EP0750083B1 - 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

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

• deux organes de détection d'obstacle disposés de chaque côté à l'avant du véhicule,
• des moyens d'entraínement 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'entraínement 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 driving 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.

Such vehicles are used for example for constitute robots for cleaning liquid tanks, such as swimming pools. We know various achievements of such pool cleaning robots which, however, exhibit by their very design, the disadvantage of being always deviated in the same direction when they meet a obstacle and also the disadvantage of being deviated always roughly the same angle. As a result, these devices can sometimes have difficulty getting out of certain obstacles or even fail to get clear (for example if they engage between a ladder and the pool wall); more their deviation significantly constant in front of an obstacle sends them back in directions privileged so that their successive trajectories end up overlapping and they don't travel the the entire surface of the bottom of the pool. At the end of account, their functioning as a vehicle is not satisfactory and the pool is not cleaned in a way sufficiently effective.

We know in particular such a vehicle from the document FR-A-2 041 339. This known machine, arranged for automatically avoid obstacles, is equipped with organs which are located in the front corners, which organs are formed as two buffers extending divergent from each other.

Such an arrangement can certainly prove effective in the face certain obstacle configurations, such as the case illustrated in Figure 3 of said document or in the in the case of a substantially flat obstacle. However, this arrangement is totally ineffective if the machine comes to encounter an obstacle whose width is less than the distance separating the two buffers (for example meeting with protruding corner masonry).

The object of the invention is essentially to remedy to the disadvantages presented by known vehicles and offer an improved vehicle that is able to get out safely in front of any obstacle and that is able, when disengaged, to pivot by a non-predetermined angle so that its successive trajectories are perfectly and that, being a cleaning robot cleaning, be made effective on the whole from the surface of the bottom of the pool, being understood further 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 mass produced.

For these purposes, a rolling vehicle as mentioned in preamble is essentially characterized, being arranged in accordance with the invention, in that each member of obstacle detection comprises an elongated member consisting by the front edge, extending substantially over half a width and on the corresponding angle of the front of the vehicle which is opposite to the drive wheel to which said member is functionally associated, with an arm shaped so that its opposite end is located substantially at the vicinity of the drive wheel that it controls and is supported freely rotating on a substantially rotational axis vertical and in that said elongated member is coupled to selectively to the drive shaft driving said wheel drive through the above connecting means.

Thanks to this structure, the vehicle is made of 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 detectors obstacle are operated simultaneously and both wheels driving are simultaneously turned in direction reverse so that at first the vehicle backs up without being deflected. Anyway, he manages to clear whatever the position (lateral, frontal, bilateral), nature (plane, concave, ...) and dimension (in particular the width) of the obstacle. The function of obstacle detection is effectively ensured and a suitable order can be ensured whatever the position of the obstacle relative to the front of the vehicle.

In a particular preferred embodiment, the means for reversing the direction of rotation comprises a wheel drive tooth placed at the end of the motor shaft, thus that a central pinion and a peripheral crown with teeth inner which are integral with the drive wheel and with either of which can mesh the gear drive to determine respectively two directions of rotation of the drive wheel.

• 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 .

It is further desirable that the means of link also include temporary blocking means able to maintain rotation in the opposite direction to the drive wheel for a sufficient time for the vehicle can clear the obstacle and then restore the rotation of the drive wheel in its initial direction so that the vehicle sets out again on a new trajectory; advantageously the locking means include a pawl integral locking of the movable bearing of the motor shaft which is resiliently engaged when the bearing is moved under the action of the eccentric.

Preferably, the temporary blocking means are arranged to maintain reverse rotation of the wheel motive power for an indefinite period, thanks to which the vehicle is made to turn at an unspecified angle and random so that its successive trajectories do not not overlap and are random; he is interesting, to obtain a simple, but reliable structure, that the temporary blocking means further comprises a finger transverse integral with the drive wheel and able to cooperate with the above-mentioned ratchet when it is engaged, so release it and free the bearing from the motor shaft, elastic return means being provided to bring the bearing in its initial position.

• 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.

In Figures 1 to 4, and in particular on the Figure 1, only the part of the vehicle has been represented rolling which is concerned by the invention. For the rest, the vehicle can be arranged in any way according to applications and needs. In particular the number wheels, type of motorization (electric, hydraulic, mechanical, ...) as well as the work equipment and the form general (cover, dimensions, ...) can be any insofar as they do not influence the mechanism director who will now be more particularly taken into account.

In addition, although the provisions specific to the invention have been more particularly developed in the goal of making an advanced robot for cleaning swimming pool, it is obvious that the said provisions may find application to equip any type of vehicle moving with automatic change of direction in presence of an obstacle; the same provisions could also find application in a floating floating vehicle by two thrusters spread transversely one of the other.

In Figure 1, we see two front wheels 1 of a vehicle, which are independently driven (i.e. not wedged on a common tree) while being likely to be driven from a common engine (not shown).

At the front of the vehicle are arranged two obstacle detection which are arranged to detect obstacles obstacles respectively on both sides of the middle of the front of the vehicle. In addition, each detection device obstacle is arranged to be functional not only on a front half of the vehicle, but also in the corner corresponding side, even on the anterior end on the corresponding side.

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 driving wheel opposite, and therefore causes the vehicle to pivot at the opposite of the obstacle.

As shown in Figures 1 and 2, each organ obstacle detection consists of an elongated member or arm 2 in the general shape of a mustache or crescent moon which extends approximately across the end front of the vehicle. Each detector 2 has an active edge 3 projecting forward and extending over one half front of the vehicle, as well as in the corner and on the start on the corresponding side of the vehicle; on the other half front of the vehicle, the edge 4 of the detector is set back rearward.

The two detectors 2 are arranged one above on the other, being inverted with respect to each other by such that the recessed edge 4 of one coincides with the active projecting edge 3 of 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 be provided in the other detector to authorize their respective free rotary movements.

This same end 6 of the detector 2 is associated to connecting means, designated as a whole by the reference 7, so as to functionally control the direction of rotation of the driving wheel 1 which is located 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.

Training and reversing the direction of rotation of each driving wheel 1 are arranged as follows. A tree motor 8 (driven by a central motor not shown) is fitted, at its free end, with a drive gear 9. To wheel 1 or to the axis of wheel 1 are secured coaxially a central pinion 10 and a peripheral crown 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.

The aforementioned connecting means are arranged as follows. Part of the end 6 of each detector 2 is shaped like a fork 12 coagulating with a lug 13 integral of a carriage 14 which is movable over a part of fixed frame 15 in an approximately parallel direction to the motor shaft 8.

The carriage 14 carries a spout 16 which extends in tree direction 8.

Approximately opposite beak 16, a disc eccentric 17 is set in rotation on the shaft 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 approximately a direction transverse to the shaft 8.

If there is no obstacle, detector 2 is not deflected and it keeps the spout 16 laterally offset by 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 crown 11. Meaning corresponding rotation of the driving wheel 1 is assumed correspond to the forward movement of the vehicle.

When an obstacle occurs that pushes the edge active 3 of detector 2 backwards, detector 2, in pivoting, causes, by means of its fork 12, the displacement of the spout 16 which is brought opposite the disc eccentric 17. By turning, it bears against the spout and the shaft 8 is pushed back so that the gear drive 9 leaves the crown 11 and will cooperate with the central pinion 10. It is driven in the opposite direction to the crown 11 and the driving wheel 1 rotates in the opposite direction.

So that the cooperation of the toothed wheel 9 with the central pinion 10 lasts long enough to allow the vehicle to be released, blocking means are provided releasable designated as a whole by the reference 22 in Figures 2 and 3.

The releasable blocking means 22 include a rod 23 sliding axially freely in a passage 25 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 released outside the body 24, is pushed back against the edge of the orifice of passage 25 using a transverse spring 27 (the rod 23 having a certain radial clearance in the passage 25). We can optionally provide passage 25 in a folder 28 screwable into the body 24 to allow adjustment of stroke, as shown in figure 4.

The release of the blocking means is carried out 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 notch 26 is hollowed out in the rod 23 on the same side as the finger 29. When finger 29 meets ring 30, it pushes back and, the notch 26 being thus released, the spring 21 reminds all the mobile crew in the initial position with new engagement of the driving gear 9 with the crown 11: the driving wheel 1 then finds a rotation forward.

The arrangement which has just been described presents 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 performs a rotation of angular amplitude not predetermined and random before being forced to turn again before. The vehicle, after hitting an obstacle, will therefore get free by pivoting away from the obstacle with a random angular amplitude and will go forward on a new trajectory which is arranged so random compared to the previous one.

In the case where the two detectors 2 are actuated simultaneously (meeting a central frontal obstacle), the two driving wheels 1 are brought to turn in opposite direction simultaneously and the vehicle reverses substantially in straight line. However, the two fingers 29 are not found 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 driven in the direction determined by said first finger meeting its ring partner, and then go forward on a new trajectory as the case previously exposed. However, here, both the straight line recoil distance and the side towards which the rotation takes place and the amplitude angular of this rotation are random: the new again, the forward path is guaranteed to be randomly arranged in relation to the previous one.

This ensures that the vehicle does not go successively travel the same routes and, in the special case of a robot cleaning the bottom of a swimming pool, we are sure that, by the combination of all successive random trajectories, the robot will travel the entire bottom of the pool.

As it goes without saying and as it results from elsewhere already from the above, the invention is in no way limited to those of its modes of application and embodiments which have have been more particularly envisaged; she embraces otherwise all variants provided in the scope of claims.

Claims (9)

1. Wheeled vehicle which automatically changes travel direction when it meets an obstacle, this device being provided with two independent front-wheel drives (1) and comprising :

   two obstacle-detection units (2) located on the front of the vehicle at each side,

   means for driving each driving wheel (1) from a motor shaft (8), through means for reversing the direction of rotation,

   and means of connection (7) placed between each obstacle-detection unit (2) and means for driving the driving wheel located on the opposite side,

   said obstacle-detection units (2) and said means of connection (7) being arranged in such a manner that, when the vehicle meets an obstacle, the means of detection (2) actuated by said obstacle act, through said corresponding means of connection (7), so as to actuate said means for reversing the direction of rotation, and to have the rotation of the driving wheel pass from the forward direction to the rear direction,

      characterized in that each obstacle-detection unit comprises an elongated unit (2) constituted by the front edge (3), which extends practically on a half-width and on the corresponding corner of the front of the vehicle which is opposite to the driving wheel with which said unit is operationally associated, of an arm (2) shaped in such manner that its opposite end (6) is substantially located adjacent the driving wheel (1) that it controls and is supported at free rotation on a substantially vertical revolving axle (5), and that said extended unit (2) is selectively coupled to the motor shaft (8) driving said driving wheel (1) through said connection means (7).
2. Vehicle as in claim 1, characterized in that the means for reversing the direction of rotation comprise a drive pinion (9) located at the end of the motor shaft (8), as well as a central gear (10) and an annular, inwardly toothed gear (11) which are integral with the driving wheel (1) and with one or the other of which the drive pinion (9) can mesh in order to determine respectively two directions of rotation of the driving wheel (1).
3. Vehicle as in claim 1 or 2, characterized in that the means of connection (7) comprise a bearing (18) supporting the drive shaft (8) which is movable (19, 20) approximately transversely to said shaft when the obstacle detection means are actuated.
4. Vehicle as in claims 1 and 3, characterized in that the means of connection (7) comprise a movable nose (16) driven by said arm (2) in such manner as to occupy two positions, namely :

   a first non-operational position occupied when the arm is in a rest position during the absence of an obstacle,

   a second operational position occupied when the arm is displaced by an obstacle, in which the nose (16) co-operates with an eccentric (17) integral with the drive shaft (8), in such manner as to push back the movable bearing (18) supporting said drive shaft (8) and to modify the meshing of the drive pinion (9).
5. Vehicle as in anyone of claims 1 to 4, characterized in that the means of connection (7) also comprise temporary clamping means (22) capable of maintaining the reverse rotation of the driving wheel (1) during a sufficient time so that the vehicle can free itself from the obstacle, then to re-establish the rotation of the driving wheel (1) to its initial direction so that the vehicle starts out again on a new trajectory.
6. Vehicle as in claim 5, characterized in that the clamping means (22) comprise a clamping catch (25, 26) fixed to the movable bearing (18) of the drive shaft (8) which is engaged elastically when the bearing is displaced under the action of the eccentric (17).
7. Vehicle as in claims 5 or 6, characterized in that the clamping means (22) are arranged so as to maintain the reverse rotation of the driving wheel during a non-predetermined time whereby the vehicle is caused to turn from a non-predetermined, random angle such that its successive trajectories are not superimposed and are random.
8. Vehicle as in claim 7, characterized in that the clamping means (22) also comprise a transversal pin (29) integral with the driving wheel (1) and capable of co-operating with said catch (25, 26) when the latter is engaged, in order to release it and free the bearing (18) from the drive shaft (8), elastic return means (21) being provided to return the bearing to its initial position.
9. Automate cleaner for a water reservoir, particularly a swimming pool, adapted for moving on the bottom of said reservoir, characterized in that it is arranged according to anyone of claims 1 to 8.

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