EP0750083A1 - Fahrzeug, insbesondere Reinigungsroboter für Schwimmbäder mit automatischer Fahrtrichtungsänderung vor einem Hindernis - Google Patents

Fahrzeug, insbesondere Reinigungsroboter für Schwimmbäder mit automatischer Fahrtrichtungsänderung vor einem Hindernis Download PDF

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Publication number
EP0750083A1
EP0750083A1 EP96401298A EP96401298A EP0750083A1 EP 0750083 A1 EP0750083 A1 EP 0750083A1 EP 96401298 A EP96401298 A EP 96401298A EP 96401298 A EP96401298 A EP 96401298A EP 0750083 A1 EP0750083 A1 EP 0750083A1
Authority
EP
European Patent Office
Prior art keywords
obstacle
vehicle
rotation
drive
wheel
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.)
Granted
Application number
EP96401298A
Other languages
English (en)
French (fr)
Other versions
EP0750083B1 (de
Inventor
Gérard Marbach
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.)
Zodiac Pool Care Europe SAS
Original Assignee
Sweepy International SA
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 Sweepy International SA filed Critical Sweepy International SA
Publication of EP0750083A1 publication Critical patent/EP0750083A1/de
Application granted granted Critical
Publication of EP0750083B1 publication Critical patent/EP0750083B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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

  • Such vehicles are used for example to constitute robots for cleaning liquid tanks, such as swimming pools.
  • Various embodiments of such swimming pool cleaning robots are known which, however, due to their design, have the disadvantage of always being diverted in the same direction when they encounter an obstacle and also the disadvantage of always being diverted roughly the same angle.
  • these devices can sometimes encounter difficulties in clearing certain obstacles, or even failing to escape (for example if they engage between a ladder and the wall of the pool); more their deviation significantly constant in front of an obstacle returns them in privileged directions so that their successive trajectories end up overlapping and that they do not cover the entire surface of the bottom of the pool. In the end, their functioning as a vehicle is not satisfactory and the swimming pool is not cleaned sufficiently effectively.
  • the object of the invention is essentially to remedy the drawbacks presented by known vehicles and to provide an improved vehicle which is capable of releasing itself safely in front of any obstacle and which is capable, when released, of pivoting an angle not predetermined so that its successive trajectories are perfectly random and that, in the case of a pool cleaning robot, the cleaning is made effective over the entire surface of the bottom of the pool, it being further understood that the technical means used for these purposes must be simple, reliable and of limited cost so that the vehicle perfected in accordance with the invention can be produced in large series.
  • each obstacle detection member comprises an elongated member constituted by the front edge, extending substantially over a half-width and on the corresponding angle of the front of the vehicle which is opposite to the drive wheel with which said member is functionally associated, of an arm shaped so that its opposite end is located substantially in the vicinity of the drive wheel that it controls and is supported for free rotation on a substantially vertical axis of rotation and in that said elongated member is selectively coupled to the drive shaft driving said drive wheel by means of the aforesaid connecting means.
  • the vehicle is made symmetrically and it is arranged so that its clearance takes place in a direction opposite to the obstacle.
  • the obstacle is perfectly frontal or bilateral, the two obstacle detectors are actuated simultaneously and the two driving wheels are brought simultaneously to turn in opposite direction so that initially the vehicle reverses without being deviated. In any case, it manages to clear whatever the position (lateral, frontal, bilateral), the nature (plane, concave, ...) and the dimension (in particular the width) of the obstacle.
  • the obstacle detection function is thus effectively ensured and appropriate control can be ensured regardless of the position of the obstacle relative to the front of the vehicle.
  • the means for reversing the direction of rotation comprise a driving toothed wheel disposed at the end of the motor shaft, as well as a central pinion and a peripheral crown with internal teeth which are integral with the wheel. drive and with one or the other of which can mesh the drive gear to determine respectively two directions of rotation of the drive wheel.
  • the connecting means also comprise temporary blocking means able to maintain the rotation in the opposite direction of the driving wheel for a sufficient time for the vehicle to be able to disengage from the obstacle, then to restore the rotation.
  • the drive wheel in its initial direction so that the vehicle sets off again on a new trajectory;
  • the locking means comprise a locking pawl secured to the movable bearing of the motor shaft which is engaged elastically when the bearing is moved under the action of the eccentric.
  • the temporary locking means are arranged to maintain the reverse rotation of the drive wheel for a non-predetermined period, whereby the vehicle is made to turn at an unpredictable and random angle so that its successive trajectories do not not overlap and are random; it is advantageous, in order to obtain a simple, but reliable structure, that the temporary locking means further comprise a transverse finger integral with the driving wheel and able to cooperate with the aforesaid pawl when the latter is engaged, in order to release it and releasing the bearing from the motor shaft, elastic return means being provided to return the bearing to its initial position.
  • FIGS. 1 to 4 and in particular in FIG. 1, only the part of the rolling vehicle which is concerned with the invention has been shown.
  • the vehicle can be arranged in any way according to the applications and needs.
  • the number of wheels, the type of motorization (electric, hydraulic, mechanical, ...) as well as the work equipment and the general shape (casing, dimensions, ...) can be any as far as do not influence the steering mechanism which will now be more particularly taken into account.
  • each obstacle detection member is designed to be functional not only on a front half of the vehicle, but also in the corresponding lateral angle, or even on the front end. on the corresponding side.
  • each obstacle detection member is associated with connecting means arranged in such a way that the detection member, when it strikes an obstacle, controls the reversal of the direction of rotation of the opposite drive wheel, and therefore causes pivoting of the vehicle opposite the obstacle.
  • each obstacle detection member is constituted by an elongated member or arm 2 in the general shape of a mustache or crescent moon which extends approximately across the front end of the vehicle.
  • Each detector 2 has an active edge 3 projecting forward and extending over a front half of the vehicle, as well as in the corner and at the start of the corresponding side of the vehicle; on the other front half of the vehicle, the edge 4 of the detector is set back towards the rear.
  • the two detectors 2 are arranged one above the other, being inverted with respect to each other so that the recessed edge 4 of one coincides with the active protruding edge 3 the other.
  • Each detector 2 is supported for free rotation on a substantially vertical axis 5 by its end 6 located on the side of the recessed edge 4, lights possibly being provided in the other detector to allow their respective free rotary movements.
  • connection means generally designated by the reference 7, so as to functionally control the direction of rotation of the driving wheel 1 which is located on this same side.
  • this detector 2 controls the wheel 1 located on the opposite side.
  • each drive wheel 1 The drive and the reversal of the direction of rotation of each drive wheel 1 are arranged as follows.
  • a motor shaft 8 (driven by a central motor not shown) is fitted, at its free end, with a driving toothed wheel 9.
  • a central pinion 10 and a peripheral ring 11 To the wheel 1 or to the axis of the wheel 1 are coaxially secured a central pinion 10 and a peripheral ring 11 with internal teeth.
  • the driving gear 9 is located between the central pinion 10 and the crown 11 and can mesh with one or the other, selectively, as indicated below.
  • each detector 2 is shaped as a fork 12 coagulating with a lug 13 secured to a carriage 14 which is movable on a part of the fixed frame 15 in a direction approximately parallel to the motor shaft 8.
  • the carriage 14 carries a spout 16 which extends in the direction of the shaft 8.
  • an eccentric disc 17 is fixed in rotation on the shaft 8.
  • the shaft 8 is supported by a bearing 18 which is itself supported by a carriage 19 capable of sliding on a fixed frame 20 in a direction approximately transverse to the shaft 8.
  • the detector 2 In the absence of an obstacle, the detector 2 is not deflected and it keeps the spout 16 offset laterally relative to the eccentric disc 17. A return spring 21 then maintains the carriage 19 in a position for which the bearing 18 supports the shaft 8 in the rest position, the drive gear 9 meshing with the crown 11. The corresponding direction of rotation of the drive wheel 1 is assumed to correspond to the forward movement of the vehicle.
  • the detector 2 When an obstacle occurs which pushes the active edge 3 of the detector 2 backwards, the detector 2, by pivoting, causes, by means of its fork 12, the displacement of the spout 16 which is brought opposite the eccentric disc 17. By turning, the latter bears against the spout and the shaft 8 is pushed back so that the drive gear 9 leaves the crown 11 and will cooperate with the central pinion 10. The latter is driven in the opposite direction to the crown 11 and the driving wheel 1 rotates in the opposite direction.
  • releasable blocking means are provided, designated as a whole by reference 22 in FIGS. 2 and 3.
  • the releasable blocking means 22 comprise a rod 23 sliding axially freely in a passage 25 of a fixed body 24 located opposite the bearing 18, said rod 23 being integral with said bearing 18.
  • the rod 23 has a radial notch 26 which, when 'It is released from the body 24, is pushed into abutment against the edge of the orifice of the passage 25 using a transverse spring 27 (the rod 23 having a certain radial clearance in the passage 25).
  • the passage 25 can optionally be provided in a jacket 28 screwable into the body 24 in order to allow a stroke adjustment, as visible in FIG. 4.
  • the locking means are released as follows.
  • the driving wheel 1 carries a finger 29 which extends transversely and which, during the rotation of the wheel 1, finds on its trajectory an organ, for example a ring 30, integral with the rod 23.
  • an organ for example a ring 30, integral with the rod 23.
  • the notch 26 is hollowed out in the rod 23 on the same side as the finger 29.
  • the arrangement which has just been described has the advantage that, when the obstacle is encountered, the finger 29 is in any angular position relative to the ring 30.
  • the drive wheel 1 therefore rotates d '' angular amplitude not predetermined and random before being again caused to turn in direction before.
  • the vehicle after having struck an obstacle, will therefore free itself from it by pivoting opposite the obstacle with a random angular amplitude and will set out again in forward direction on a new trajectory which is arranged randomly with respect to the previous.
  • the two driving wheels 1 are caused to rotate in opposite directions simultaneously and the vehicle reverses substantially in a straight line.
  • the two fingers 29 are not, in principle, in the same relative angular position relative to the two respective rings 30: one of the two fingers 29 will therefore meet its associated ring 30 before the other, and then the vehicle will be brought to turn in the direction determined by said first finger meeting its associated ring, then set out again in forward direction on a new trajectory as the case previously exposed.

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)
  • Manipulator (AREA)
EP96401298A 1995-06-19 1996-06-14 Fahrzeug, insbesondere Reinigungsroboter für Schwimmbäder mit automatischer Fahrtrichtungsänderung vor einem Hindernis Expired - Lifetime EP0750083B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9507297A FR2735437B1 (fr) 1995-06-19 1995-06-19 Vehicule roulant, notamment robot de nettoyage en particulier de piscine, a changement automatique de direction de deplacement devant un obstacle
FR9507297 1995-06-19

Publications (2)

Publication Number Publication Date
EP0750083A1 true EP0750083A1 (de) 1996-12-27
EP0750083B1 EP0750083B1 (de) 2000-05-10

Family

ID=9480135

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96401298A Expired - Lifetime EP0750083B1 (de) 1995-06-19 1996-06-14 Fahrzeug, insbesondere Reinigungsroboter für Schwimmbäder mit automatischer Fahrtrichtungsänderung vor einem Hindernis

Country Status (9)

Country Link
US (1) US5771987A (de)
EP (1) EP0750083B1 (de)
AT (1) ATE192821T1 (de)
AU (1) AU704603B2 (de)
CA (1) CA2179482A1 (de)
DE (1) DE69608168T2 (de)
ES (1) ES2146366T3 (de)
FR (1) FR2735437B1 (de)
ZA (1) ZA965184B (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007053310A1 (de) 2007-11-08 2009-06-10 Robert Bosch Gmbh Roboterfahrzeug sowie Ansteuerverfahren für ein Roboterfahrzeug
FR2925548A1 (fr) * 2007-12-21 2009-06-26 Zodiac Pool Care Europ Soc Par Appareil nettoyeur de surface immergee comprenant un dispositif de brossage entraine par les organes d'entrainement de l'appareil sur la surface immergee
IT202200007133A1 (it) * 2022-04-11 2023-10-11 Stiga S P A In Breve Anche St S P A “Robot tosaerba con motore di trazione fuori asse”

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IL124413A (en) * 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
DE19821306C2 (de) * 1998-05-13 2000-12-14 Gmd Gmbh Autonom navigierendes System mit Hinderniserkennung
US6601255B1 (en) 1998-05-22 2003-08-05 Zodiac Pool Care, Inc. Pool cleaner
BR9910659A (pt) * 1998-05-22 2001-01-30 Zodiac Pool Care Europe Limpador de piscina
DE10110905A1 (de) * 2001-03-07 2002-10-02 Kaercher Gmbh & Co Alfred Bodenbearbeitungsgerät, insbesondere Bodenreinigungsgerät
DE60234768D1 (de) * 2001-07-03 2010-01-28 Pentair Pool Products Inc Untergestell für ein automatisches schwimmbeckenreinigungsgerät
IL145930A0 (en) * 2001-10-15 2002-07-25 Aquaproducts Inc Pool cleaning method and apparatus
GB2411820A (en) * 2004-02-18 2005-09-14 Reckitt Benckiser Self driven cleaning device
US7609156B2 (en) 2004-04-07 2009-10-27 Jeffrey D Mullen Advanced cooperative defensive military tactics, armor, and systems
WO2006013507A1 (en) * 2004-07-26 2006-02-09 Koninklijke Philips Electronics N.V. Chip with light protection layer
US20090301522A1 (en) * 2005-10-18 2009-12-10 Aquatron Inc. Customized Programmable Pool Cleaner Method and Apparatus
US8117704B2 (en) * 2005-11-01 2012-02-21 Integrated Pool Products (Pty) Ltd Swimming pool cleaner
US20090300862A1 (en) * 2005-11-01 2009-12-10 Integrated Pool Products (Pty) Ltd. A swimming pool cleaner
US20080099409A1 (en) * 2006-10-26 2008-05-01 Aquatron Robotic Systems Ltd. Swimming pool robot
US8220096B2 (en) * 2008-05-06 2012-07-17 Goggles Cell Limited Pool cleaning vehicle having internal drive propulsion
US8343339B2 (en) 2008-09-16 2013-01-01 Hayward Industries, Inc. Apparatus for facilitating maintenance of a pool cleaning device
USD630808S1 (en) 2009-07-01 2011-01-11 Hayward Industries, Inc. Pool cleaner
USD630809S1 (en) 2009-07-01 2011-01-11 Hayward Industries, Inc. Pool cleaner
US7934571B2 (en) * 2009-09-04 2011-05-03 Jane-Ferng Chiu Moving base for robotic vacuum cleaner
US9593502B2 (en) 2009-10-19 2017-03-14 Hayward Industries, Inc. Swimming pool cleaner
FR2961838B1 (fr) * 2010-06-25 2012-07-27 Zodiac Pool Care Europe Appareil automobile nettoyeur de surface immergee
DE102010045096A1 (de) * 2010-09-13 2012-03-15 Carl Freudenberg Kg Antriebssystem für ein Reinigungsgerät sowie Reinigungsgerät
US8784652B2 (en) 2010-09-24 2014-07-22 Poolvergnuegen Swimming pool cleaner with a rigid debris canister
US8869337B2 (en) 2010-11-02 2014-10-28 Hayward Industries, Inc. Pool cleaning device with adjustable buoyant element
US8752226B2 (en) * 2011-11-28 2014-06-17 Aqua Products, Inc. Axle controller for automated swimming pool cleaners
US8827012B1 (en) * 2013-02-20 2014-09-09 Jason Yan Automated clean machine with a steering mechanism
AU2014248869B2 (en) 2013-03-11 2017-08-31 Pentair Water Pool And Spa, Inc. Two-wheel actuator steering system and method for pool cleaner
AU2014243861B2 (en) 2013-03-13 2017-11-23 Pentair Water Pool And Spa, Inc. Double paddle mechanism for pool cleaner
US9850672B2 (en) 2013-03-13 2017-12-26 Pentair Water Pool And Spa, Inc. Alternating paddle mechanism for pool cleaner
EP2967268A1 (de) 2013-03-14 2016-01-20 Hayward Industries, Inc. Schwimmbeckenreiniger mit beweglichen reinigungselementen
US9677294B2 (en) 2013-03-15 2017-06-13 Hayward Industries, Inc. Pool cleaning device with wheel drive assemblies
ES2923669T3 (es) 2013-08-30 2022-09-29 Hayward Ind Inc Limpiador de piscina
US10704283B2 (en) * 2014-09-03 2020-07-07 Maytronics Ltd. Pool cleaning robot and a method for cleaning a pool
USD787760S1 (en) 2014-11-07 2017-05-23 Hayward Industries, Inc. Pool cleaner
USD789624S1 (en) 2014-11-07 2017-06-13 Hayward Industries, Inc. Pool cleaner
USD789003S1 (en) 2014-11-07 2017-06-06 Hayward Industries, Inc. Pool cleaner
USD787761S1 (en) 2014-11-07 2017-05-23 Hayward Industries, Inc. Pool cleaner
CN106258091A (zh) * 2016-08-10 2017-01-04 中国烟草总公司广东省公司 横向脚控转向的烟草打穴栽培机动车
CN109723251B (zh) * 2019-01-29 2023-10-20 温州米修实业有限公司 泳池自动清洁车
CN210239261U (zh) 2019-05-21 2020-04-03 明达实业(厦门)有限公司 一种水池清洁器的轮刷固定结构
CN114545939B (zh) * 2022-02-18 2022-09-23 智橙动力(北京)科技有限公司 泳池清洁机器人的驱动控制方法、装置、电子设备
CN116257068A (zh) * 2022-08-05 2023-06-13 智橙动力(北京)科技有限公司 泳池清洁机器人的池壁避障移动方法、装置、电子设备

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EP0558337A1 (de) * 1992-02-28 1993-09-01 Pavel Sebor Unterwasserabsaugvorrichtung mit eigenem Antrieb und Reinigungsverfahren
WO1995002103A1 (en) * 1993-07-09 1995-01-19 Arneson Products, Inc. Automatic pool cleaning apparatus

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Publication number Priority date Publication date Assignee Title
FR2041339A5 (de) * 1969-04-21 1971-01-29 Myers Robert
DE2529183A1 (de) * 1974-07-05 1976-01-22 Bieri Pumpenbau Ag Fahrbare maschine zum reinigen eines schwimmbeckens
EP0465453A1 (de) * 1990-07-02 1992-01-08 Jean Albert François SÜNNEN Bedienungsroboter
EP0483677A2 (de) * 1990-10-31 1992-05-06 3S Systemtechnik Ag Arbeitsverfahren und Reinigungsgerät zum Reinigen eines Schwimmbeckens
EP0558337A1 (de) * 1992-02-28 1993-09-01 Pavel Sebor Unterwasserabsaugvorrichtung mit eigenem Antrieb und Reinigungsverfahren
WO1995002103A1 (en) * 1993-07-09 1995-01-19 Arneson Products, Inc. Automatic pool cleaning apparatus

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007053310A1 (de) 2007-11-08 2009-06-10 Robert Bosch Gmbh Roboterfahrzeug sowie Ansteuerverfahren für ein Roboterfahrzeug
FR2925548A1 (fr) * 2007-12-21 2009-06-26 Zodiac Pool Care Europ Soc Par Appareil nettoyeur de surface immergee comprenant un dispositif de brossage entraine par les organes d'entrainement de l'appareil sur la surface immergee
WO2009081036A2 (fr) * 2007-12-21 2009-07-02 Zodiac Pool Care Europe Appareil nettoyeur de surface immergee comprenant un dispositif de brossage entraine par les organes d'entraînement de l'appareil sur la surface immergee
WO2009081036A3 (fr) * 2007-12-21 2009-09-11 Zodiac Pool Care Europe Appareil nettoyeur de surface immergee comprenant un dispositif de brossage entraine par les organes d'entraînement de l'appareil sur la surface immergee
US8393029B2 (en) 2007-12-21 2013-03-12 Zodiac Pool Care Europe Apparatus for cleaning a submerged surface including a brushing device driven by members for driving the apparatus on the submerged surface
IT202200007133A1 (it) * 2022-04-11 2023-10-11 Stiga S P A In Breve Anche St S P A “Robot tosaerba con motore di trazione fuori asse”
EP4260676A1 (de) * 2022-04-11 2023-10-18 Stiga S.p.A. in breve anche St. S.p.A. Roboterrasenmäher mit ausseraxialem antriebsmotor

Also Published As

Publication number Publication date
CA2179482A1 (en) 1996-12-20
EP0750083B1 (de) 2000-05-10
AU704603B2 (en) 1999-04-29
DE69608168T2 (de) 2001-01-11
ZA965184B (en) 1997-01-23
US5771987A (en) 1998-06-30
DE69608168D1 (de) 2000-06-15
FR2735437A1 (fr) 1996-12-20
ATE192821T1 (de) 2000-05-15
FR2735437B1 (fr) 1997-08-14
AU5604796A (en) 1997-01-09
ES2146366T3 (es) 2000-08-01

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