponding said values of said position parameter (xP) in said operating travel.

5. Covering apparatus (1) according to any one of the preceding claims, characterized in that said control module (33) comprises a comparison module (35) configured for comparing said first values of said first operating electrical parameter (i(t)) with at least one reference curve (F_R) of said first operating electrical parameter (i(t)) as a function of said position parameter (xP), and for commanding said control module (33) to stop said electric motor (25) with at least one of said first values beyond said reference curve (F_R).

6. Covering apparatus (1) according to claim 5, characterized in that it comprises a mapping module (36) configured for calculating, from said first values of said first operating electrical parameter (i(t)) associated with the corresponding said values of said position parameter (xP), a series of mapping values (i_m) of said first operating electrical parameter (i(t)) as a function of said position parameter (xP);
said comparison module (35) being configured for deriving said reference curve (F_R) from said series of mapping values (i_m).

7. Method for operating a covering apparatus (1), such covering apparatus (1) comprising:

- a support structure (2) provided with at least two lateral beams (3) that are parallel to and side-by-side each other, each of which longitudinally extended along a corresponding first extension direction (X);

- a plurality of covering blades (10) arranged one after the other according to said first extension direction (X), and each of such covering blades (10) is provided with two opposite ends (11) associated with the respective said lateral beams (3);

- movement means (12) operatively connected to said covering blades and adapted to move said covering blades (10) between a closed position, in which said covering blades (10) are arranged partially superimposed one over the next to cover an underlying surface of the ground, and at least one open position, in which said covering blades (10) are arranged spaced one from the next, delimiting passage openings between them; said movement means (12) comprising:

- at least one electric motor (25) mechanically connected to said covering blades (10);

- at least one electronic control unit (26) operatively connected to said electric motor (25) in order to control the operation of said electric motor (25);

said method being characterized in that it comprises:

- an acquisition step (100), in which said electronic control unit (26) acquires first values of at least one first operating electrical parameter (i(t)) of said electric motor (25) in at least one operating travel of said covering blades (10);

- a processing step (200), in which said electronic control unit (26) calculates, as a function of said first values of said first operating electrical parameter (i(t)), corresponding values of a position parameter (xP) indicative of corresponding operating positions of said covering blades (10) in said operating travel;

- a control step (300), in which said electronic control unit (26) controls the operation of said electric motor (25) as a function of said position parameter (Xp).

8. Method according to claim 7, characterized in that the first values of said first operating electrical parameter (i(t)) are obtained from electrical measurements indicative of the intensity of current absorbed by said electric motor (25) in said operating travel.

9. Method according to claim 7 or 8, characterized in that in said acquisition step (100), said electronic control unit (26) acquires second values of a second operating electrical parameter (v(t)) representative of a drive voltage applied to said electric motor (25) in said operating travel.

10. Method according to claims 8 and 9, characterized in that in said processing step (200), said electronic control unit (26) calculates operating values indicative of the angular speed (ω(t)) of said electric motor (25) as a function of the first values of said first operating electrical parameter (i(t)) and of the second values of said second operating electrical parameter (v(t)), obtaining, from said operating values, corresponding values of said position parameter (Xp) in said operating travel.

11. Method according to claim 10, characterized in that said processing step (200) comprises a calculation step (201) in which the values of said position parameter (xP) are derived on the basis of at least one electrical balance equation given by:

where (k_v) and (R) are functional parameters of said electric motor (25), in which (k_v) is a speed constant of said electric motor (25), and (R) is a resistance of the rotor windings of said electric motor (25).

12. Method according to claim 11, characterized in that said processing step (200) comprises a step (202) for computing said functional parameters (k_v, R), in which said electronic control unit (26) calculates values of said functional parameters (k_v, R) as a function of time integrals of the first values of said first operating electrical parameter (i(t)) and of the second values of said second operating electrical parameter (v(t)) relative to the multiple operating travels of said covering blades (10).

13. Method according to any one of the preceding claims 7 to 12, characterized in that said control step (300) comprises an obstacle recognition step (301), in which said electronic control unit (26):

- compares said first values of said first operating electrical parameter (i(t)) with at least one reference curve (F_R) of said first operating electrical parameter (i(t)) as a function of said position parameter (xP), and

- controls a step (302) for stopping said electric motor (25) when at least one of said first values is beyond said reference curve (F_R).

14. Method according to claim 13, characterized in that it comprises a mapping step (400) in which said electronic control unit (26) calculates, from said first values of said first operating electrical parameter (i(t)) associated with the corresponding said values of said position parameter (xP), a series of mapping values (i_m) of said first operating electrical parameter (i(t)) as a function of said position parameter (xP);
in said obstacle recognition step (301), said reference function (F_R) is derived from said series of mapping values (i_m).

Drawing