EP0099489B1 - Verfahren und Reinigungsgerät zum Reinigen eines Wasserbeckens - Google Patents

Verfahren und Reinigungsgerät zum Reinigen eines Wasserbeckens Download PDF

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Publication number
EP0099489B1
EP0099489B1 EP83106211A EP83106211A EP0099489B1 EP 0099489 B1 EP0099489 B1 EP 0099489B1 EP 83106211 A EP83106211 A EP 83106211A EP 83106211 A EP83106211 A EP 83106211A EP 0099489 B1 EP0099489 B1 EP 0099489B1
Authority
EP
European Patent Office
Prior art keywords
machine
course
drive
cleaning
water basin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP83106211A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0099489A1 (de
Inventor
Peter Sommer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sommer Schenk AG
Original Assignee
Sommer Schenk AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sommer Schenk AG filed Critical Sommer Schenk AG
Priority to AT83106211T priority Critical patent/ATE23899T1/de
Publication of EP0099489A1 publication Critical patent/EP0099489A1/de
Application granted granted Critical
Publication of EP0099489B1 publication Critical patent/EP0099489B1/de
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners

Definitions

  • the invention relates to a method for cleaning a water basin by means of a cleaning device which can be used under water, the travel drive of which is controlled to maintain a certain course and change thereof, the course being maintained by a control device acting on the travel drive, a first course running by the respective command variable is set and, when the cleaning device comes into contact with a wall or another obstacle, the direction of travel is reversed and a second course which is changed by a set angle with respect to the first course is maintained, and a cleaning device for this.
  • the sensor rod or the sensor rods must be adjusted to a certain angle depending on the size of the water basin for automatic operation, so that after driving back on a lane, the vehicle travels backwards and then the next parallel run to the first lane is driven.
  • the inclined travel is not controlled and therefore or the like due to bumps. can be influenced, certain parts of the surface are run over twice at the beginning and at the end of the lane. In order to ensure that the pool floor is completely cleaned, this device must be monitored despite the automatic reversal and inclined travel.
  • the sequence of the individual, partial operations to be carried out automatically when changing the direction of travel and when changing direction is determined by a microprocessor, but compliance with a course is not guaranteed in this case either and the device can therefore be prevented from the course by obstacles to be brought.
  • DE-B-1 297 844 again shows a device which switches off the motor for the travel drive when it hits a wall of the swimming pool and then switches on a motor for -8 segment disks, such that after a full rotation of the segment disks and the displacement that has occurred the device by a certain amount on the side of the motor for the traction drive is switched on again with the help of a switching device in the opposite direction of rotation.
  • a switching device in the opposite direction of rotation.
  • a device for measuring the course is used, in that the second course is maintained for a set first period of time and after the first period of time the first course is set again, preferably automatically, with the angle and the first period of time are set so that successive lanes of the first course adjoin one another or overlap.
  • a corresponding cleaning device is equipped with a chassis and a crawler track driven by a travel drive.
  • a setting device for a course setpoint is assigned to the drive.
  • sensors are provided for transmitting a reversing direction signal to the drive when it comes into contact with an obstacle.
  • a course controller between the sensor and the drive is to be switched on and connected to the setting device and a device for determining the course measured value, the course controller comparing the course measured value and course setpoint, that the setting device has a timer and / or a manual actuation is assigned, and that an actuator for actuating one steering clutch each associated with the drive of a caterpillar of the caterpillar undercarriage is also connected to the course controller.
  • 1 denotes a chassis shown in broken lines, which is built on a crawler chassis, from which the two caterpillars 2, 3 mounted on the side are visible.
  • the caterpillars 2, 3 are driven by a drive 4 via schematically illustrated drive shafts 5.
  • the drive 4 can be a reversible electric motor, for example, which is connected to the drive shafts 5 via gears.
  • the cleaning device is steered by actuating steering clutches 6, 7, for example electromagnetic clutches, which can be actuated by a switching device, which represents the actuator 8 of a control device dealt with below, via schematically illustrated rods 9, 10.
  • actuating steering clutches 6, 7, for example electromagnetic clutches which can be actuated by a switching device, which represents the actuator 8 of a control device dealt with below, via schematically illustrated rods 9, 10.
  • Cleaning devices of this type are described in detail in U.S. Patent Nos. 4,304,022 and 4,154,680.
  • the control device with which the cleaning device according to FIG. 1 is equipped comprises various parts, all of which are accommodated on the chassis 1, even if they are shown in FIG. 1 for a better overview outside the chassis 1.
  • the cleaning device is to automatically drive over the entire floor area of a water basin in side-by-side trips, the change of direction and the transition to an adjacent train also taking place automatically.
  • the cleaning device has a sensor rod 11, 12 on its front and rear sides.
  • the feeler rods 11, 12 protrude from the chassis 1 and come as the first part of the device into contact with a pool wall or another obstacle, e.g. a ladder or the like
  • the signal triggered by the sensor rods in contact with a wall or an obstacle is transmitted via connections 13, e.g. Electrical signal lines, passed to a controller 14, where a signal for reversing the direction of travel goes to the drive 4, through which the reversal of the direction of rotation of the drive 4 takes place.
  • the cleaning device Since the cleaning device has to follow certain paths, it has a device for measuring the course.
  • a compass 15 for example a magnetic or gyro compass, is used, which directs the measured actual course value via a connection 16 to the controller 14.
  • controller 14 this value is compared with the reference variable, i.e. the course setpoint, which is set on a setting device 17 and entered into the controller 14 via a connection 18.
  • a timer 19 is connected to the setting device 17 for setting the reference variable via a connection 20.
  • the setting device 17 has a manual actuation 21, with which the course setpoint can be selected in the setting device 17 on the one hand and the cleaning device can be controlled by hand on the other hand.
  • the controller 14 has a connection 22 to the actuator 8, via which the signals for course correction and for inclined travel are transmitted.
  • FIG. 2 shows a plan view of the part of a water basin 23 which is delimited by walls 24, 25.
  • Lines I, 11 schematically show two adjacent lanes which the cleaning device traverses one after the other.
  • the cleaning device first runs on the lane 1 on its preselected course, which is continuously regulated by the controller 14. If the cleaning device comes into contact with the pool wall 25 with one of its sensors 11, 12, a signal is triggered by which the direction of travel is switched to the opposite course. Now the cleaning device travels a distance A-B on the same course, the distance A-B being defined by measuring a time set on the timer 19. This return journey on the same course on route A-B serves to prevent the cleaning device from becoming stuck to columns, ladders or channels when initiating an inclined travel.
  • the cleaning device thus comes out of the area of the reinforcement of the basin wall 25, which, if necessary, ie when using a magnetic compass as an actual course value transmitter, causes disturbances in the earth's magnetic field can. By adhering to a return trip on the same course, you can easily avoid these interference options.
  • the setting device 17 is adjusted in such a way that the course setpoint is changed by a certain angle a.
  • the controller 14 now brings the cleaning device in the direction given by the new course setpoint by appropriately actuating the steering clutches 6, 7 by the actuator 8 in such a way that the inclined course is taken at point B. Now the cleaning device moves for a time set on the timer 19 on this inclined course to point B.
  • the course setpoint is changed in the opposite direction to the transition to the inclined course by the same amount, whereby the cleaning device aligns itself on the lane c with the roadway II .
  • the return journey on the carriageway 11 begins, and when an edge contact with the sensors 11, 12 occurs, the return journey takes place on the same course with subsequent inclined travel and transition into the next carriageway.
  • the cleaning device shown in Fig. 3 has a crawler track, of which a caterpillar 2 is visible.
  • On both ends of the chassis 1 there are rotating cleaning rollers, e.g. Brushes 36, arranged in front of which the sensors 11, 12 are located.
  • a housing 27 surrounds parts, e.g. the filter or the like, the cleaning device.
  • a carrier 28 is supported on the chassis 1 and carries the compass 15.
  • the carrier 28 can be designed as a telescopic mast 29 with which the compass 15 can be adjusted in height. A further possibility is thus available to avoid disturbances of the earth's magnetic field resulting from the reinforcement, in particular the pool floor.
  • a wheel chassis can be used instead of the crawler track, which is controlled with the aid of steering clutches.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Filtration Of Liquid (AREA)
  • Cleaning In General (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
EP83106211A 1982-07-05 1983-06-25 Verfahren und Reinigungsgerät zum Reinigen eines Wasserbeckens Expired EP0099489B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83106211T ATE23899T1 (de) 1982-07-05 1983-06-25 Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4085/82 1982-07-05
CH4085/82A CH656665A5 (de) 1982-07-05 1982-07-05 Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens.

Publications (2)

Publication Number Publication Date
EP0099489A1 EP0099489A1 (de) 1984-02-01
EP0099489B1 true EP0099489B1 (de) 1986-11-26

Family

ID=4269543

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83106211A Expired EP0099489B1 (de) 1982-07-05 1983-06-25 Verfahren und Reinigungsgerät zum Reinigen eines Wasserbeckens

Country Status (6)

Country Link
US (1) US4518437A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
EP (1) EP0099489B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JPS5924037A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AT (1) ATE23899T1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
CH (1) CH656665A5 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (1) DE3367949D1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

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US6758226B2 (en) * 1999-04-01 2004-07-06 Aqua Products Inc. Motion detection and control for automated pool cleaner
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Also Published As

Publication number Publication date
US4518437A (en) 1985-05-21
JPH0358028B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-09-04
DE3367949D1 (en) 1987-01-15
JPS5924037A (ja) 1984-02-07
ATE23899T1 (de) 1986-12-15
CH656665A5 (de) 1986-07-15
EP0099489A1 (de) 1984-02-01

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