EP0989256B1 - Procédé de travail et appareil de nettoyage pour nettoyer une piscine - Google Patents

Procédé de travail et appareil de nettoyage pour nettoyer une piscine Download PDF

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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
Authority
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
Application number
EP99117503A
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German (de)
English (en)
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EP0989256A1 (fr
Inventor
Hans-Rudolf Sommer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
3S Systemtechnik AG
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3S Systemtechnik AG
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Publication date
Application filed by 3S Systemtechnik AG filed Critical 3S Systemtechnik AG
Publication of EP0989256A1 publication Critical patent/EP0989256A1/fr
Application granted granted Critical
Publication of EP0989256B1 publication Critical patent/EP0989256B1/fr
Anticipated expiration legal-status Critical
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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.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning In General (AREA)
  • Electric Suction Cleaners (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Claims (8)

  1. Procédé de travail pour un appareil de nettoyage (2) faisant des aller et retour dans une piscine (1), avec un train de roulement commutable sur marche avant ou sur marche arrière et en liaison active avec des roues d'entraínement ou des bandes de roulement avec respectivement un moteur pour une partie de train de roulement côté gauche et une partie de train de roulement côté droit, un appareil de commande pour la commande du train de roulement et des moyens de contact disposés à l'avant et l'arrière pour générer des signaux de commande en cas de butée de l'appareil de nettoyage sur une paroi de piscine (3) ou un obstacle, caractérisé en ce que l'appareil de commande présente un appareil de réglage de vitesse pour chaque partie du train de roulement et des moyens pour une commande différentielle de la vitesse des deux moteurs, l'appareil de nettoyage présente sur les deux parties, du train de roulement des moyens pour la mesure des distances (d1, d2) parcourues lors des aller et retour et l'appareil de commande calcule des angles de changement de direction (R1, R2) pour l'appareil de nettoyage qui se déplace sur la base des distances (d1, d2) parcourues et mesurées et d'une largeur de déport (v) des traces de roulement respectives et fait un contrôle différentiel.
  2. Procédé de travail selon la revendication 1, caractérisé en ce que, pour l'exécution de changements de direction de l'appareil de nettoyage (2) roulant, les deux moteurs sont exploités pendant la durée du changement de direction avec des vitesses théoriques constantes, mais différentes.
  3. Procédé de travail selon la revendication 2, caractérisé en ce que la grandeur de l'angle de changement de direction (R1, R2) dépend des vitesses théoriques différentes des deux moteurs et de la durée avec laquelle les deux moteurs sont exploités avec des vitesses théoriques différentes et est commandée en faisant varier un ou plusieurs de ces paramètres.
  4. Procédé de travail selon la revendication 3, caractérisé en ce qu'une opération de changement de direction est déclenchée après un contact d'un moyen de contact disposé à l'avant et à l'arrière pour générer des signaux de commande avec une paroi de piscine (3), en ce qu'à la suite de cela, l'appareil de nettoyage (2) est d'abord stoppé et inversé dans le sens de marche, les deux moteurs sont accélérés en vitesse au moyen d'une fonction de rampe lors d'une première phase de déplacement consécutive, les deux moteurs sont exploités lors d'une seconde phase de déplacement consécutive pendant la durée du changement de direction avec des vitesses théoriques, mais différentes et, pour terminer l'opération de changement de direction, les deux moteurs sont amenés à la même vitesse théorique, la dernière vitesse atteinte étant conservée alors pour traverser le fond de la piscine.
  5. Procédé de travail selon la revendication 4, caractérisé en ce que, pour la durée du changement de direction, l'un des moteurs est amené à une vitesse théorique qui est supérieure à la vitesse théorique à atteindre pour terminer l'opération de changement de direction et conservée pour traverser le fond de la piscine.
  6. Procédé de travail selon la l'une quelconque des revendications 1 à 5, caractérisé en ce qu'il comprend en supplément des opérations d'alignement de l'appareil de nettoyage (2) sur une paroi de piscine (3) .
  7. Procédé de travail selon la revendication 6, caractérisé en ce que l'appareil de nettoyage (2) est commandé au moyen d'un programme réglable sur l'appareil de commande de telle sorte que, à chaque fois, il s'aligne sur une paroi de référence (3') de la piscine (1) de façon automatique par rapport à celle-ci.
  8. Appareil de nettoyage (2) pour la réalisation du procédé de travail selon là revendication 1, avec un train de roulement pouvant commuter sur marche avant ou sur marche arrière et étant en liaison active avec des roues d'entraínement ou des bandes de roulement avec respectivement un moteur pour une partie du train de roulement côté gauche et une partie du train de roulement côté droit, un appareil de commande pour la commande du train de roulement et des moyens de contact disposés à l'avant et l'arrière pour générer des signaux de commande en cas de butée, de l'appareil de nettoyage sur une paroi de piscine (3) ou un obstacle, caractérisé en ce que l'appareil de commande présente pour chaque partie du train de roulement un régulateur de vitesse et des moyens pour une commande différentielle de la vitesse des deux moteurs, l'appareil de nettoyage présente sur les deux parties du train de roulement des moyens pour mesurer les distances parcourues lors des aller et retour et l'appareil de commande présente des moyens pour le calcul et la commande différentielle de changements de direction de l'appareil de nettoyage roulant sur la base des distances parcourues et mesurées et d'une largeur de déport des traces de roulement respectives.
EP99117503A 1998-09-23 1999-09-04 Procédé de travail et appareil de nettoyage pour nettoyer une piscine Expired - Lifetime EP0989256B1 (fr)

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 (fr) 2000-03-29
EP0989256B1 true EP0989256B1 (fr) 2003-11-19

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Family Applications (1)

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EP99117503A Expired - Lifetime EP0989256B1 (fr) 1998-09-23 1999-09-04 Procédé de travail et appareil de nettoyage pour nettoyer une piscine

Country Status (6)

Country Link
US (1) US6309468B1 (fr)
EP (1) EP0989256B1 (fr)
JP (1) JP2000093360A (fr)
AT (1) ATE254711T1 (fr)
DE (1) DE59907788D1 (fr)
ES (1) ES2210925T3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102799180A (zh) * 2012-07-26 2012-11-28 杭州高越科技有限公司 一种清洗机行走控制方法与装置

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Publication number Priority date Publication date Assignee Title
EP1689956B1 (fr) 2003-11-04 2008-09-10 Aqua Products Inc. Dispositif de commande de direction pour nettoyeurs de piscine robotiques a double brosses
US8241430B2 (en) * 2003-11-04 2012-08-14 Aqua Products, Inc. Directional control method for dual brush robotic pool cleaners
US9051750B2 (en) 2003-11-04 2015-06-09 Aqua Products, Inc. Directional control for dual brush robotic pool cleaners
WO2007047827A1 (fr) * 2005-10-18 2007-04-26 Aquatron Inc. Procédé et appareil de nettoyage de piscine programmable sur mesure
ATE533906T1 (de) * 2006-02-24 2011-12-15 3S Systemtechn Ag Arbeitsverfahren und reinigungsgerät zum reinigen eines schwimmbeckens
US20070234956A1 (en) * 2006-04-05 2007-10-11 Dalton Jeremie J Method and apparatus for providing uniform gas delivery to a reactor
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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
WO2014160312A1 (fr) 2013-03-14 2014-10-02 Hayward Industries, Inc. Système de nettoyage pour piscine avec des éléments de nettoyage articulés
US9677294B2 (en) 2013-03-15 2017-06-13 Hayward Industries, Inc. Pool cleaning device with wheel drive assemblies
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
USD789624S1 (en) 2014-11-07 2017-06-13 Hayward Industries, Inc. Pool cleaner
USD787761S1 (en) 2014-11-07 2017-05-23 Hayward Industries, Inc. Pool cleaner
US9399877B2 (en) 2014-11-21 2016-07-26 Water Tech, LLC Robotic pool cleaning apparatus
WO2017216784A1 (fr) * 2016-09-08 2017-12-21 Aquatron Robotic Technology Ltd. Navigation d'un robot nettoyeur de piscine
US10214933B2 (en) 2017-05-11 2019-02-26 Hayward Industries, Inc. Pool cleaner power supply
WO2021009698A1 (fr) * 2019-07-18 2021-01-21 Zodiac Pool Care Europe Commandes d'entraînement principalement pour nettoyeurs automatiques de piscine
CN110899190B (zh) * 2019-11-15 2021-10-08 浙江大学 一种桥墩水下表面附着物清洗方法及水下作业机器人
CN114233063B (zh) * 2021-12-07 2023-05-05 深圳市思傲拓科技有限公司 一种泳池清洁机器人及转向方法
WO2023155159A1 (fr) * 2022-02-18 2023-08-24 Beijing Smorobot Technology Co., Ltd Procédé et appareil de demi-tour pour collision avec le mur pour robot de nettoyage de piscine, et procédé et appareil de nettoyage de bords de piscine
WO2024097155A1 (fr) * 2022-11-01 2024-05-10 Zodiac Pool Systems Llc Systèmes et procédés de commande de dispositifs de nettoyage de piscine et d'autre équipement pour piscines ou spas

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Publication number Priority date Publication date Assignee Title
CN102799180A (zh) * 2012-07-26 2012-11-28 杭州高越科技有限公司 一种清洗机行走控制方法与装置

Also Published As

Publication number Publication date
US6309468B1 (en) 2001-10-30
EP0989256A1 (fr) 2000-03-29
ES2210925T3 (es) 2004-07-01
ATE254711T1 (de) 2003-12-15
JP2000093360A (ja) 2000-04-04
DE59907788D1 (de) 2003-12-24

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