EP0750083A1 - Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle - Google Patents

Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle Download PDF

Info

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
German (de)
French (fr)
Other versions
EP0750083B1 (en
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/en
Application granted granted Critical
Publication of EP0750083B1 publication Critical patent/EP0750083B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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.

Abstract

The robot has two independent rear driving wheels (1). It has two obstacle detection arms (2) located on each of its front sides. Each driving wheel is driven from a drive shaft (8) through a rotation inverter. A connector (7) is interposed between each detector and the wheel drive. The obstacle detectors and the connector are arranged so that, when the vehicle encounters an obstacle, the detector activated by the obstacle activates the inverter so as to change rotation of the drive wheel from forwards to rearwards. Each obstacle detector arm is in the shape of a moustache. It has an active edge (3) projecting frontwards and extending over the vehicle half-width and the corresponding corner of the vehicle is opposite the drive wheel to which the arm is functionally associated. The arm opposite end (6) is located near the drive wheel which it controls and is supported to rotate freely on a vertical rotational axis (5).

Description

La présente invention concerne des perfectionnements apportés aux véhicules roulants à changement automatique de direction de déplacement lorsqu'ils rencontrent un obstacle, ce dispositif étant pourvu de deux roues antérieures motrices indépendantes et comportant :

  • deux organes de détection d'obstacle disposés de chaque côté à l'avant du véhicule,
  • des moyens d'entraînement de chaque roue motrice à partir d'un arbre moteur, par l'intermédiaire de moyens d'inversion du sens de rotation,
  • et des moyens de liaison interposés entre chaque organe de détection d'obstacle et les moyens d'entraînement de la roue motrice située du côté opposé,
  • lesdits organes de détection d'obstacle et lesdits moyens de liaison étant agencés de manière que, lorsque le véhicule rencontre un obstacle, les moyens de détection actionnés par ledit obstacle agissent, par l'intermédiaire desdits moyens de liaison correspondants, pour actionner lesdits moyens d'inversion du sens de rotation et faire passer la rotation de la roue motrice en sens avant, à une rotation de la roue motrice en sens arrière.
The present invention relates to improvements made to rolling vehicles with automatic change of direction of travel when they encounter an obstacle, this device being provided with two independent front drive wheels and comprising:
  • two obstacle detection members arranged on each side at the front of the vehicle,
  • means for driving each drive wheel from a drive shaft, by means of reversing the direction of rotation,
  • and connecting means interposed between each obstacle detection member and the drive wheel drive means located on the opposite side,
  • said obstacle detection members and said connecting means being arranged so that, when the vehicle encounters an obstacle, the detection means actuated by said obstacle act, by means of said corresponding connection means, to actuate said means of reversing the direction of rotation and changing the rotation of the drive wheel in the forward direction to a rotation of the drive wheel in the reverse direction.

De tels véhicules sont utilisés par exemple pour constituer des robots de nettoyage de réservoirs de liquide, tels que des piscines. On connaît diverses réalisations de tels robots de nettoyage de piscine qui présentent toutefois, du fait même de leur conception, l'inconvénient d'être déviés toujours dans le même sens lorsqu'ils rencontrent un obstacle et également l'inconvénient d'être déviés toujours sensiblement du même angle. Il en résulte que ces appareils peuvent parfois rencontrer des difficultés pour se dégager de certains obstacles, voire même ne pas parvenir à se dégager (par exemple s'ils s'engagent entre une échelle et le mur de la piscine); de plus leur déviation sensiblement constante devant un obstacle les renvoie dans des directions privilégiées de sorte que leurs trajectoires successives finissent par se superposer et qu'ils ne parcourent pas la totalité de la surface du fond de la piscine. Au bout du compte, leur fonctionnement en tant que véhicule n'est pas satisfaisant et la piscine n'est pas nettoyée de façon suffisamment efficace.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. As a result, 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.

L'invention a essentiellement pour but de remédier aux inconvénients présentés par les véhicules connus et de proposer un véhicule perfectionné qui soit apte à se dégager de façon sûre devant n'importe quel obstacle et qui soit apte, en se dégageant, à pivoter d'un angle non prédéterminé de sorte que ses trajectoires successives soient parfaitement aléatoires et que, s'agissant d'un robot de nettoyage de piscine, le nettoyage soit rendu efficace sur la totalité de la surface du fond de la piscine, étant entendu en outre que les moyens techniques mis en oeuvre à ces fins doivent être simples, fiables et d'un coût limité de manière que le véhicule perfectionné conformément à l'invention puisse être produit en grande série.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.

A ces fins, un véhicule roulant tel que mentionné au préambule se caractérise essentiellement, étant agencé conformément à l'invention, en ce que chaque organe de détection d'obstacle comprend un organe allongé constitué par le bord antérieur, s'étendant sensiblement sur une demi-largeur et sur l'angle correspondant de l'avant du véhicule qui est opposé à la roue motrice à laquelle ledit organe est fonctionnellement associé, d'un bras conformé de manière que son extrémité opposée soit située sensiblement au voisinage de la roue motrice qu'il commande et soit supportée à libre rotation sur un axe de rotation sensiblement vertical et en ce que ledit organe allongé est accouplé de façon sélective à l'arbre moteur entraînant ladite roue motrice par l'intermédiaire des susdits moyens de liaison.For these purposes, a rolling vehicle as mentioned in the preamble is essentially characterized, being arranged in accordance with the invention, in that 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.

Grâce à cette structure, le véhicule est réalisé de façon symétrique et il est agencé pour que son dégagement s'effectue dans un sens opposé à l'obstacle. Si l'obstacle est parfaitement frontal ou bilatéral, les deux détecteurs d'obstacle sont actionnés simultanément et les deux roues motrices sont amenées simultanément à tourner en sens inverse de sorte que dans un premier temps le véhicule recule sans être dévié. De toute façon il parvient à se dégager quelles que soient la position (latérale, frontale, bilatérale), la nature (plane, concave,...) et la dimension (en particulier la largeur) de l'obstacle. La fonction de détection de l'obstacle est ainsi assurée de façon efficace et une commande appropriée peut être assurée quelle que soit la position de l'obstacle par rapport à l'avant du véhicule.Thanks to this structure, the vehicle is made symmetrically and it is arranged so that its clearance takes place in a direction opposite to the obstacle. If 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.

Dans un mode de réalisation particulier préféré, les moyens d'inversion du sens de rotation comprennent une roue dentée motrice disposée au bout de l'arbre moteur, ainsi qu'un pignon central et une couronne périphérique à denture intérieure qui sont solidaires de la roue motrice et avec l'un ou l'autre desquels peut engrener la roue dentée motrice pour déterminer respectivement deux sens de rotation de la roue motrice.In a particular preferred embodiment, 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.

On peut prévoir que les moyens de liaison comprennent un palier de support de l'arbre moteur qui est déplaçable approximativement transversalement audit arbre lorsque les moyens de détection d'obstacle sont actionnés ; dans un mode de réalisation préféré, lesdits moyens de liaison comprennent en outre un bec déplaçable entraîné par ledit bras de manière à occuper deux positions, savoir ;

  • une première position non fonctionnelle occupée lorsque le bras est dans un position de repos en l'absence d'obstacle,
  • une seconde position fonctionnelle occupée lorsque le bras est déplacé par un obstacle, dans laquelle le bec coopère avec un excentrique solidaire de l'arbre moteur de manière à repousser le palier mobile supportant ledit arbre moteur et à modifier l'engrènement de la roue dentée motrice.
Provision may be made for the connection means to comprise a support bearing for the motor shaft which is movable approximately transversely to said shaft when the obstacle detection means are actuated; in a preferred embodiment, said connecting means further comprises a movable spout driven by said arm so as to occupy two positions, namely;
  • a first non-functional position occupied when the arm is in a rest position in the absence of an obstacle,
  • a second functional position occupied when the arm is moved by an obstacle, in which the spout cooperates with an eccentric integral with the motor shaft so as to push back the movable bearing supporting said motor shaft and to modify the engagement of the driving gear wheel .

Il est en outre souhaitable que les moyens de liaison comprennent également des moyens de blocage temporaire aptes à maintenir la rotation en sens inverse de la roue motrice pendant une durée suffisante pour que le véhicule puisse se dégager de l'obstacle, puis à rétablir la rotation de la roue motrice dans son sens initial pour que le véhicule reparte sur une nouvelle trajectoire ; avantageusement les moyens de blocage comprennent un cliquet de blocage solidaire du palier mobile de l'arbre moteur qui est enclenché élastiquement lorsque le palier est déplacé sous l'action de l'excentrique.It is further desirable that 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; advantageously 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.

De préférence, les moyens de blocage temporaire sont agencés pour maintenir la rotation inverse de la roue motrice pendant une durée non prédéterminée, ce grâce à quoi le véhicule est amené à tourner d'un angle non prédéterminé et aléatoire de sorte que ses trajectoires successives ne se superposent pas et sont aléatoires ; il est intéressant, pour obtenir une structure simple, mais fiable, que les moyens de blocage temporaire comprennent en outre un doigt transversal solidaire de la roue motrice et apte à coopérer avec le susdit cliquet lorsque celui-ci est enclenché, afin de le dégager et de libérer le palier de l'arbre moteur, des moyens élastiques de rappel étant prévus pour ramener le palier dans sa position initiale.Preferably, 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.

L'invention sera mieux comprise à la lecture de la description détaillée qui suit d'un mode de réalisation préféré donné uniquement à titre d'exemple nullement limitatif. Dans cette description, on se réfère aux dessins annexés sur lesquels :

  • la figure 1 est une vue d'ensemble, en perspective, d'un mécanisme équipant un véhicule, tel qu'un robot de nettoyage de piscine, agencé conformément à l'invention ;
  • la figure 2 est une vue plus détaillée et à plus grande échelle d'un moitié du mécanisme de la figure 1 ;
  • la figure 3 est une vue en perspective, sous un autre angle, et à échelle encore plus grande, d'une autre partie du mécanisme de la figure 2 ; et
  • la figure 4 est une vue fragmentaire, en coupe, d'un élément du mécanisme visible sur la figure 3.
The invention will be better understood on reading the following detailed description of a preferred embodiment given solely by way of non-limiting example. In this description, reference is made to the appended drawings in which:
  • Figure 1 is an overall perspective view of a mechanism fitted to a vehicle, such as a swimming pool cleaning robot, arranged in accordance with the invention;
  • Figure 2 is a more detailed view on a larger scale of one half of the mechanism of Figure 1;
  • Figure 3 is a perspective view, from another angle, and on an even larger scale, of another part of the mechanism of Figure 2; and
  • FIG. 4 is a fragmentary view, in section, of an element of the mechanism visible in FIG. 3.

Sur les figures 1 à 4, et en particulier sur la figure 1, on n'a représenté que la partie du véhicule roulant qui est concernée par l'invention. Pour le reste, le véhicule peut être agencé de façon quelconque en fonction des applications et des besoins. En particulier le nombre des roues, le type de motorisation (électrique, hydraulique, mécanique,...) ainsi que l'équipement de travail et la forme générale (capotage, dimensions, ...) peuvent être quelconques dans la mesure où ils n'influent pas sur le mécanisme directeur qui va maintenant être plus particulièrement pris en compte.In 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. For the rest, the vehicle can be arranged in any way according to the applications and needs. In particular 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.

De plus, bien que les dispositions propres à l'invention aient été plus particulièrement développées dans le but de réaliser un robot perfectionné de nettoyage de piscine, il est évident que lesdites dispositions peuvent trouver application pour équiper n'importe quel type de véhicule roulant à changement automatique de direction en présence d'un obstacle ; les mêmes dispositions pourraient également trouver application dans un véhicule flottant mû par deux propulseurs écartés transversalement l'un de l'autre.In addition, although the provisions specific to the invention have been more particularly developed with the aim of producing an improved swimming pool cleaning robot, it is obvious that said provisions can find application for equipping any type of vehicle running at automatic change of direction in the presence of an obstacle; the same arrangements could also find application in a floating vehicle powered by two propellers spaced transversely from each other.

Sur la figure 1, on voit deux roues antérieures 1 d'un véhicule, qui sont motrices de façon indépendantes (c'est-à-dire non calées sur un arbre commun) tout en étant susceptibles d'être entraînées à partir d'un moteur commun (non représenté).In Figure 1, we see two front wheels 1 of a vehicle, which drive independently (that is to say not wedged on a common shaft) while being capable of being driven from a common motor (not shown).

A l'avant du véhicule sont disposés deux organes de détection d'obstacle qui sont agencés pour détecter des obstacles respectivement de part et d'autre du milieu de l'avant du véhicule. En outre chaque organe de détection d'obstacle est agencé pour être fonctionnel non seulement sur une moitié frontale du véhicule, mais aussi dans l'angle latéral correspondant, voire même sur l'extrémité antérieure du côté correspondant.At the front of the vehicle are arranged two obstacle detection members which are arranged to detect obstacles respectively on either side of the middle of the front of the vehicle. In addition, 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.

Enfin chaque organe de détection d'obstacle est associé à des moyens de liaison agencés de manière telle que l'organe de détection, lorsqu'il heurte un obstacle, commande l'inversion du sens de rotation de la roue motrice opposée, et donc provoque le pivotement du véhicule à l'opposé de l'obstacle.Finally, 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.

Comme visible sur les figures 1 et 2, chaque organe de détection d'obstacle est constitué par un organe allongé ou bras 2 en forme générale de moustache ou de croissant de lune qui s'étend approximativement en travers de l'extrémité avant du véhicule. Chaque détecteur 2 présente un bord actif 3 saillant vers l'avant et s'étendant sur une moitié frontale du véhicule, ainsi que dans l'angle et sur le début du côté correspondant du véhicule ; sur l'autre moitié frontale du véhicule, le bord 4 du détecteur est en retrait vers l'arrière.As shown in Figures 1 and 2, 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.

Les deux détecteurs 2 sont disposés l'un au-dessus de l'autre, en étant inversés l'un par rapport à l'autre de telle manière que le bord en retrait 4 de l'un coïncide avec le bord actif en saillie 3 de l'autre.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.

Chaque détecteur 2 est supporté à libre rotation sur un axe sensiblement vertical 5 par son extrémité 6 située du côté du bord en retrait 4, des lumières pouvant éventuellement être prévus dans l'autre détecteur pour autoriser leurs libres mouvements rotatifs respectifs.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.

Cette même extrémité 6 du détecteur 2 est associée à des moyens de liaison, désignés dans leur ensemble par la référence 7, de manière à commander fonctionnellement le sens de rotation de la roue motrice 1 qui est située de ce même côté. Autrement dit, lorsqu'un obstacle agit sur le bord 3 d'un détecteur 2, ce détecteur 2 commande la roue 1 située du côté opposé.This same end 6 of the detector 2 is associated with 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. In other words, when an obstacle acts on the edge 3 of a detector 2, this detector 2 controls the wheel 1 located on the opposite side.

L'entraînement et l'inversion du sens de rotation de chaque roue motrice 1 sont agencés comme suit. Un arbre moteur 8 (entraîné par un moteur central non représenté) est équipé, à son extrémité libre, d'une roue dentée motrice 9. A la roue 1 ou à l'axe de la roue 1 sont solidarisés coaxialement un pignon central 10 et une couronne périphérique 11 à denture intérieure. La roue dentée motrice 9 est située entre le pignon central 10 et la couronne 11 et peut engrèner avec l'un ou l'autre, sélectivement, comme indiqué ci-après.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. 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.

Les moyens de liaison précités sont agencés comme suit. Une partie de l'extrémité 6 de chaque détecteur 2 est conformée en fourche 12 coagissant avec un ergot 13 solidaire d'un chariot 14 qui est déplaçable sur une partie de bâti fixe 15 selon une direction approximativement parallèle à l'arbre moteur 8.The aforementioned connecting means are arranged as follows. A part of the end 6 of 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.

Le chariot 14 porte un bec 16 qui s'étend en direction de l'arbre 8.The carriage 14 carries a spout 16 which extends in the direction of the shaft 8.

Approximativement en regard du bec 16, un disque excentré 17 est calé en rotation sur l'arbre 8.Approximately opposite the spout 16, an eccentric disc 17 is fixed in rotation on the shaft 8.

Par ailleurs l'arbre 8 est supporté par un palier 18 qui est lui-même supporté par un chariot 19 apte à coulisser sur un bâti fixe 20 selon une direction approximativement transversale à l'arbre 8.Furthermore, 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.

En l'absence d'obstacle, le détecteur 2 n'est pas dévié et il maintient le bec 16 décalé latéralement par rapport au disque excentré 17. Un ressort de rappel 21 maintient alors le chariot 19 dans un position pour laquelle le palier 18 supporte l'arbre 8 en position de repos, la roue dentée motrice 9 engrènant avec la couronne 11. Le sens de rotation correspondant de la roue motrice 1 est supposé correspondre à la marche avant du déplacement du véhicule.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.

Lorsque survient un obstacle qui repousse le bord actif 3 du détecteur 2 vers l'arrière, le détecteur 2, en pivotant, provoque, par le biais de sa fourche 12, le déplacement du bec 16 qui est amené en regard du disque excentré 17. En tournant, celui-ci prend appui contre le bec et l'arbre 8 est repoussé de sorte que la roue dentée motrice 9 quitte la couronne 11 et va coopérer avec le pignon central 10. Celui-ci est entraîné en sens inverse de la couronne 11 et la roue motrice 1 tourne en sens inverse.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.

Pour que la coopération de la roue dentée 9 avec le pignon central 10 dure suffisamment longtemps pour permettre au véhicule de se dégager, on prévoit des moyens de blocage libérable désignés dans leur ensemble par la référence 22 sur les figures 2 et 3.So that the cooperation of the toothed wheel 9 with the central pinion 10 lasts long enough to allow the vehicle to disengage, releasable blocking means are provided, designated as a whole by reference 22 in FIGS. 2 and 3.

Les moyens de blocage libérable 22 comprennent une tige 23 coulissant axialement librement dans un passage 25 d'un corps fixe 24 situé en regard du palier 18, ladite tige 23 étant solidaire dudit palier 18. La tige 23 présente une encoche radiale 26 qui, lorsqu'elle est dégagée hors du corps 24, est repoussée en appui contre le bord de l'orifice du passage 25 à l'aide d'un ressort transversal 27 (la tige 23 ayant un certain jeu radial dans le passage 25). On peut éventuellement prévoir le passage 25 dans une chemise 28 vissable dans le corps 24 afin de permettre un réglage de course, comme visible à la figure 4.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.

La libération des moyens de blocage s'effectue comme suit. La roue motrice 1 porte un doigt 29 qui s'étend transversalement et qui, au cours de la rotation de la roue 1, trouve sur sa trajectoire un organe, par exemple une bague 30, solidaire de la tige 23. On notera ici que l'encoche 26 est creusée dans la tige 23 du même côté que le doigt 29. Lorsque le doigt 29 rencontre la bague 30, il la repousse et, l'encoche 26 étant ainsi dégagée, le ressort 21 rappelle tout l'équipage mobile en position initiale avec à nouveau engrènement de la roue dentée motrice 9 avec la couronne 11 : la roue motrice 1 retrouve alors une rotation en sens avant.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. It will be noted here that the the notch 26 is hollowed out in the rod 23 on the same side as the finger 29. When the finger 29 meets the ring 30, it pushes it back and, the notch 26 being thus released, the spring 21 recalls all of the moving equipment in position initial with again meshing of the driving gear 9 with the crown 11: the driving wheel 1 then finds a rotation in the forward direction.

La disposition qui vient d'être décrite présente l'avantage que, au moment de la rencontre de l'obstacle, le doigt 29 se trouve dans une position angulaire quelconque par rapport à la bague 30. La roue motrice 1 effectue donc une rotation d'amplitude angulaire non prédéterminée et aléatoire avant d'être à nouveau amenée à tourner en sens avant. Le véhicule, après avoir heurté un obstacle, va donc s'en dégager en pivotant à l'opposé de l'obstacle avec une amplitude angulaire aléatoire et va repartir en marche avant sur une nouvelle trajectoire qui est disposée de façon aléatoire par rapport à la précédente.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.

Dans le cas où les deux détecteurs 2 sont actionnés simultanément (rencontre d'un obstacle frontal central), les deux roues motrices 1 sont amenées à tourner en sens inverse de façon simultanée et le véhicule recule sensiblement en ligne droite. Toutefois les deux doigts 29 ne se trouvent pas, en principe, dans la même position angulaire relative par rapport aux deux bagues 30 respectives : un des deux doigts 29 rencontrera donc sa bague associée 30 avant l'autre, et alors le véhicule sera amené à tourner dans le sens déterminé par ledit premier doigt rencontrant sa bague associée, puis repartira en marche avant sur une nouvelle trajectoire comme le cas précédemment exposé. Toutefois, ici, aussi bien la distance de recul en ligne droite que le côté vers lequel s'effectue la rotation et que l'amplitude angulaire de cette rotation sont aléatoires : la nouvelle trajectoire en marche avant est, là encore, assurée d'être disposée aléatoirement par rapport à la précédente.In the case where the two detectors 2 are actuated simultaneously (encountering a central frontal obstacle), the two driving wheels 1 are caused to rotate in opposite directions simultaneously and the vehicle reverses substantially in a straight line. However, 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. However, here, both the recoil distance in a straight line as well as the side towards which the rotation takes place and the angular amplitude of this rotation are random: the new trajectory in forward motion is, here again, guaranteed to be randomly arranged in relation to the previous one.

On est ainsi assuré que le véhicule ne va pas parcourir successivement les mêmes itinéraires et, dans le cas particulier d'un robot de nettoyage du fond d'une piscine, on est assuré que, par la combinaison de toutes les trajectoires aléatoires successives, le robot parcourra la totalité du fond de la piscine.It is thus ensured that the vehicle will not successively travel the same routes and, in the particular case of a robot for cleaning the bottom of a swimming pool, it is ensured that, by the combination of all the successive random trajectories, the robot will travel the entire bottom of the pool.

Comme il va de soi et comme il résulte d'ailleurs déjà de ce qui précède, l'invention ne se limite nullement à ceux de ses modes d'application et de réalisation qui ont été plus particulièrement envisagés ; elle en embrasse au contraire toutes les variantes.As goes without saying and as it already follows from the above, the invention is in no way limited to those of its modes of application and embodiments which have been more particularly envisaged; on the contrary, it embraces all its variants.

Claims (9)

Véhicule roulant à changement automatique de direction de déplacement lorsqu'il rencontre un obstacle, ce dispositif étant pourvu de deux roues antérieures motrices indépendantes (1) et comportant : - deux organes de détection d'obstacle (2) disposés de chaque côté à l'avant du véhicule, - des moyens d'entraînement de chaque roue motrice (1) à partir d'un arbre moteur (8), par l'intermédiaire de moyens d'inversion du sens de rotation, - et des moyens de liaison (7) interposés entre chaque organe de détection d'obstacle (2) et les moyens d'entraînement de la roue motrice située du côté opposé, - lesdits organes de détection d'obstacle (2) et lesdits moyens de liaison (7) étant agencés de manière que, lorsque le véhicule rencontre un obstacle, les moyens de détection (2) actionnés par ledit obstacle agissent, par l'intermédiaire desdits moyens de liaison (7) correspondants, pour actionner lesdits moyens d'inversion du sens de rotation et faire passer la rotation de la roue motrice en sens avant, à une rotation de la roue motrice en sens arrière,    caractérisé en ce que chaque organe de détection d'obstacle comprend un organe allongé (2) constitué par le bord antérieur (3), s'étendant sensiblement sur une demi-largeur et sur l'angle correspondant de l'avant du véhicule qui est opposé à la roue motrice à laquelle ledit organe est fonctionnellement associé, d'un bras (2) conformé de manière que son extrémité opposée (6) soit située sensiblement au voisinage de la roue motrice (1) qu'il commande et soit supportée à libre rotation sur un axe de rotation (5) sensiblement vertical et en ce que ledit organe allongé (2) est accouplé de façon sélective à l'arbre moteur (8) entraînant ladite roue motrice (1) par l'intermédiaire des susdits moyens de liaison (7).Rolling vehicle with automatic change of direction of travel when it encounters an obstacle, this device being provided with two independent front drive wheels (1) and comprising: - two obstacle detection members (2) arranged on each side at the front of the vehicle, means for driving each driving wheel (1) from a drive shaft (8), by means of means for reversing the direction of rotation, - and connecting means (7) interposed between each obstacle detection member (2) and the drive means of the driving wheel located on the opposite side, - said obstacle detection members (2) and said connecting means (7) being arranged so that, when the vehicle encounters an obstacle, the detection means (2) actuated by said obstacle act, by means of said corresponding connecting means (7), for actuating said means for reversing the direction of rotation and passing the rotation of the driving wheel in the forward direction to a rotation of the driving wheel in the rear direction, characterized in that each obstacle detection member comprises an elongated member (2) constituted by the front edge (3), extending substantially over a half-width and over the corresponding angle of the front of the vehicle which is opposite the drive wheel with which said member is functionally associated, with an arm (2) shaped so that its opposite end (6) is located substantially in the vicinity of the drive wheel (1) which it controls and is supported at free rotation on a substantially vertical axis of rotation (5) and in that said elongated member (2) is selectively coupled to the drive shaft (8) driving said drive wheel (1) by means of the above means link (7). Véhicule selon la revendication 1, caractérisé en ce que les moyens d'inversion du sens de rotation comprennent une roue dentée motrice (9) disposée au bout de l'arbre moteur (8), ainsi qu'un pignon central (10) et une couronne périphérique (11) à denture intérieure qui sont solidaires de la roue motrice (1) et avec l'un ou l'autre desquels peut engrener la roue dentée motrice (9) pour déterminer respectivement deux sens de rotation de la roue motrice (1).Vehicle according to claim 1, characterized in that the means for reversing the direction of rotation comprise a drive gear (9) disposed at the end of the drive shaft (8), as well as a central pinion (10) and a peripheral crown (11) with internal teeth which are integral with the drive wheel (1) and with one or the other of which can mesh the drive gear (9) to determine respectively two directions of rotation of the drive wheel (1). Véhicule selon la revendication 1 ou 2, caractérisé en ce que les moyens de liaison (7) comprennent un palier (18) de support de l'arbre moteur (8) qui est déplaçable (19,20) approximativement transversalement audit arbre lorsque les moyens de détection d'obstacle sont actionnés.Vehicle according to claim 1 or 2, characterized in that the connection means (7) comprise a bearing (18) for supporting the motor shaft (8) which is movable (19,20) approximately transversely to said shaft when the means obstacle detection are activated. Véhicule selon les revendications 1 et 3, caractérisé en ce que les moyens de liaison (7) comprennent un bec déplaçable (16) entraîné par ledit bras (2) de manière à occuper deux positions, savoir ; - une première position non fonctionnelle occupée lorsque le bras est dans un position de repos en l'absence d'obstacle, - une seconde position fonctionnelle occupée lorsque le bras est déplacé par un obstacle, dans laquelle le bec (16) coopère avec un excentrique (17) solidaire de l'arbre moteur (8) de manière à repousser le palier mobile (18) supportant ledit arbre moteur (8) et à modifier l'engrènement de la roue dentée motrice (1). Vehicle according to claims 1 and 3, characterized in that the connecting means (7) comprise a movable spout (16) driven by said arm (2) so as to occupy two positions, namely; a first non-functional position occupied when the arm is in a rest position in the absence of an obstacle, - A second functional position occupied when the arm is moved by an obstacle, in which the spout (16) cooperates with an eccentric (17) integral with the motor shaft (8) so as to push back the mobile bearing (18) supporting said motor shaft (8) and to modify the engagement of the driving gear wheel (1). Véhicule selon l'une quelconque des revendications 1 à 4, caractérisé en ce que les moyens de liaison (7) comprennent en outre des moyens de blocage temporaire (22) aptes à maintenir la rotation en sens inverse de la roue motrice (1) pendant une durée suffisante pour que le véhicule puisse se dégager de l'obstacle, puis à rétablir la rotation de la roue motrice (1) dans son sens initial pour que le véhicule reparte sur une nouvelle trajectoire.Vehicle according to any one of Claims 1 to 4, characterized in that the connecting means (7) further comprise temporary locking means (22) capable of maintaining the rotation of the driving wheel (1) in the opposite direction during sufficient time for the vehicle to be able to free itself from the obstacle, then to restore the rotation of the driving wheel (1) in its initial direction so that the vehicle sets off again on a new trajectory. Véhicule selon la revendication 5, caractérisé en ce que les moyens de blocage (22) comprennent un cliquet de blocage (25,26) solidaire du palier mobile (18) de l'arbre moteur (8) qui est enclenché élastiquement lorsque le palier est déplacé sous l'action de l'excentrique (17).Vehicle according to claim 5, characterized in that the locking means (22) comprise a pawl of blocking (25,26) integral with the movable bearing (18) of the motor shaft (8) which is engaged elastically when the bearing is moved under the action of the eccentric (17). Véhicule selon la revendication 5 ou 6, caractérisé en ce que les moyens de blocage temporaire (22) sont agencés pour maintenir la rotation inverse de la roue motrice pendant une durée non prédéterminée, ce grâce à quoi le véhicule est amené à tourner d'un angle non prédéterminé et aléatoire de sorte que ses trajectoires successives ne se superposent pas et sont aléatoires.Vehicle according to claim 5 or 6, characterized in that the temporary blocking means (22) are arranged to maintain the reverse rotation of the drive wheel for an indefinite period, whereby the vehicle is made to rotate by a angle not predetermined and random so that its successive trajectories do not overlap and are random. Véhicule selon la revendication 7, caractérisé en ce que les moyens de blocage temporaire (22) comprennent en outre un doigt transversal (29) solidaire de la roue motrice (1) et apte à coopérer avec le susdit cliquet (25,26) lorsque celui-ci est enclenché, afin de le dégager et de libérer le palier (18) de l'arbre moteur (8), des moyens élastiques de rappel (21) étant prévus pour ramener le palier dans sa position initiale.Vehicle according to claim 7, characterized in that the temporary locking means (22) further comprise a transverse finger (29) integral with the drive wheel (1) and able to cooperate with the aforesaid pawl (25,26) when that -this is engaged, in order to disengage it and free the bearing (18) from the motor shaft (8), elastic return means (21) being provided to return the bearing to its initial position. Robot de nettoyage de réserve d'eau, notamment de piscine, agencé pour se déplacer sur le fond de ladite réserve, caractérisé en ce qu'il est agencé selon l'une quelconque des revendications 1 à 8.Robot for cleaning water reserves, in particular swimming pools, arranged to move on the bottom of said reserve, characterized in that it is arranged according to any one of claims 1 to 8.
EP96401298A 1995-06-19 1996-06-14 Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle Expired - Lifetime EP0750083B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9507297 1995-06-19
FR9507297A FR2735437B1 (en) 1995-06-19 1995-06-19 ROLLING VEHICLE, IN PARTICULAR POOL CLEANING ROBOT, WITH AUTOMATIC CHANGE OF DIRECTION OF MOVEMENT IN FRONT OF AN OBSTACLE

Publications (2)

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

Family

ID=9480135

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96401298A Expired - Lifetime EP0750083B1 (en) 1995-06-19 1996-06-14 Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle

Country Status (9)

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

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007053310A1 (en) 2007-11-08 2009-06-10 Robert Bosch Gmbh Robotic vehicle has drive device provided for driving and steering robotic vehicle on operating area, and control device is provided for controlling drive device depending on sensor information of sensor device
FR2925548A1 (en) * 2007-12-21 2009-06-26 Zodiac Pool Care Europ Soc Par IMMERED SURFACE CLEANING APPARATUS COMPRISING A BRUSHING DEVICE DRIVEN BY THE DEVICE DRIVING DEVICES ON THE IMMERED SURFACE
EP4260676A1 (en) * 2022-04-11 2023-10-18 Stiga S.p.A. in breve anche St. S.p.A. Robot lawnmower with off-axis driving motor

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL124413A (en) * 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
DE19821306C2 (en) * 1998-05-13 2000-12-14 Gmd Gmbh Autonomously navigating system with obstacle detection
US6601255B1 (en) 1998-05-22 2003-08-05 Zodiac Pool Care, Inc. Pool cleaner
ES2226386T3 (en) * 1998-05-22 2005-03-16 Zodiac Pool Care Europe SWIMMING POOL CLEANING DEVICE.
DE10110905A1 (en) * 2001-03-07 2002-10-02 Kaercher Gmbh & Co Alfred Soil cultivation device, in particular floor cleaning device
ATE452260T1 (en) * 2001-07-03 2010-01-15 Pentair Pool Products Inc BASE FOR AN AUTOMATIC SWIMMING POOL CLEANING DEVICE
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
JP2008507851A (en) * 2004-07-26 2008-03-13 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Chip with light protection layer
EP1937424A1 (en) * 2005-10-18 2008-07-02 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
AU2006310142B2 (en) * 2005-11-01 2011-11-10 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 (en) * 2010-06-25 2012-07-27 Zodiac Pool Care Europe AUTOMOTIVE APPARATUS IMMERED SURFACE CLEANER
DE102010045096A1 (en) * 2010-09-13 2012-03-15 Carl Freudenberg Kg Drive system for a cleaning device and cleaning device
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
CA2905794C (en) 2013-03-11 2018-02-27 Pentair Water Pool And Spa, Inc. Two-wheel actuator steering system and method for pool cleaner
WO2014160421A1 (en) 2013-03-13 2014-10-02 Pentair Water Pool And Spa, Inc. Alternating paddle mechanism for pool cleaner
AU2014243861B2 (en) 2013-03-13 2017-11-23 Pentair Water Pool And Spa, Inc. Double paddle mechanism for pool cleaner
US10161154B2 (en) 2013-03-14 2018-12-25 Hayward Industries, Inc. Pool cleaner with articulated cleaning members and methods relating thereto
US9677294B2 (en) 2013-03-15 2017-06-13 Hayward Industries, Inc. Pool cleaning device with wheel drive assemblies
AU2014311608B2 (en) 2013-08-30 2018-07-05 Hayward Industries, Inc. Swimming pool cleaner
EP4234848A3 (en) * 2014-09-03 2023-09-20 Maytronics Ltd. Pool cleaning robot
USD789624S1 (en) 2014-11-07 2017-06-13 Hayward Industries, Inc. Pool cleaner
USD787760S1 (en) 2014-11-07 2017-05-23 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 (en) * 2016-08-10 2017-01-04 中国烟草总公司广东省公司 Laterally the Nicotiana tabacum L. of foot controlled steering makes cave cultivator motor-car
CN109723251B (en) * 2019-01-29 2023-10-20 温州米修实业有限公司 Automatic cleaning vehicle for swimming pool
CN210239261U (en) 2019-05-21 2020-04-03 明达实业(厦门)有限公司 Wheel brush fixing structure of pool cleaner
CN114545939B (en) * 2022-02-18 2022-09-23 智橙动力(北京)科技有限公司 Driving control method and device for swimming pool cleaning robot and electronic equipment
CN116466725B (en) * 2022-08-05 2023-11-28 智橙动力(北京)科技有限公司 Pool wall obstacle avoidance moving method and device of swimming pool cleaning robot and electronic equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2041339A5 (en) * 1969-04-21 1971-01-29 Myers Robert
DE2529183A1 (en) * 1974-07-05 1976-01-22 Bieri Pumpenbau Ag MOBILE MACHINE FOR CLEANING A SWIMMING POOL
EP0465453A1 (en) * 1990-07-02 1992-01-08 Jean Albert François SÜNNEN Utility robot
EP0483677A2 (en) * 1990-10-31 1992-05-06 3S Systemtechnik Ag Functioning method and cleaning device for swimming pools
EP0558337A1 (en) * 1992-02-28 1993-09-01 Pavel Sebor Self propelled submersible suction cleaner and cleaning method
WO1995002103A1 (en) * 1993-07-09 1995-01-19 Arneson Products, Inc. Automatic pool cleaning apparatus

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3551930A (en) * 1967-10-04 1971-01-05 Robert R Myers Swimming pool cleaner
US3570227A (en) * 1969-01-16 1971-03-16 Mowbot Inc Self-propelled random motion lawnmower
US4655724A (en) * 1985-12-27 1987-04-07 Soma International Ltd. Toy vehicle and steering and drive mechanism therefor
US5083629A (en) * 1990-03-12 1992-01-28 Industrial Technology Research Institute Walking control method for automatic working vehicle
US5454129A (en) * 1994-09-01 1995-10-03 Kell; Richard T. Self-powered pool vacuum with remote controlled capabilities
US5542141A (en) * 1995-04-10 1996-08-06 Albright; Alva Z. Water powered apparatus for cleaning aquatic bodies

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2041339A5 (en) * 1969-04-21 1971-01-29 Myers Robert
DE2529183A1 (en) * 1974-07-05 1976-01-22 Bieri Pumpenbau Ag MOBILE MACHINE FOR CLEANING A SWIMMING POOL
EP0465453A1 (en) * 1990-07-02 1992-01-08 Jean Albert François SÜNNEN Utility robot
EP0483677A2 (en) * 1990-10-31 1992-05-06 3S Systemtechnik Ag Functioning method and cleaning device for swimming pools
EP0558337A1 (en) * 1992-02-28 1993-09-01 Pavel Sebor Self propelled submersible suction cleaner and cleaning method
WO1995002103A1 (en) * 1993-07-09 1995-01-19 Arneson Products, Inc. Automatic pool cleaning apparatus

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007053310A1 (en) 2007-11-08 2009-06-10 Robert Bosch Gmbh Robotic vehicle has drive device provided for driving and steering robotic vehicle on operating area, and control device is provided for controlling drive device depending on sensor information of sensor device
FR2925548A1 (en) * 2007-12-21 2009-06-26 Zodiac Pool Care Europ Soc Par IMMERED SURFACE CLEANING APPARATUS COMPRISING A BRUSHING DEVICE DRIVEN BY THE DEVICE DRIVING DEVICES ON THE IMMERED SURFACE
WO2009081036A2 (en) * 2007-12-21 2009-07-02 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
WO2009081036A3 (en) * 2007-12-21 2009-09-11 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
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
EP4260676A1 (en) * 2022-04-11 2023-10-18 Stiga S.p.A. in breve anche St. S.p.A. Robot lawnmower with off-axis driving motor

Also Published As

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

Similar Documents

Publication Publication Date Title
EP0750083A1 (en) Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle
EP0770514B1 (en) Hinge mechanism for vehicle seats
EP1648737B1 (en) Rear viewing device for an automobile
EP0694434B1 (en) Hinge fitting for vehicle seat
FR2704199A1 (en) Control device for a bicycle gear change.
FR2967102A1 (en) ADJUSTING MECHANISM FOR VEHICLE SEAT
FR2743764A1 (en) Vehicle seat back angle adjustment mechanism with two rotary flanges
FR2498536A1 (en) SEAT ADJUSTMENT DEVICE, PARTICULARLY FOR A MOTOR VEHICLE SEAT
EP0340118B1 (en) Continuous irreversible articulation
FR2781437A1 (en) Hinge assembly for vehicle seat back, comprises coaxial gear rings with internal and external teeth and satellite gears moving over angular course defined by limits of tooth engagement
EP0840857A1 (en) Automatic device for index guiding a movable part pivotably mounted about an axis on a part considered to be stationary relative to said axis
FR2915436A1 (en) Articulation mechanism for front seat of motor vehicle, has helical spring comprising end that is positioned to be supported against stop of cam when cam rotates in angular direction without being driven by central shaft
EP0218620B1 (en) Mechanism, particularly for windscreen wiper, and windscreen wiper device fitted with such a mechanism
FR2752673A1 (en) FISHING REEL
FR2652318A1 (en) EXTERIOR MIRROR FOR VEHICLE.
EP0844362B1 (en) Automatic stop device for a motordrive of a roller shutter winding tube
FR2789142A1 (en) Vehicle seat arm rest adjusting mechanism allows release device to be freely moved in clockwise direction but only allows it to be moved in anticlockwise direction after moving over predetermined path in clockwise direction
EP1214233B1 (en) Parking brake in particular for electric-powered motor vehicle
EP0846603B1 (en) Actuator, in particular for a vehicle anti-theft device
FR2750185A1 (en) Control mechanism with handle operation for adjusting seat in motor vehicle
EP0434614B1 (en) Automatic stopping device for an electric motor after a given number of revolutions
WO2012127053A1 (en) Actuating mechanism for a timepiece movement and corresponding timepiece movement
FR2962385A1 (en) Mechanism for articulating e.g. backrest and base of front seat of motor vehicle, has helical brake spring whose coil is mounted with friction in cylindrical rotating collar and is axially offset with respect to eccentric cam
CH713582A2 (en) Mechanism for reassembling a timepiece.
FR2486410A1 (en) Remote radio control for toy vehicle - has steering mechanism coupled to motor axis and set to steer guiding wheels sequentially

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE DE ES FR IT NL

17P Request for examination filed

Effective date: 19970605

17Q First examination report despatched

Effective date: 19981102

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ZODIAC POOL CARE EUROPE

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE DE ES FR IT NL

REF Corresponds to:

Ref document number: 192821

Country of ref document: AT

Date of ref document: 20000515

Kind code of ref document: T

REF Corresponds to:

Ref document number: 69608168

Country of ref document: DE

Date of ref document: 20000615

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20000629

Year of fee payment: 5

ITF It: translation for a ep patent filed

Owner name: BARZANO' E ZANARDO MILANO S.P.A.

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20000703

Year of fee payment: 5

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2146366

Country of ref document: ES

Kind code of ref document: T3

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20010630

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20010928

Year of fee payment: 6

BERE Be: lapsed

Owner name: ZODIAC POOL CARE EUROPE

Effective date: 20010630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20020101

NLV4 Nl: lapsed or anulled due to non-payment of the annual fee

Effective date: 20020101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20020614

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050614

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20070830

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20081007

Year of fee payment: 13

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090101

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20081006

Year of fee payment: 13

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20100226

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090630

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20090615

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090615