EP0989256B1 - Working method and cleaning apparatus for cleaning a swimming-pool - Google Patents
Working method and cleaning apparatus for cleaning a swimming-pool Download PDFInfo
- Publication number
- EP0989256B1 EP0989256B1 EP99117503A EP99117503A EP0989256B1 EP 0989256 B1 EP0989256 B1 EP 0989256B1 EP 99117503 A EP99117503 A EP 99117503A EP 99117503 A EP99117503 A EP 99117503A EP 0989256 B1 EP0989256 B1 EP 0989256B1
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- EP
- European Patent Office
- Prior art keywords
- cleaning device
- motors
- swimming pool
- drive mechanism
- working method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
Definitions
- the invention relates to a working method for a cleaning device for cleaning a swimming pool according to the Preamble of claim 1 and a cleaning device for cleaning a swimming pool according to the preamble of Claim 8.
- DE-3 110 203 describes a method and an apparatus for Cleaning a swimming pool in a known manner moves the bottom of a water-filled swimming pool back and forth and cleans it by suction.
- the device has two motors so that both sides of the chassis are independent Walk forward or backward from each other or stand still can.
- the device also has a control device, the four arranged at the corners of the device Sensor is affected and the movement of the device on the Pool floor between opposite pool walls controls in a zigzag course.
- the device moves alternately forward and backward. It turns on the pool walls not, but there leads small swiveling movements out. On the one hand, these pivoting movements are used for alignment the cleaning device on the pool wall and on the other the subsequent setting of a new direction of movement.
- the cleaning device for both sides of the Chassis has one motor each, is used to achieve the Alignment movements and changes in direction are each one of the both engines switched off, the other during the Alignment process or continues during a delay time. This turns the cleaning device around the disused drive part.
- the object of the present invention is a simple procedure for cleaning and an inexpensive Specify cleaning device, both for pools different Size as well as different for pools Form can be used and reliable cleaning of the Ensure pelvic floor.
- the stated object is achieved by a working method or a cleaning device with the features of claims 1 and 8 solved.
- This is achieved by for one left and a right-hand chassis part means for measurement the distance covered on the pelvic floor and middle for differential control of the motors of the two chassis parts used at different speeds become.
- This initially ensures that the control device of the cleaning device automatically and automatically the one required for the next cleaning cycle Calculate the direction change angle and the necessary control functions can perform.
- the respective direction change angle is very exactly and without the help of costly control technology such as driving direction sensors can be.
- control device of the cleaning device is constructed in such a way that between two or more different work programs can be chosen.
- a first work program for cleaning swimming pools any shape may be provided, the cleaning device no alignment procedures with this work program the pool walls.
- Another work program can be used, for example, for cleaning swimming pools with at least one suitable straight line Reference swimming pool wall can be provided, the cleaning device in this work program on the reference swimming pool wall an alignment with respect to the same performs.
- the chassis has one motor each for a left and one right-hand chassis part.
- a control device controls the interaction of the motors of the two chassis parts.
- the Control device includes separate speed control devices for speed control of the two motors.
- the control device is also for a differential Speed control of the two motors designed. This means that the two engines are different Desired speeds can be operated. For driving straight ahead (forwards or backwards), the two speed control devices the same size Target speeds specified.
- the cleaning device has front and rear corners arranged contact means for generating control signals in the event of the cleaning device colliding with a Pool wall or an obstacle.
- contact means for generating control signals in the event of the cleaning device colliding with a Pool wall or an obstacle.
- the contact means can use the contact means as a mechanical switching sensor relatively long spring travel (to ensure the effective Accumulation on the pool wall or the obstacle to avoid).
- the cleaning device also has means on both chassis parts to measure the distance traveled when traveling back and forth Distances. These are preferably arranged on both sides Pulse generator on the drive wheels (or on the Driving belts acting drive wheels). Due to the design known relationship between the number of Revolutions (or impulses) per drive wheel and the resulting one resulting distance can be the total distance covered Distance can be determined.
- Fig. 1 shows a swimming pool 1 of irregular shape with a schematic course of the cleaning path according to a first work program.
- This work program includes no alignment of the cleaning device 2 to the Pool walls 3.
- the cleaning device 2 is started at a suitable location on the swimming pool wall 3 at a starting position 4 in the desired starting direction A.
- the cleaning device first moves in this direction in a straight line to the counter wall.
- the distance covered by the cleaning device during this movement is continuously measured.
- the contact means arranged on the front of the cleaning device generate a control signal, which causes the undercarriage to be switched off before the cleaning device effectively hits the swimming pool wall.
- the control device is provided with the measured distance d 1 last.
- both motors with during the change of direction constant but different target speeds operated. Because the distance covered on both chassis parts can now be measured due to the different arc lengths for a certain direction change angle to be achieved the duration of the second operating phase for one certain target speed combinations of the two motors be determined.
- the duration of the Change of direction of one of the motors to a target speed brought, which is higher than that at the end of the Direction change process to be reached and for the crossing target speed to be maintained on the pool floor. In this way it is achieved that the direction changes take place smoothly and gently so that a high driving stability results. Since every chassis part with equipped with an independent speed control loop high accuracy results.
- both Motors brought to the same target speed, whereby the last speed reached to cross the swimming pool floor is maintained.
- the cleaning device now drives in a straight direction B backwards onto the start wall to.
- a control signal which causes the undercarriage to turn off again before the cleaning device is effectively on the pool wall 3 accumulates.
- the distance d 2 is measured.
- the distance d 2 is greater than the distance d 1 measured first.
- the newly calculated direction change angle R 2 is smaller than the direction change angle R 1 the next time it comes into contact with the counter wall. This ensures that the cleaning paths of the cleaning device are always overlapping.
- Fig. 2 shows a swimming pool of rectangular shape with schematic course of the cleaning path according to a second work program.
- This work program includes Alignment of the cleaning device with respect to a reference swimming pool wall.
- This work program can be used for swimming pool shapes, where a suitable straight reference swimming pool wall 3 'is available.
- the rectangular shape shown in FIG. 2 is therefore only to be understood as an example.
- the cleaning device 2 is also used in this work program at a suitable location on the pool wall 3 at a Starting position 4 positioned. First of all, it will reversed to automatically and parallel to the Align reference swimming pool wall 3 '. After that it gets in the start direction A started.
- the minimum distance m is approximately in the range of 0.2 m. This is to ensure that no annoying lateral contact even at maximum distance d occurs between the cleaning device and the pool wall (to take alignment errors into account).
- the two motors of the chassis parts are preferably electrical Travel drives, the motors via reduction gears and drive wheels each on both sides arranged drive treadmills act. Because of The drive blocks are symmetrical for optimum weight distribution arranged at the front and back. For the purpose of simple DC motors with rev counter are preferably controllable used. Set electronic engine governors the pulses evaluated by the control device and Command signals into electrical manipulated variables.
- the setpoint speed specified by the control device or The target driving speed is the respective engine controller fed.
- the actual speed or actual driving speed via the revolution counter recorded separately and also the respective engine controllers fed. So each travel drive has one own speed control loop in which the target and Actual values are compared and precisely adjusted.
- the drive treadmills will spin at the start of the travel drive prevented by the two Motors via one defined by the control device Run-up ramp gently run up together.
Abstract
Description
Die Erfindung betrifft ein Arbeitsverfahren für ein Reinigungsgerät
zum Reinigen eines Schwimmbeckens gemäss dem
Oberbegriff des Patentanspruchs 1 sowie ein Reinigungsgerät
zum Reinigen eines Schwimmbeckens gemäss dem Oberbegriff des
Patentanspruchs 8.The invention relates to a working method for a cleaning device
for cleaning a swimming pool according to the
Preamble of
Selbsttätig auf dem Schwimmbeckengrund hin- und herfahrende Reinigungsgeräte sind seit längerer Zeit bekannt. Sie haben jedoch zumeist den Nachteil, dass Becken mit unregelmässigen Formen nicht zuverlässig automatisch gereinigt werden können. Insbesondere im low-cost Bereich besteht ein Bedarf für geeignete einfache Geräte.Automatically moving back and forth on the pool floor Cleaning devices have been known for a long time. They have however mostly the disadvantage that pools with irregular Molds cannot be reliably cleaned automatically. There is a need for, especially in the low-cost area suitable simple devices.
Die DE-3 110 203 beschreibt ein Verfahren und ein Gerät zum Reinigen eines Schwimmbeckens, das in bekannter Weise auf dem Boden eines wassergefüllten Schwimmbades hin- und herfährt und diesen dabei durch Absaugen reinigt. Das Gerät hat zwei Motoren, so dass beide Seiten des Fahrwerks unabhängig voneinander vorwärts oder rückwärts laufen oder stillstehen können. Das Gerät besitzt ausserdem eine Steuerungseinrichtung, die von vier an den Ecken des Gerätes angeordneten Fühlern beeinflußt wird und die Fahrt des Gerätes auf dem Schwimmbeckenboden zwischen gegenüberliegenden Schwimmbekkenwänden im Zickzackkurs steuert. Das Gerät fährt abwechselnd vor- und rückwärts. Es wendet an den Schwimmbeckenwänden nicht, führt dort aber jeweils kleine Schwenkbewegungen aus. Diese Schwenkbewegungen dienen einerseits dem Ausrichten des Reinigungsgerätes an der Schwimmbeckenwand und andererseits dem anschliessenden Einstellen einer neuen Bewegungsrichtung. Da das Reinigungsgerät für beide Seiten des Fahrwerks jeweils einen Motor hat, wird zur Erzielung der Ausrichtbewegungen und Richtungsänderungen jeweils einer der beiden Motoren abgeschaltet, wobei der andere während des Ausrichtvorganges oder während einer Verzögerungszeit weiterläuft. Dadurch dreht sich das Reinigungsgerät um den stillgelegten Antriebsteil.DE-3 110 203 describes a method and an apparatus for Cleaning a swimming pool in a known manner moves the bottom of a water-filled swimming pool back and forth and cleans it by suction. The device has two motors so that both sides of the chassis are independent Walk forward or backward from each other or stand still can. The device also has a control device, the four arranged at the corners of the device Sensor is affected and the movement of the device on the Pool floor between opposite pool walls controls in a zigzag course. The device moves alternately forward and backward. It turns on the pool walls not, but there leads small swiveling movements out. On the one hand, these pivoting movements are used for alignment the cleaning device on the pool wall and on the other the subsequent setting of a new direction of movement. Since the cleaning device for both sides of the Chassis has one motor each, is used to achieve the Alignment movements and changes in direction are each one of the both engines switched off, the other during the Alignment process or continues during a delay time. This turns the cleaning device around the disused drive part.
Einer der Nachteile dieses Reinigungsgerätes besteht darin, dass Richtungsänderungen nur relativ ungenau ausgeführt werden können. Die erreichbare Genauigkeit des Richtungsänderungswinkels hängt von schwer zu beherrschenden Faktoren ab, wie z.B. dem unterschiedlichen dynamischen Verhalten der beiden Antriebsseiten (u.a. beim Hochlauf) und der starken Abhängigkeit von der Verzögerungszeit. In der Folge bewirkt dies, dass insbesondere bei längeren Bahnen die sichere Überdeckung der Reinigungsspuren und damit die vollständige Reinigung des Beckenbodens unter Umständen nicht gewährleistet ist. Der Hauptnachteil besteht aber darin, dass diese Reinigungsvorrichtung nicht ohne sorgfältige Umstellung der Verzögerungszeit für Becken verschiedener Grössen und nur für rechteckige oder quadratische Beckenformen geeignet ist.One of the disadvantages of this cleaning device is that changes in direction are carried out relatively imprecisely can. The achievable accuracy of the direction change angle depends on factors that are difficult to control, such as. the different dynamic behavior of the both drive sides (e.g. during startup) and the strong one Dependence on the delay time. As a result this is that the safe, especially with longer tracks Coverage of the cleaning traces and thus the complete Cleaning the pool floor may not be guaranteed is. The main disadvantage is that this Cleaning device not without careful change of the Delay time for pools of different sizes and only is suitable for rectangular or square pool shapes.
Die Aufgabe der vorliegenden Erfindung besteht darin, ein einfaches Verfahren zur Reinigung und ein kostengünstiges Reinigungsgerät anzugeben, die sowohl bei Becken unterschiedlicher Grösse als auch bei Becken unterschiedlicher Form einsetzbar sind und eine zuverlässige Reinigung des Beckenbodens gewährleisten.The object of the present invention is a simple procedure for cleaning and an inexpensive Specify cleaning device, both for pools different Size as well as different for pools Form can be used and reliable cleaning of the Ensure pelvic floor.
Die genannte Aufgabe wird erfindungsgemäss durch ein Arbeitsverfahren bzw. ein Reinigungsgerät mit den Merkmalen
der Patentansprüche 1 bzw. 8 gelöst.
Erreicht wird dies, indem für einen
links- und einen rechtsseitigen Fahrwerkteil Mittel zur Messung
der zurückgelegten Distanz auf dem Beckenboden und Mittel
zur differentiellen Steuerung der Motoren der zwei Fahrwerkteile
mit unterschiedlicher Geschwindigkeit eingesetzt
werden. Dadurch wird zunächst erreicht, dass die Steuerungseinrichtung
des Reinigungsgerätes automatisch und selbsttätig
den für den nächsten Reinigungsdurchgang erforderlichen
Richtungsänderungswinkel berechnen und die nötigen Steuerungsfunktionen
durchführen kann. Vor allem wird aber erreicht,
dass die jeweiligen Richtungsänderungswinkel sehr
genau und ohne Zuhilfenahme kostenaufwendiger Regelungstechnik
wie beispielsweise Fahrrichtungssensoren eingestellt
werden können.According to the invention, the stated object is achieved by a working method or a cleaning device with the features
of
Gemäss einer bevorzugten Ausführungsform der Erfindung ist die Steuerungseinrichtung des Reinigungsgerätes so aufgebaut, dass zwischen zwei oder mehreren verschiedenen Arbeitsprogrammen gewählt werden kann. So kann beispielsweise ein erstes Arbeitsprogramm für die Reinigung von Schwimmbekken beliebiger Form vorgesehen sein, wobei das Reinigungsgerät bei diesem Arbeitsprogramm keinerlei Ausrichtvorgänge an den Schwimmbeckenwänden vornimmt. Ein weiteres Arbeitsprogramm kann beispielsweise für die Reinigung von Schwimmbekken mit mindestens einer geeigneten geradlinig verlaufenden Referenz-Schwimmbadwand vorgesehen sein, wobei das Reinigungsgerät bei diesem Arbeitsprogramm jeweils an der Referenz-Schwimmbadwand eine Ausrichtung bezüglich derselben vornimmt.According to a preferred embodiment of the invention the control device of the cleaning device is constructed in such a way that between two or more different work programs can be chosen. For example a first work program for cleaning swimming pools any shape may be provided, the cleaning device no alignment procedures with this work program the pool walls. Another work program can be used, for example, for cleaning swimming pools with at least one suitable straight line Reference swimming pool wall can be provided, the cleaning device in this work program on the reference swimming pool wall an alignment with respect to the same performs.
Ein Ausführungsbeispiel der Erfindung mit zwei derartigen Arbeitsprogrammen ist nachstehend anhand von Zeichnungen näher erläutert. Es zeigen die
- Fig. 1
- Ein Schwimmbecken von unregelmässiger Form mit schematischem Verlauf des Reinigungspfades, und
- Fig. 2
- Ein Schwimmbecken von rechteckiger Form mit schematischem Verlauf des Reinigungspfades.
- Fig. 1
- A swimming pool of irregular shape with a schematic course of the cleaning path, and
- Fig. 2
- A swimming pool of rectangular shape with a schematic course of the cleaning path.
Das in den nachstehenden Beschreibungen gemäss Fig. 1 und 2 eingesetzte Reinigungsgerät hat ein auf Vorwärts- oder auf Rückwärtsfahrt umschaltbares und mit Antriebsrädern oder Fahrbändern in Wirkverbindung stehendes Fahrwerk. Das Fahrwerk hat dabei je einen Motor für einen links- und einen rechtsseitigen Fahrwerkteil. Eine Steuereinrichtung steuert das Zusammenwirken der Motoren der beiden Fahrwerkteile. Die Steuereinrichtung beinhaltet separate Geschwindigkeitsregeleinrichtungen zur Geschwindigkeitsregelung der beiden Motoren. Die Steuereinrichtung ist ausserdem für eine differentielle Geschwindigkeitsregelung der beiden Motoren ausgelegt. Dies bedeutet, dass die beiden Motoren mit unterschiedlichen Sollgeschwindigkeiten betrieben werden können. Für die Geradeausfahrt (vorwärts oder rückwärts) werden den beiden Geschwindigkeitsregeleinrichtungen gleich grosse Soll-Geschwindigkeiten vorgegeben.That in the descriptions below according to FIGS. 1 and 2 used cleaning device has a forward or on Reversible reversible and with drive wheels or Carriages in operative connection. The chassis has one motor each for a left and one right-hand chassis part. A control device controls the interaction of the motors of the two chassis parts. The Control device includes separate speed control devices for speed control of the two motors. The control device is also for a differential Speed control of the two motors designed. This means that the two engines are different Desired speeds can be operated. For driving straight ahead (forwards or backwards), the two speed control devices the same size Target speeds specified.
Das Reinigungsgerät hat an den Ecken frontseitig und rückseitig angeordnete Kontaktmittel zur Erzeugung von Steuersignalen im Fall des Auffahrens des Reinigungsgerätes auf eine Schwimmbadwand oder eine Hindernis. In einer einfachen Form können die Kontaktmittel als mechanische Schaltfühler mit relativ langen Einfederwegen ausgebildet sein (um das effektive Auflaufen an der Schwimmbeckenwand oder dem Hindernis zu vermeiden).The cleaning device has front and rear corners arranged contact means for generating control signals in the event of the cleaning device colliding with a Pool wall or an obstacle. In a simple form can use the contact means as a mechanical switching sensor relatively long spring travel (to ensure the effective Accumulation on the pool wall or the obstacle to avoid).
Das Reinigungsgerät hat zudem an beiden Fahrwerkteilen Mittel zur Messung der beim Hin- und Herfahren jeweils zurückgelegten Distanzen. Vorzugsweise sind dies beidseitig angeordnete Impulsgeber an den Antriebsrädern (oder an den auf Fahrbänder wirkenden Antriebsrädern). Aufgrund des konstruktionsbedingt bekannten Zusammenhangs zwischen der Zahl der Umdrehungen (bzw. Impulse) pro Antriebsrad und der daraus resultierenden Wegstrecke kann die insgesamt zurückgelegte Distanz ermittelt werden.The cleaning device also has means on both chassis parts to measure the distance traveled when traveling back and forth Distances. These are preferably arranged on both sides Pulse generator on the drive wheels (or on the Driving belts acting drive wheels). Due to the design known relationship between the number of Revolutions (or impulses) per drive wheel and the resulting one resulting distance can be the total distance covered Distance can be determined.
Fig. 1 zeigt ein Schwimmbecken 1 von unregelmässiger Form
mit schematischem Verlauf des Reinigungspfades gemäss einem
ersten Arbeitsprogramm. Dieses Arbeitsprogramm beinhaltet
keinerlei Ausrichtvorgänge des Reinigungsgerätes 2 an den
Schwimmbeckenwänden 3.Fig. 1 shows a
Das Reinigungsgerät 2 wird an einer geeigneten Stelle an der
Schwimmbeckenwand 3 an einer Startposition 4 in der gewünschten
Startfahrtrichtung A gestartet. Das Reinigungsgerät
fährt zunächst in dieser Richtung in gerader Linie bis
zur Gegenwand. Die vom Reinigungsgerät während dieser Bewegung
zurückgelegte Wegstrecke wird dabei laufend gemessen.
Bei Berührung mit der Gegenwand erzeugen die frontseitig am
Reinigungsgerät angeordnete Kontaktmittel ein Steuersignal,
was bewirkt, dass das Fahrwerk abgeschaltet wird, bevor das
Reinigungsgerät effektiv auf die Schwimmbeckenwand aufläuft.
Beim Stillstand des Reinigungsgerätes stehen der Steuereinrichtung
an Messdaten die zuletzt zurückgelegte Wegstrecke d1
zur Verfügung.The
Aufgrund des nunmehr zur Verfügung stehenden Wertes der zuletzt
zurückgelegte Wegstrecke d1 des Reinigungsgerätes und
einer bekannten Versatzbreite v (Breite der Reinigungsspur
des Reinigungsgerätes) wird jetzt von der Steuereinrichtung
der erforderliche Richtungsänderungswinkel R1 berechnet. In
guter Näherung gilt dabei:
Um die nun zu erfolgende Richtungsänderung möglichst präzis auszuführen, werden nach der Umsteuerung der Fahrtrichtung die beiden Motoren der beiden Fahrwerkteile in einer ersten Bewegungsphase gemeinsam in einer sanften Rampenfunktion in der Sollgeschwindigkeit hochgefahren. Damit werden abrupte und deshalb in den Auswirkungen nicht voraussehbare Beschleunigungsveränderungen des Fahrantriebes vermieden. To make the change in direction as precise as possible are carried out after reversing the direction of travel the two motors of the two chassis parts in a first Movement phase together in a gentle ramp function the target speed increased. It will be abrupt and therefore in the effects of unforeseeable changes in acceleration of the travel drive avoided.
In einer anschliessenden zweiten Bewegungsphase werden nun beide Motoren während der Dauer der Richtungsänderung mit konstanten, aber unterschiedlichen Sollgeschwindigkeiten betrieben. Da der zurückgelegte Weg an beiden Fahrwerkteilen gemessen wird, kann jetzt aufgrund der unterschiedlichen Bogenlängen für einen bestimmten zu erreichenden Richtungsänderungswinkel die Dauer der zweiten Betriebsphase für eine bestimmte Sollgeschwindigkeits-Kombinationen der beiden Motoren ermittelt werden. Vorzugsweise wird für die Dauer der Richtungsänderung einer der Motoren auf eine Sollgeschwindigkeit gebracht, die höher liegt als die zum Abschluss des Richtungsänderungsvorgangs zu erreichende und für die Überquerung des Schwimmbeckenbodens beizubehaltende Sollgeschwindigkeit. Auf diese Weise wird erreicht, dass die Richtungsänderungen ruckfrei und sanft erfolgen, so dass eine hohe Fahrstabilität resultiert. Da jeder Fahrwerkteil mit einem unabhängigen Geschwindigkeitsregelkreis ausgestattet ist, resultiert eine hohe Genauigkeit.In a subsequent second movement phase, both motors with during the change of direction constant but different target speeds operated. Because the distance covered on both chassis parts can now be measured due to the different arc lengths for a certain direction change angle to be achieved the duration of the second operating phase for one certain target speed combinations of the two motors be determined. Preferably, for the duration of the Change of direction of one of the motors to a target speed brought, which is higher than that at the end of the Direction change process to be reached and for the crossing target speed to be maintained on the pool floor. In this way it is achieved that the direction changes take place smoothly and gently so that a high driving stability results. Since every chassis part with equipped with an independent speed control loop high accuracy results.
Zum Abschluss des Richtungsänderungsvorganges werden beide
Motoren auf die gleiche Sollgeschwindigkeit gebracht, wobei
die zuletzt erreichte Geschwindigkeit zur Überquerung des
Schwimmbeckenbodens beibehalten wird. Das Reinigungsgerät
fährt jetzt in gerader Richtung B rückwärts auf die Startwand
zu. Bei Berührung mit der Startwand erzeugen rückseitig
am Reinigungsgerät angeordnete Kontaktmittel ein Steuersignal,
was bewirkt, dass das Fahrwerk wiederum abgeschaltet
wird, bevor das Reinigungsgerät effektiv auf die Schwimmbekkenwand
3 aufläuft.At the end of the direction change process, both
Motors brought to the same target speed, whereby
the last speed reached to cross the
Swimming pool floor is maintained. The cleaning device
now drives in a straight direction B backwards onto the start wall
to. When touching the start wall create back
contact means arranged on the cleaning device a control signal,
which causes the undercarriage to turn off again
before the cleaning device is effectively on the
Da bei der erneuten Vorwärtsfahrt des Reinigungsgerätes die zur Richtung A parallele Richtung C einzuhalten ist, muss bei der jetzt zu erfolgenden Richtungsänderung noch einmal der zuvor an der Gegenseite berechnete Richtungsänderungswinkel R1 eingehalten werden. Der Vorgang der Richtungsänderung erfolgt im übrigen in der gleichen Weise wie obenstehend beschrieben.Since the direction C parallel to direction A must be maintained when the cleaning device moves forward again, the change in direction R 1 previously calculated on the opposite side must be maintained once again when changing the direction. The process of changing the direction is otherwise the same as that described above.
Bei der erneuten Vorwärtsfahrt des Reinigungsgerätes wird die Wegstrecke d2 gemessen. Im gezeigten Beispiel ist die Wegstrecke d2 grösser als die zuerst gemessene Wegstrecke d1. Dies hat zur Folge, dass der bei der nächsten Berührung mit der Gegenwand der neu berechnete Richtungsänderungswinkel R2 kleiner als der Richtungsänderungswinkel R1 ist. Auf diese Weise wird sichergestellt, dass die Reinigungspfade des Reinigungsgerätes stets überdeckend verlaufen.When the cleaning device moves forward again, the distance d 2 is measured. In the example shown, the distance d 2 is greater than the distance d 1 measured first. As a result, the newly calculated direction change angle R 2 is smaller than the direction change angle R 1 the next time it comes into contact with the counter wall. This ensures that the cleaning paths of the cleaning device are always overlapping.
Um eine zuverlässige Funktion zu gewährleisten muss lediglich
beachtet werden, dass bei jeder Kontaktposition
(diejenige Position an der die Kontaktmittel einen Kontakt
mit einer Schwimmbadwand oder einem Hindernis melden) ein
minimaler Ansatzwinkel WA gewährleistet sein sollte. Die Grösse
dieses Winkels hängt von den eingesetzten Kontaktmitteln
ab und beträgt im Falle mechanischer Kontaktleisten etwa
60°. In der Figur 1 ist der Ansatzwinkel WA zwecks Verdeutlichung
bei der Startposition 4 eingezeichnet.In order to ensure reliable functioning, all that needs to be taken into account is that at each contact position (the position at which the contact means report contact with a swimming pool wall or an obstacle), a minimal angle of attack W A should be ensured. The size of this angle depends on the contact means used and, in the case of mechanical contact strips, is approximately 60 °. The approach angle W A is shown in FIG. 1 for the purpose of illustration at the starting
Fig. 2 zeigt ein Schwimmbecken von rechteckiger Form mit schematischem Verlauf des Reinigungspfades gemäss einem zweiten Arbeitsprogramm. Dieses Arbeitsprogramm beinhaltet Ausrichtvorgänge des Reinigungsgeräte bezüglich einer Referenz-Schwimmbadwand.Fig. 2 shows a swimming pool of rectangular shape with schematic course of the cleaning path according to a second work program. This work program includes Alignment of the cleaning device with respect to a reference swimming pool wall.
Dieses Arbeitsprogramm ist für Schwimmbeckenformen einsetzbar, bei denen eine geeignete gerade Referenz-Schwimmbadwand 3' zur Verfügung steht. Die in der Fig. 2 gezeigte Rechteckform ist somit lediglich als Beispiel zu verstehen.This work program can be used for swimming pool shapes, where a suitable straight reference swimming pool wall 3 'is available. The rectangular shape shown in FIG. 2 is therefore only to be understood as an example.
Auch bei diesem Arbeitsprogramm wird das Reinigungsgerät 2
an einer geeigneten Stelle an der Schwimmbeckenwand 3 an einer
Startposition 4 positioniert. Es wird zunächst jedoch
rückwärts gefahren um sich automatisch und parallel zu der
Referenz-Schwimmbadwand 3' auszurichten. Danach wird es in
der Startfahrtrichtung A gestartet.The
Die Vorwärtsfahrt in der Startrichtung A und die Rückwärtsfahrt in Richtung B wie auch die Berechnung und Steuerung des Richtungsänderungswinkels R1 erfolgen in genau gleicher Weise wie beim Arbeitsprogramm gemäss Fig. 1.The forward drive in the starting direction A and the reverse drive in the direction B as well as the calculation and control of the change in direction R 1 take place in exactly the same way as in the work program according to FIG. 1.
Beim erneuten Auftreffen des Reinigungsgerätes an der Referenz-Schwimmbadwand
3' an der zweiten Ausrichtposition 5
wird das Reinigungsgerät aber erneut an derselben ausgerichtet.
Dies hat zur Folge, dass die anschliessende gerade Vorwärtsfahrt
in der Richtung C parallel zur ursprünglichen
Startrichtung A verläuft, womit die vollständige Überdeckung
der Reinigungsspuren ebenfalls sichergestellt ist. Wegen der
vorhandenen Referenz-Schwimmbadwand tritt hier also an die
Stelle einer genau gesteuerten Kurvenfahrt ein steuerungstechnisch
weniger aufwendiger Ausrichtvorgang.When the cleaning device hits the reference pool wall again
3 'at the
Um eine zuverlässige Funktion zu gewährleisten, muss lediglich
beachtet werden, dass eine Minimaldistanz m von einer
rechtwinklig zur Referenz-Schwimmbadwand 3' verlaufenden
Schwimmbeckenwand 3 eingehalten wird. Für die beschriebene
Gerätekonfiguration liegt die Minimaldistanz m etwa im Bereich
von 0.2 m. Damit soll sichergestellt werden, dass
selbst bei maximaler Distanz d keine störende seitliche Berührung
zwischen Reinigungsgerät und Schwimmbeckenwand auftritt
(zur Berücksichtigung von Ausrichtefehlern).To ensure reliable functioning, all you have to do is
note that a minimum distance m of one
perpendicular to the reference swimming pool wall 3 '
Zur Realisierung eines erfindungsgemässen Reinigungsgerätes werden vorteilhaft die nachstehenden Komponenten eingesetzt: To implement a cleaning device according to the invention the following components are advantageously used:
Die beiden Motoren der Fahrwerkteile sind vorzugsweise elektrische Fahrantriebe, wobei die Motoren über Reduktionsgetriebe und Antriebsräder jeweils kraftschlüssig auf beidseitig angeordnete Antriebslaufbänder wirken. Aus Gründen der optimalen Gewichtsverteilung sind die Antriebsblöcke symmetrisch vorn und hinten angeordnet. Zum Zweck der einfachen Regelbarkeit werden vorzugsweise Gleichstrommotoren mit Umdrehungszählern eingesetzt. Elektronische Motorregler setzen die durch die Steuereinrichtung ausgewerteten Impulse und Befehlssignale in elektrische Stellgrössen um.The two motors of the chassis parts are preferably electrical Travel drives, the motors via reduction gears and drive wheels each on both sides arranged drive treadmills act. Because of The drive blocks are symmetrical for optimum weight distribution arranged at the front and back. For the purpose of simple DC motors with rev counter are preferably controllable used. Set electronic engine governors the pulses evaluated by the control device and Command signals into electrical manipulated variables.
Die von der Steuereinrichtung vorgegebene Soll-Drehzahl bzw. Soll-Fahrgeschwindigkeit wird den jeweiligen Motorreglern zugeführt. Für jeden der beiden Fahrantriebe wird die IstDrehzahl bzw. Ist-Fahrgeschwindigkeit über die Umdrehungszähler separat erfasst und ebenfalls den jeweiligen Motorreglern zugeführt. Somit verfügt jeder Fahrantrieb über einen eigenen Geschwindigkeitsregelkreis, in dem die Soll- und Istwerte verglichen und präzise ausgeregelt werden.The setpoint speed specified by the control device or The target driving speed is the respective engine controller fed. For each of the two travel drives, the actual speed or actual driving speed via the revolution counter recorded separately and also the respective engine controllers fed. So each travel drive has one own speed control loop in which the target and Actual values are compared and precisely adjusted.
Wie bereits erwähnt wird ein Durchdrehen der Antriebslaufbänder beim Start des Fahrantriebs verhindert indem die beiden Motoren über eine von der Steuereinrichtung definierte Hochlauframpe gemeinsam sanft hochgefahren werden.As already mentioned, the drive treadmills will spin at the start of the travel drive prevented by the two Motors via one defined by the control device Run-up ramp gently run up together.
Claims (8)
- Working method for a cleaning device (2) moving backwards and forwards in a swimming pool (1), having a drive mechanism which can be switched to forward or backward travel and is actively connected to drive wheels or drive tracks, having one motor each for a left-hand-side and a right-hand-side part of the drive mechanism, a control apparatus for controlling the drive mechanism, and contact means arranged at the front and rear to generate control signals in the event that the cleaning device approaches a swimming pool wall (3) or an obstacle, characterized in that the control apparatus possesses, for each part of the drive mechanism, a speed regulating apparatus and means for the differential control of the speed of the two motors, the cleaning device has means on both parts of the drive mechanism for measuring the distances (d1, d2) covered in forward or backward movement, and the control apparatus calculates and differentially controls angles (R1, R2) of change of direction for the travelling cleaning device based on the measured distances (d1, d2) covered and an offset width (v) of the respective travel tracks.
- Working method according to Patent Claim 1, characterized in that, for the performance of changes of direction of the travelling cleaning device (2), the two motors are operated at constant but different nominal speeds for the duration of the change of direction.
- Working method according to Patent Claim 2, characterized in that the magnitude of the angle (R1, R2) of change of direction is dependent on the different nominal speeds of the two motors and the period for which the two motors are operated at different nominal speeds, and is controlled by changing one or more of these parameters.
- Working method according to Patent Claim 3, characterized in that an operation of change of direction is triggered after contact is made with a swimming pool wall (3) by one of the contact means for generating control signals arranged at the front and rear, in that, to achieve this, first the cleaning device (2) is stopped and the direction of travel is switched and, in a subsequent first movement phase, the two motors are accelerated via a linear speed increase and in a second, subsequent movement phase the two motors are operated at constant but different nominal speeds for the duration of the change of direction and, to conclude the operation of change of direction, the two motors are brought to the same nominal speed, the speed finally reached then being retained in order to cross the bottom of the swimming pool.
- Working method according to Patent Claim 4, characterized in that, for the duration of the change of direction, one of the motors is brought to a nominal speed which is higher than the nominal speed to be achieved at the end of the operation of change of direction and retained for the crossing of the swimming pool bottom.
- Working method according to one of Patent Claims 1 to 5, characterized in that it also comprises operations of aligning the cleaning device (2) with a swimming pool wall (3).
- Working method according to Patent Claim 6, characterized in that the cleaning device (2) is controlled by means of a program that can be set at the control apparatus so that, at each reference wall (3') of the swimming pool (1), it automatically aligns itself relative thereto.
- Cleaning device (2) for carrying out the working method according to Claim 1, having a drive mechanism which can be switched to forward or backward travel and is actively connected to drive wheels or drive tracks, having one motor each for a left-hand-side and a right-hand-side part of the drive mechanism, a control apparatus for controlling the drive mechanism, and contact means arranged at the front and rear to generate control signals in the event that the cleaning device approaches a swimming pool wall (3) or an obstacle, characterized in that the control apparatus possesses, for each part of the drive mechanism, a speed regulating apparatus and means for the differential control of the speed of the two motors, the cleaning device has means on both parts of the drive mechanism for measuring the distances covered in forward or backward travel, and the control apparatus possesses means for calculating and differentially controlling changes of direction of the travelling cleaning device based on the measured distances covered and an offset width of the respective travel tracks.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CH194098 | 1998-09-23 | ||
| CH194098 | 1998-09-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0989256A1 EP0989256A1 (en) | 2000-03-29 |
| EP0989256B1 true EP0989256B1 (en) | 2003-11-19 |
Family
ID=4222163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP99117503A Expired - Lifetime EP0989256B1 (en) | 1998-09-23 | 1999-09-04 | Working method and cleaning apparatus for cleaning a swimming-pool |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US6309468B1 (en) |
| EP (1) | EP0989256B1 (en) |
| JP (1) | JP2000093360A (en) |
| AT (1) | ATE254711T1 (en) |
| DE (1) | DE59907788D1 (en) |
| ES (1) | ES2210925T3 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102799180A (en) * | 2012-07-26 | 2012-11-28 | 杭州高越科技有限公司 | Walking control method and device of cleaning machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9051750B2 (en) | 2003-11-04 | 2015-06-09 | Aqua Products, Inc. | Directional control for dual brush robotic pool cleaners |
| US8241430B2 (en) * | 2003-11-04 | 2012-08-14 | Aqua Products, Inc. | Directional control method for dual brush robotic pool cleaners |
| WO2005045162A1 (en) * | 2003-11-04 | 2005-05-19 | Aqua Products, Inc. | Directional control for dual brush robotic pool cleaners |
| WO2007047827A1 (en) * | 2005-10-18 | 2007-04-26 | Aquatron Inc. | Customized programmable pool cleaner method and apparatus |
| EP1826338B1 (en) * | 2006-02-24 | 2011-11-16 | 3S Systemtechnik AG | Working method and cleaning device for cleaning a swimming pool |
| US20070234956A1 (en) * | 2006-04-05 | 2007-10-11 | Dalton Jeremie J | Method and apparatus for providing uniform gas delivery to a reactor |
| US20080099409A1 (en) * | 2006-10-26 | 2008-05-01 | Aquatron Robotic Systems Ltd. | Swimming pool robot |
| US8343339B2 (en) * | 2008-09-16 | 2013-01-01 | Hayward Industries, Inc. | Apparatus for facilitating maintenance of a pool cleaning device |
| US9593502B2 (en) | 2009-10-19 | 2017-03-14 | Hayward Industries, Inc. | Swimming pool cleaner |
| 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 |
| US9119463B2 (en) | 2011-10-03 | 2015-09-01 | Pentair Water Pool & Spa, Inc. | Pool cleaner with detachable scrubber assembly |
| 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 |
| USD787761S1 (en) | 2014-11-07 | 2017-05-23 | Hayward Industries, Inc. | Pool cleaner |
| USD787760S1 (en) | 2014-11-07 | 2017-05-23 | Hayward Industries, Inc. | Pool cleaner |
| USD789624S1 (en) | 2014-11-07 | 2017-06-13 | Hayward Industries, Inc. | Pool cleaner |
| USD789003S1 (en) | 2014-11-07 | 2017-06-06 | Hayward Industries, Inc. | Pool cleaner |
| US9399877B2 (en) | 2014-11-21 | 2016-07-26 | Water Tech, LLC | Robotic pool cleaning apparatus |
| US20190243379A1 (en) * | 2016-09-08 | 2019-08-08 | Aquatron Robotic Technology Ltd. | Navigation of robotic pool cleaner |
| US10214933B2 (en) | 2017-05-11 | 2019-02-26 | Hayward Industries, Inc. | Pool cleaner power supply |
| AU2020312844A1 (en) * | 2019-07-18 | 2021-12-09 | Zodiac Pool Care Europe | Drive controls principally for automatic swimming pool cleaners |
| CN110899190B (en) * | 2019-11-15 | 2021-10-08 | 浙江大学 | Method for cleaning attachment on underwater surface of pier and underwater operation robot |
| CN114233063B (en) * | 2021-12-07 | 2023-05-05 | 深圳市思傲拓科技有限公司 | Swimming pool cleaning robot and steering method |
| WO2023155159A1 (en) * | 2022-02-18 | 2023-08-24 | Beijing Smorobot Technology Co., Ltd | Wall collision u-turning method and apparatus for swimming pool cleaning robot, and swimming pool edge cleaning method and apparatus |
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| US2988762A (en) * | 1960-02-08 | 1961-06-20 | Hugh H Babcock | Self-steering submarine suction cleaner |
| DE3110203A1 (en) * | 1981-03-17 | 1982-09-30 | Rolf 6450 Hanau Corvinus | Process and apparatus for cleaning a swimming pool |
| CH656665A5 (en) * | 1982-07-05 | 1986-07-15 | Sommer Schenk Ag | METHOD AND CLEANING DEVICE FOR CLEANING A WATER BASIN. |
| FR2584442B1 (en) * | 1985-07-02 | 1988-01-08 | Puech Frederic | APPARATUS FOR AUTOMATIC CLEANING OF AN UNDERWATER SURFACE |
| SE465629B (en) * | 1986-08-20 | 1991-10-07 | Mikael Nystroem | PROCEDURE FOR CLEANING A BASE BASKET |
| ATE151490T1 (en) * | 1990-10-31 | 1997-04-15 | 3S Systemtechn Ag | WORKING METHOD AND CLEANING DEVICE FOR CLEANING A SWIMMING POOL |
| JP2738610B2 (en) * | 1991-09-07 | 1998-04-08 | 富士重工業株式会社 | Travel control device for self-propelled bogie |
| US5435031A (en) * | 1993-07-09 | 1995-07-25 | H-Tech, Inc. | Automatic pool cleaning apparatus |
-
1999
- 1999-09-04 ES ES99117503T patent/ES2210925T3/en not_active Expired - Lifetime
- 1999-09-04 DE DE59907788T patent/DE59907788D1/en not_active Expired - Lifetime
- 1999-09-04 EP EP99117503A patent/EP0989256B1/en not_active Expired - Lifetime
- 1999-09-04 AT AT99117503T patent/ATE254711T1/en active
- 1999-09-21 JP JP11304457A patent/JP2000093360A/en active Pending
- 1999-09-23 US US09/404,204 patent/US6309468B1/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102799180A (en) * | 2012-07-26 | 2012-11-28 | 杭州高越科技有限公司 | Walking control method and device of cleaning machine |
Also Published As
| Publication number | Publication date |
|---|---|
| ES2210925T3 (en) | 2004-07-01 |
| EP0989256A1 (en) | 2000-03-29 |
| ATE254711T1 (en) | 2003-12-15 |
| US6309468B1 (en) | 2001-10-30 |
| JP2000093360A (en) | 2000-04-04 |
| DE59907788D1 (en) | 2003-12-24 |
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