System and method for controlling at least one electro-mechanical actuator for movement of movable closure elements
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- NICE SPA
- Filing Date
- 2026-01-23
- Publication Date
- 2026-08-06
Smart Images
Figure IB2026050625_06082026_PF_FP_ABST
Abstract
Description
[0001] “System and method for controlling at least one electro-mechanical actuator for movement of movable closure elements”
[0002] ★ ★★★★
[0003] Field of application
[0004] The present invention relates to a system and a method for controlling at least one electro-mechanical actuator for the movement of movable closure elements, such as swing-leaf gates.
[0005] Prior art
[0006] From the prior art electro-mechanical actuators for the movement, namely the opening and closing, of movable closure elements, in particular swing-leaf gates, are known.
[0007] In this latter case, the electro-mechanical actuators are fixed at one end to a fixed upright and at the other end to the leaf of the gate to be moved.
[0008] Moreover, the known electro-mechanical actuators generally comprise an electric motor and a reduction gear unit intended to form an electric gearmotor, as well as an electronic control module.
[0009] The electro-mechanical actuators described above are commonly used in automated systems for controlling the movement of the movable closure elements, namely the leaves of the gates.
[0010] These automated systems comprise, in addition to a number of electro-mechanical actuators corresponding to the number of gate leaves, a central control unit connected to the electronic control modules and sensors for detecting parameters associated with the operation of the electro-mechanical actuators, for example the vibrations affecting the actuators, as well as photocells and flashing signalling lamps. The central control unit comprises a radio receiver section intended to receive radiosignals from a command unit comprising transmitter devices which can be operated by one or more users for activation of the control system.
[0011] A first drawback related with the technical solutions described above consists in the fact that the installation of the control systems is particularly complex and must be entrusted to expert and specialized operators.
[0012] In particular, the incorrect installation of the electro-mechanical actuators, for example in the case where they are not aligned correctly, may generate loads and / or twisting and / or flexing forces which act on said actuators during the movement of the gate leaves.
[0013] A further drawback consists in the fact that the electro-mechanical actuators are subjected to various stresses, both during their ordinary activity and owing to sudden stoppages caused by persons or animals passing in front of the photocells.
[0014] Consequently, the actuators of the control systems tend to be subject to wear over time and require periodic maintenance operations in order to prevent the incorrect movement of the movable closure elements, namely the leaves of the gates.
[0015] However, verification of the wear or malfunctioning of the actuators and the consequent need for maintenance of the actuators must be performed by the installation operators, since the control systems described above are unable to:
[0016] - perform suitable and precise monitoring of the wear of the electro-mechanical actuators;
[0017] - program the necessary maintenance;
[0018] - determine beforehand malfunctioning of the electro-mechanical actuators.
[0019] Presentation of the invention
[0020] The main object of the present invention is to provide a system and a method for controlling at least one electro-mechanical actuator for the movement of movableclosure elements, able to overcome the aforementioned drawbacks.
[0021] A particular task of the present invention is to provide a system and a method of the type described above which allow malfunctions of the at least one electro-mechanical actuator to be determined beforehand and the installation operators to be informed of any such malfunctions.
[0022] Another task of the present invention is to provide a system and a method of the type described above which are able to reduce the malfunctioning affecting the at least one electro-mechanical actuator.
[0023] Another task of the present invention is to provide a system and a method of the type described above which allow programming of the operations for maintenance of the at least one electro-mechanical actuator.
[0024] A further task of the present invention is to provide a system and a method of the type described above which allow sudden stoppages of the movable closure element to be determined.
[0025] The object and main tasks described above are achieved with a system and a method for controlling at least one electro-mechanical actuator for the movement of movable closure elements in accordance with Claim 1 and with Claim 12.
[0026] Brief description of the drawings
[0027] In order to illustrate more clearly the innovative principles of the present invention and its advantages compared to the prior art, a system and a method for controlling at least one electro-mechanical actuator for the movement of movable closure elements will be described below with the aid of the accompanying drawings. In particular:
[0028] - Figure 1 shows a perspective view of the movable closure element, namely a swing-leaf gate, with the electro-mechanical actuators and some components of thecontrol system according to the present invention;
[0029] - Figure 2 shows a schematic view of the control system according to the present invention.
[0030] Detailed description
[0031] The present invention relates to a system and method for controlling at least one electro-mechanical actuator for the movement of movable closure elements.
[0032] In particular and as shown in Figure 1 , the movable closure elements according to the present invention consist of swing-leaf gates, the leaves being hingeably mounted on respective fixed uprights and being designed to rotate in a predetermined plane about a vertical axis so as to pass from a closed position into an open position, and vice versa.
[0033] In a manner known per se and if the movable closure element consists of a swingleaf gate, a plurality of electro-mechanical actuators consisting of a number corresponding to the number of gate leaves is provided, said actuators being fixed at one end to the fixed upright and at the other end to the leaf to be moved, as shown in Figure 1.
[0034] The control system is shown schematically in Figure 2 and will be indicated in the continuation of the present description by the reference number 1.
[0035] The control system 1 with the at least one electro-mechanical actuator 2 or with the actuators and the movable closure element 4, namely the swing-leaf gate, form an automated closing system 100.
[0036] The control system 1 preferably comprises:
[0037] - at least one electro-mechanical actuator 2 with an electric motor 6 and an electronic control module 8 configured to control operation of the electric motor 6;
[0038] - a central control unit 10 connected to the electronic control module 8;- a remote control unit 12, or external server, preferably a server cloud, connected to the central control unit 10 for exchanging data therewith;
[0039] - a command unit 14 connected to the at least one central control unit 10 and configured at least to transmit to the central control unit 10 command signals for operation of the at least one electro-mechanical actuator 2;
[0040] - at least one sensor 16 connected to the central control unit 10 and / or to the electronic control module 8 and configured to detect data of the operating parameters relating to the movement of the at least one electro-mechanical actuator 2 and of the movable closure element 4 and the vibrations and the impacts to which the at least one electro-mechanical actuator 2 is subjected and to transmit the detected data to the electronic control module 8 and to the central control unit 10.
[0041] The at least one electro-mechanical actuator 2 also comprises a reduction gear unit associated with the electric motor 6 and designed to form with it an electric gearmotor and means for transmission of the movement to the movable closure element 4 intended to be operated by the gearmotor.
[0042] The reduction gear unit and the movement transmission means are not shown in the schematic view of Figure 2.
[0043] The electronic control module 8 is connected to the central control unit 10 and is configured to command the rotation of the electric motor 6 of the at least one electromechanical actuator 2 in accordance with the electric signals exchanged with the central control unit 10, in particular in accordance with the command signals transmitted by the command unit 14.
[0044] Preferably, the central control unit 10 is located in the vicinity of the at last one electro-mechanical actuator 2; for example, the central control unit 10 may be mounted on the fixed structure S intended to be closed by the swing-leaf gate 4, inparticular on the fixed uprights P of an enclosure wall, as shown in Figure 1.
[0045] In this respect, the central control unit 10 and the at least one electro-mechanical actuator 2, in particular the electronic module 8 installed inside it, form a local control unit.
[0046] Suitably, the central control unit 10 comprises a radio receiver section intended to receive the radio command signals from the command unit 14, namely from transmitter devices operated by respective users for selective activation of the control system 1 and for moving the movable closure element 4.
[0047] The radio receiver section of the central control unit 10 may comprise a low-power radio transmitter and a non-volatile memory for storing identification certificates and recognition codes of the transmitter devices of the command unit 14.
[0048] The central control unit 10 may also comprise any non-transitory storage device, for example a volatile memory such as a RAM, or a non-volatile memory such as an EPROM, or a flash memory or the like, in which databases, data of the command signals received, calendars, etc., may be stored.
[0049] The transmitter devices of the command unit 14 may consist of mobile terminals such as wireless remote control devices, smartphones, tablets, etc. and comprise display means 18, such as touchscreens or display screens, which can be consulted by the users and the function of which will be clarified below in the continuation of the present description.
[0050] The central control unit 10 is connected to the remote control unit 12, or external server or server cloud, by means of a wired or wireless communication line 13 or by means of a communication network, for example an Internet network.
[0051] As shown schematically in Figure 2, the command unit 14 is also connected to the remote control unit 12 by means of a communication network 19, for example via theInternet, for the reasons explained below.
[0052] The at least one sensor 16 of the control system may comprise an accelerometer and / or a gyroscope intended to detect the angular speed and / or the angular acceleration of the movable closure element 4, i.e. of the gate, and of the at least one electro-mechanical actuator 2 during the opening and closing operations.
[0053] Alternatively or in combination, the at least one sensor 16 for detecting the vibrations and the impacts to which the at least one electro-mechanical actuator 2 is subjected may consist of a microphone or a piezoelectric sensor.
[0054] Advantageously, the control system 1 may also comprise at least one further sensor, not shown in the attached figures, for detecting data relating to the operating temperature of the at least one electro-mechanical actuator 2.
[0055] The at least one sensor 16 configured to detect the data of the operating parameters and / or the at least one sensor configured to detect the temperature data may be incorporated in the electronic control module 8 of the at least one electro-mechanical actuator 2.
[0056] Moreover, the electronic control module 8 may be configured to receive directly the data detected by the at least one sensor 16 and by the further temperature sensor and to transmit said data to the central control unit 10 which in turn transmits said data to the remote control unit 12, or external server, for the reasons described below.
[0057] As shown more clearly in Figure 1 , the control system 1 further comprises a series of photocells 5 and one or more flashing signalling lamps 7 of the type known per se and also connected to the central control unit 10.
[0058] In accordance with a particular aspect of the present invention, the remote control unit 12, or external server, is configured to carry out a process for processing thedata detected by the at least one sensor 16 by means of at least one self-learning algorithm 20.
[0059] In particular, the at least one self-learning algorithm 20 is an artificial intelligence algorithm consisting preferably of a model based on machine learning processes, for example of the decision tree or neural network type.
[0060] The detected data of the operating parameters form the input for the processing process performed by means of the self-learning algorithm 20, while the output of the processing process is formed by information regarding the state of the at least one electro-mechanical actuator 2.
[0061] If the further sensor for detection of the temperature data is provided, said data is also intended to form the input for the processing process in combination with the data of the operating parameters of the at least one actuator 2 and of the movable closure element 4.
[0062] The data relating to the operating parameters of the at least one electro-mechanical actuator 2 and of the movable closure element 4 which are supplied as input for the processing process may be classified taking into account different conditions and moments of the installation and / or use of the control system 1 and of the automated closing system 100.
[0063] For example, if the at least one electro-mechanical actuator 2 is not perfectly installed, the intensity and frequency values of the vibrations detected by the at least one sensor 16 are different from the values detected in the case of an electromechanical actuator 2 which is correctly installed.
[0064] Moreover, with the passing of time, the at least one electro-mechanical actuator 2 is subject to wear and tear and therefore the speed and angular acceleration values detected may change.Preferably, a procedure for classifying the detected data supplied as input for the processing process uses an approach consisting of two substeps.
[0065] The first substep involves using for example a classic machine learning self-learning model, such as Support Vector Machine.
[0066] In the second substep a deep learning self-learning model based on a convolutional neural network, typically a 48 x 96 spectrogram, may be used.
[0067] The spectrum of the data relating to the movement of the at least one electromechanical actuator 2 and of the swing-leaf gate 4 may be determined using a fast Fourier transform or other transformation techniques which may provide information about a relative or absolute distribution.
[0068] The self-learning algorithm 20 is also configured to distinguish the background noise during the processing process since the installation of the closure element 4, namely of the swing-leaf gate, usually occurs in contexts where there is a high level of background noise.
[0069] Advantageously, the information about the state of the at least one electromechanical actuator 2 or of the movable closure element 4 comprises at least the correct / incorrect installation of the electro-mechanical actuator 2 and any maintenance operations to be carried out and the prediction of any fault affecting the at least one electro-mechanical actuator 2 and the movable closure element 4.
[0070] For this purpose, the remote control unit 12, or external server, is configured to transmit the information output from the processing process, via the communication line 13 and / or the communication network 19 described above, to the central control unit 10 and to the command unit 14.
[0071] The display means 18 of the command unit 14 described above are therefore configured to allow the users to directly view the information about the state of the atleast one electro-mechanical actuator 2.
[0072] In this way, the users of the control system 1 may find out about the state of the electro-mechanical actuator 2 and the closure element 4 and if necessary program the maintenance operations.
[0073] Moreover, the information output from the processing process performed by the selflearning algorithm 20 may be used by the central control unit 10 in order to optimize the movement of the at least one electro-mechanical actuator 2 and the movable closure element 4.
[0074] For example, the central control unit 10 may be configured to reduce the speed of movement of the leaves of the gate 4 so as to keep the vibrations affecting the electro-mechanical actuators 2, and the noise thus produced, below a predefined threshold.
[0075] Preferably, the control system 1 also comprises a unit 22 configured to store a database formed by the data of the operating parameters detected by the at least one sensor 16 and optionally the temperature data detected by the further sensor. Said storage unit 22 may consist, for example, of an electronic memory connected to the central control unit 10 and to the remote control unit 12, as shown schematically in Figure 2.
[0076] The detected and stored data for forming the database may also be used to determine the sudden stoppages of the leaves of the gate 4 during the opening and closing operations, due for example to persons or animals suddenly passing in front of the photocells 5 of the control system 1.
[0077] In fact, these sudden stoppages result in greater wear of the gate 4 and therefore the information output from the processing process also varies depending on the number of sudden stoppages.In the light of the above, the self-learning algorithm 20 is configured to determine also the number of sudden stoppages of the leaves of the gate 4 so as to predict with even greater precision any malfunctioning and the maintenance work to be carried out.
[0078] As already mentioned, the present invention also relates to a method for controlling at least one electro-mechanical actuator 2 for the movement of movable closure elements 4 forming part of the control system 1 described above.
[0079] The method comprises preferably the following steps:
[0080] - detection, by means of the at least one sensor 16, of operating parameter data relating to the movement of the at least one electro-mechanical actuator 2 and of the movable closure element 4 and the vibrations and the impacts to which the at least one electro-mechanical actuator 2 is subjected;
[0081] - transmission of the operating parameter data to the remote control unit 12, or external server, of the control system 1 ;
[0082] - processing of the operating parameter data.
[0083] In accordance with the present invention, the processing step is performed by means of the at least one self-learning algorithm 20 of the type described above of the remote control unit 12, or external server, so as to obtain at the output information about the state of the at least one electro-mechanical actuator 2.
[0084] The method further comprises a step of transmission of the data obtained, following the step of processing by the remote control unit 12, or external server, to the central control unit 10 and to the command unit 14 of the control system 1.
[0085] As already mentioned with reference to the control system 1 , the information about the state of the at least one electro-mechanical actuator 2 comprises at least the correct / incorrect installation of the at least one electro-mechanical actuator 2 and anymaintenance operations to be performed and the prediction of any fault affecting the at least one electro-mechanical actuator 2 and the movable closure element 4.
[0086] Following the transmission step, the information about the state of the at least one electro-mechanical actuator 2 and the movable closure element 4 may be consulted by the users of the control system 1 , by accessing for example the display means 18 of the command unit 14.
[0087] The method also comprises a step of storing the data detected by the at least one sensor 16 so as to form a database, of the type indicated above with reference to the control system 1 and the storage unit 22.
[0088] In this respect, the method may comprise a series of activation test steps of the at least one electro-mechanical actuator 2 and movement test steps of the movable closure element 4, namely of the swing-leaf gate, so as to allow the detection of a series of operating parameter data by the at least one sensor and to form the abovementioned database.
[0089] On the basis of the data stored in the database, the self-learning algorithm 20 is also able to determine the sudden stoppages of the leaves of the gate 4, as already mentioned above.
[0090] Finally, the method may comprise a further step of detecting data relating to the service temperature of the at least one electro-mechanical actuator 2 by means of the further sensor.
[0091] Said temperature data is also processed by means of the at least one self-learning algorithm 20 in combination with the data of the operating parameters in order to obtain the information about the state of the at least one electro-mechanical actuator 2.
[0092] From the above description it is now clear how the system and the control methodaccording to the present invention are able to achieve advantageously the predefined objects.
[0093] In particular, the use of the at least one self-learning algorithm for processing the detected data allows malfunctions of the electro-mechanical actuator to be determined beforehand and any such malfunctions to be signalled to the installation operators, as well as the programming of any operations for maintenance of the electro-mechanical actuator.
[0094] Moreover, the data detected by the sensors is stored so that it may also be processed subsequently and determine the number of sudden stoppages of the swing-leaf gate.
[0095] Finally, the use of the system and the control method according to the present invention, in particular of the self-learning algorithm, allows the sudden stoppages affecting the leaves of the gate to be determined.
[0096] Obviously, the above description of embodiments applying the innovative principles of the present invention is provided by way of example of these innovative principles and must therefore not be regarded as limiting the scope of the rights claimed herein.
Claims
Claims1. System (1) for controlling at least one electro-mechanical actuator (2) for the movement of movable closure elements (4), which system (1) comprises:- at least one electro-mechanical actuator (2) with an electric motor (6) and an electronic control module (8) configured to control operation of the electric motor (6);- a central control unit (10) connected to said electronic control module (8); - a remote control unit (12) connected to said central control unit (10) for exchanging data with said central control unit (10);- a command unit (14) connected at least to said central control unit (10) and configured at least to transmit to the central control unit (10) command signals for operation of the at least one electro-mechanical actuator (2);- at least one sensor (16) connected to said central control unit (10) and / or to said electronic control module (8) and configured to detect data of operating parameters relating to the movement of said at least one electro-mechanical actuator (2) and of the movable closure element (4) and the vibrations and the impacts to which said at least one electro-mechanical actuator (2) is subjected and to transmit said data to said electronic control module (8) and to said central control unit (10); characterized in that said remote control unit (12) is configured to perform a process for the processing of the data detected by said at least one sensor (16) by means of at least one self-learning algorithm (20), the detected data of the operating parameters forming the input for the processing process; andin that the output of the processing process is formed by information about the state of the at least one electro-mechanical actuator (2).
2. System (1) according to the preceding claim, characterized in that the remote control unit (12) is intended to transmit the information about the state of theat least one electro-mechanical actuator (2) to said central control unit (10) and to said command unit (14).
3. System (1) according to any one of the preceding claims, characterized in that the information about the state of the at least one electro-mechanical actuator (2) comprises at least the correct / incorrect installation of the at least one electromechanical actuator (2) and any maintenance operations to be carried out and the prediction of any fault affecting the at least one electro-mechanical actuator (2) and the movable closure element (4).
4. System (1) according to any one of the preceding claims, characterized in that said at least one sensor (16) comprises an accelerometer and / or a gyroscope intended to detect the angular speed and / or the angular acceleration of the movable closure element (4) and of the at least one electro-mechanical actuator (2) during the opening and closing operations.
5. System (1) according to any one of the preceding claims, characterized in that said command unit (14) comprises display means (18) configured to allow displaying of the information about the state of the at least one electro-mechanical actuator (2).
6. System (1) according to any one of the preceding claims, characterized in that the system comprises a unit (22) configured to store a database formed by the data of the operating parameters detected by the at least one sensor (16).
7. System (1) according to the preceding claim, characterized in that the at least one self-learning algorithm (20) of the remote control unit (12) is configured to determine the sudden stoppages of the movable closure element (4) on the basis of the stored database data.
8. System (1) according to any one of the preceding claims, characterized inthat the system comprises at least one further sensor for detecting data relating to the operating temperature of the at least one electro-mechanical actuator (2), the temperature data being intended to form the input for the processing process in combination with the data of the operating parameters.
9. System (1) according to any one of Claims 1 and 8, characterized in that said at least one sensor (16) for detecting the data of the operating parameters and / or said at least one further sensor for detecting the temperature data are incorporated in said electronic control module (8).
10. System (1) according to any one of the preceding claims, characterized in that the movable closure element (4) is a swing-leaf gate.
11. System (1) according to the preceding claim, characterized in that the selflearning algorithm (20) is configured to determine the number of sudden stoppages of the leaves of the gate (4) so as to predict any malfunctions and maintenance operations to be carried out.
12. Method for controlling at least one electro-mechanical actuator (2) for the movement of movable closure elements (4) forming part of a control system (1) in accordance with any one of the preceding claims, which method comprises the following steps:- detection, by means of at least one sensor (16), of operating parameter data relating to the movement of said at least one electro-mechanical actuator (2) and of the movable closure element (4) and the vibrations and the impacts to which said at least one electro-mechanical actuator (2) is subjected;- transmission of said operating parameter data to a remote control unit (12) of said control system (1);- processing of said operating parameter data;characterized in that said processing step is performed by means of at least one self-learning algorithm (20) in order to obtain information regarding the state of the at least one electro-mechanical actuator (2).
13. Method according to the preceding claim, characterized in that the method comprises a step involving transmission of the information obtained following the processing step to a central control unit (10) and to a command unit (14) of the control system (1).
14. Method according to any one of Claims 12-13, characterized in that the information about the state of the at least one electro-mechanical actuator (2) comprises at least the correct / incorrect installation of the at least one electromechanical actuator (2) and any maintenance operations to be carried out and the prediction of any fault affecting the at least one electro-mechanical actuator (2) and the movable closure element (4).
15. Method according to any one of Claims 12-14, characterized in that the method comprises a step of storing the data of the operating parameters detected by the at least sensor (16) in order to form a database.
16. Method according to the preceding claim, characterized in that the method comprises a series of activation test steps of the at least one electro-mechanical actuator (2) and movement test steps of the movable closure element (4) for allowing the detection of a series of operating parameter data by the at least one sensor (16).
17. Method according to any one of Claims 12-16, characterized in that the method comprises a further step of detecting data relating to the service temperature of the at least one electro-mechanical actuator (2) by means of at least one further sensor, said temperature data being processed by means of said at least one selflearning algorithm (2) in combination with the data of the operating parameters.