EP2255048B1 - Rollreinigungsvorrichtung für eine unterwasseroberfläche mit kombiniertem hydraulik-/elektroantrieb und entsprechendes verfahren - Google Patents

Rollreinigungsvorrichtung für eine unterwasseroberfläche mit kombiniertem hydraulik-/elektroantrieb und entsprechendes verfahren Download PDF

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Publication number
EP2255048B1
EP2255048B1 EP09729473A EP09729473A EP2255048B1 EP 2255048 B1 EP2255048 B1 EP 2255048B1 EP 09729473 A EP09729473 A EP 09729473A EP 09729473 A EP09729473 A EP 09729473A EP 2255048 B1 EP2255048 B1 EP 2255048B1
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European Patent Office
Prior art keywords
liquid
control unit
flow
hollow body
outlet
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EP09729473A
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English (en)
French (fr)
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EP2255048A2 (de
Inventor
Philippe Pichon
Emmanuel Mastio
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Zodiac Pool Care Europe SAS
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Zodiac Pool Care Europe SAS
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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

  • US 2003/0201218 discloses such a submerged surface cleaner rolling apparatus which comprises motor driven rolling bodies driven by an electric motor which can, moreover, drive a propeller adapted to generate an output stream which escapes from the apparatus through a rear exit creating by reaction a force which has a longitudinal component of training which can participate in the training of the apparatus.
  • the rear output is also the output of the filtering device so that it is the filtered stream that participates in the training of the device.
  • One of the disadvantages of this device lies in the fact that the general architecture of the device is not optimized to limit energy consumption.
  • such a device does not adapt its energy expenditure to the different situations it may encounter when cleaning a pool.
  • the drive motor runs constantly at full speed, regardless of the behavior of the device and the situation it faces.
  • such a device does not allow to climb the vertical walls of a pool, nor the steps of a submerged staircase.
  • EP 1 022 411 discloses a submerged surface cleaner rolling apparatus comprising a pump motor and liquid outlets from the apparatus. This apparatus is adapted to direct at least a portion of a hydraulic flow pumped by the pump motor to an outlet of the apparatus. The hydraulic flow is used to ensure the forward / backward changes of the device on the immersed surface.
  • EP 1 022 411 indicates that the apparatus may further comprise, in an embodiment not specifically described, an electric motor driving motor drive members. This device does not present a program to optimize energy consumption according to the situations encountered.
  • the inventors have found that the known apparatuses which exhibit a mixed hydraulic and electric drive do not use the specific characteristics of each of these drive modes well. In particular, these devices have unsatisfactory energy budgets.
  • the inventors have examined this problem and have sought to rationalize the energy consumption by a better match between the drive mode implemented and the state of the apparatus during the cleaning of a pool - bottom cleaning. basin, cleaning walls, cleaning the water line, cleaning the wall feet, changing the direction of the appliance, meeting an obstacle, etc.-.
  • the invention aims to propose a submerged surface cleaner that has a mixed hydraulic and electrical drive whose energy expenditure is rationalized, that is to say whose energy expenditure is adjusted to the most accurate needs of the device according to its state.
  • the invention aims to provide an apparatus that presents an energy management program that, in response to each situation encountered by the device, to determine a preferred training that limits energy expenditure while optimizing the performance of the device. 'apparatus.
  • the invention also aims to provide such an apparatus that can use, with equal performance, or even greater, to the apparatus of the prior art, a traction motor of lower cost.
  • the invention also aims to provide an apparatus that can use a single hydraulic drive, a single electric drive or a mixed drive, depending on the situation.
  • the invention also aims to provide a submerged surface cleaning device that allows the cleaning of inclined or vertical walls of a pool, such as a swimming pool, and submerged stairs, but whose purchase and use costs are reduced, better performance and lower weight than known devices.
  • the invention also aims to provide a submerged surface cleaner rolling apparatus whose performance / cost ratio is improved over that of previous devices. More particularly, the invention aims at providing such an apparatus, the cost of which can be substantially reduced, for performance equivalent to or better than those of known apparatus.
  • a modulation of the flow of liquid escaping at least one rear outlet of liquid - particularly from each rear outlet of liquid -, and more particularly a modulation of the beginning of liquid flowing between each inlet and each liquid outlet makes it possible to modify the hydraulic contribution to the drive of the apparatus on the immersed surface, and does not affect the cleaning performance of the apparatus.
  • the modulation of the liquid flow rate results from a modulation of the instantaneous power supplied by at least one electric pump motor of a pumping device, which thus makes it possible to reduce the general electrical consumption of the apparatus.
  • an apparatus according to the invention consumes less energy while having optimal cleaning performance.
  • a control unit of an apparatus is adapted to process the signals detected by the detection device and to control a modulation of the liquid flow as a function of these signals, that is to say according to the results of the these signals are processed by the control unit.
  • the apparatus comprises a unique hydraulic circuit with a single rear outlet, and a single pumping electric motor driving a single pump.
  • An apparatus according to the invention can therefore be controlled in such a way that the pump generates a variable liquid flow rate as a function of the state of the apparatus. This state is determined by a device for detecting at least one signal, called setpoint signal, representative of the state of the device.
  • Such a detection device may comprise sensors adapted to detect the passage of the apparatus in a water line, sensors adapted to detect the blocking of the apparatus against a bottom drain of a basin, against a vertical wall, and generally any type of means adapted to reveal a remarkable state of the apparatus during the cleaning of a basin.
  • the contribution of the pumping device to the drive of the apparatus depends in particular on the position of the liquid outlets, the shape of the fairings of the liquid outlets, and the position of this pumping device with respect to these liquid outlets. .
  • control unit is adapted to control a modulation of the liquid flow pumped by the pumping device and circulating between each liquid inlet and each liquid outlet.
  • said control unit is adapted to control a modulation of the flow of liquid escaping at least one rear outlet of liquid so that said flow has a value chosen from at least two distinct values. and different from zero flow.
  • the flow rate resulting from the liquid flow rate modulation may have: at least a first liquid flow rate value corresponding to a maximum flow rate value and a maximum power of the pump motor; at least a second liquid flow rate value, for example dedicated to a first situation encountered by the apparatus, such a flow rate being able for example to be of the order of 50% of the maximum flow rate and corresponding to a power of the pump motor of the 50% of the maximum power of the pumping motor; and at least a third liquid flow value dedicated for example to a second situation encountered by the apparatus, such a flow rate being, for example, of the order of 20% of the maximum flow rate and corresponding to a power of the pumping motor of the order of 20% of the maximum power of the pumping motor.
  • control unit can be adapted to control a modulation of the flow of liquid escaping from at least one rear outlet of liquid, in a continuous range of values, said liquid flow can take any value in this range depending on the status of the setpoint signal.
  • control unit is adapted to control an analog type modulation.
  • control unit can allow a continuous modulation of the liquid flow so that the flow escaping from said rear liquid outlet can have all the values between a zero flow corresponding to a pumping motor. at a standstill and a maximum flow corresponding to a pump motor at full power.
  • At least one rear outlet is oriented so that said hydraulic reaction force has a component, said vertical component, non-zero drive of the device to the immersed surface, the liquid stream that s escapes from this rear outlet being inclined relative to the horizontal (that is to say the rolling plane) so as to also create a hydraulic reaction force which has such a non-zero vertical component driving the downward, that is to say towards the submerged surface.
  • the axis of rotation of the pumping helix is inclined relative to the longitudinal direction and extends in a longitudinal plane orthogonal to the rolling plane.
  • the axis of rotation of the pumping helix is contained in a longitudinal plane orthogonal to the rolling plane and forms an angle different from 0 ° and 90 ° with respect to the rolling plane.
  • a device equipped with such a liquid outlet may have many programs specific to many situations commonly encountered during the normal evolution of a cleaner in a pool, such as a swimming pool.
  • a cleaner in a pool such as a swimming pool.
  • the front drive members of the apparatus are pressed against this vertical wall because of the longitudinal component of the hydraulic reaction force, so that the front of the unit rises along the vertical wall. Therefore, the drive members associated with the hydraulic flow allow the ascension of the device along the vertical wall. In such a situation, it is advisable to ensure that the device does not emerge too much from the pond water line to prevent it from drawing in air.
  • the power of the pumping device can be modulated, and in particular reduced, which makes it possible to limit the upward speed in the vicinity of the water line in particular.
  • the device may for example comprise a pressure sensor or any equivalent means for estimating the position of the device relative to the water line.
  • an apparatus according to the invention once it has reached the water line, can be returned to the bottom of the basin while remaining pressed against a wall of the basin by reducing the power of the pump, which reduces the hydraulic jet at the rear of the unit and allows the device to be lowered to the bottom of the pool under the effect of its own weight. Reducing the power of the pump reduces energy consumption.
  • the motor rolling members can be completely stopped in this configuration, which further reduces energy consumption.
  • An apparatus also makes it possible to manage, in a particularly efficient manner, the step nosing passages, that is to say the connected edges of junction between a vertical wall and a horizontal wall.
  • said control unit is adapted to modulate the hydraulic reaction force by modulating the flow of liquid escaping from at least one rear outlet of liquid so as to induce when each organ rolling motor of the apparatus is peeled off the immersed surface, a couple of pivoting of the apparatus about an axis parallel to the rolling plane - in particular a transverse axis tending to return each motor driving member of the apparatus in contact with the immersed surface.
  • the longitudinal component of the hydraulic jet ensures the plating of the motor rolling members against the walls so that the device rises against the vertical wall.
  • the hydraulic drive provides the power necessary to enable the device to pivot towards the direction of the return of the contact of its rolling members. with the horizontal wall forming the stair nosing.
  • the power of the hydraulic jet determined by the modulated power of the pump, makes it possible to fully control the pivot angle and to adapt the reaction of the device to all types of configuration.
  • an apparatus according to the invention can cross the stair nosing without difficulty, by limiting energy expenditure and ensuring accurate contact returns, smooth, which are not likely to damage the device.
  • the modulation of the power of the pumping device thus confers on an apparatus according to the invention new functionalities.
  • an apparatus comprises a pumping device comprising an electric pumping motor and the control unit is adapted to modulate the power of the electric pumping motor so as to modulate the flow of liquid flowing between each liquid inlet. each rear liquid outlet which allows a modulation of the hydraulic reaction force.
  • a command can be a command in voltage, current, frequency, etc.
  • control unit is not limited to modulating a section variation of at least one rear outlet of liquid, by example by a butterfly solenoid valve interposed on the rear outlet of liquid or other.
  • control unit is embedded on the apparatus.
  • the flow of liquid flowing through the apparatus is directly representative of the hydraulic reaction force.
  • the modulation of liquid flow can be used to optimize the crossing of nosing, the control of the descent of a device from the water line to the bottom of the basin, etc.
  • said control unit is adapted to modulate the hydraulic reaction force by modulating the flow of liquid pumped by the pumping device when the apparatus climbs along a vertical wall so as to limit the rate of climb of the aircraft.
  • said control unit is adapted to modulate the hydraulic reaction force by modulating the flow of liquid pumped by the pumping device when the apparatus is in line of water so as to allow the descent from the device to the submerged surface opposite to the water line.
  • each rear outlet of liquid is adapted so that the longitudinal driving component of the hydraulic reaction force is parallel to the main direction of longitudinal advance of the apparatus such as defined by the rolling members and each associated drive motor.
  • the control unit is adapted so that the modulation of the flow escaping from each rear outlet of liquid does not modify the direction of the longitudinal driving component, that is to say does not induce in itself a change of direction of advancement of the apparatus.
  • the control unit is advantageously adapted to perform a modulation of the progressive flow, without jerks or sudden interruptions.
  • said control unit is also adapted to control each drive motor of each motor drive member.
  • said control unit is adapted to minimize the power consumed by each drive motor.
  • the power of each drive motor can also be modified on command of the control unit so as to adapt the drive speed of the device to the situations encountered and needs.
  • an apparatus according to the invention may comprise an "economic" program in which the power of the drive motors is limited so as to reduce energy consumption.
  • An apparatus according to the invention may also comprise a "fast” program in which the drive motors are operated at full power so as to allow rapid cleaning of the pool.
  • An apparatus according to the invention may also include a "precise" program in which the pump motors are operated at full power so as to allow a careful cleaning of the basin.
  • the determination of the situations in which the apparatus can reduce the pumping power and / or the motive power of the motor rolling members is made by the device for detecting at least one setpoint signal representative of a state of the apparatus.
  • the detection device comprises various sensors, such as contact sensors, pressure sensors, etc. adapted to detect one or more predetermined state (s) of the apparatus.
  • said detection device comprises at least one wall sensor connected to the control unit and adapted to detect the presence of a vertical wall.
  • Such a sensor is for example a contact sensor mounted at the front of the device.
  • a contact sensor can be of any known type.
  • Such a wall sensor may also be an electronic sensor adapted to periodically measure a magnitude representative of the resistive torque of at least one driving wheel and compare this value with a predetermined value representative of the maximum allowable value. An overshoot may then indicate a blockage of the device against a front or rear wall according to the direction of advancement of the device.
  • a contact sensor may be an electronic sensor that measures the inclination of the device.
  • an apparatus comprises a front axle carrying at least one motor driving member rotatably mounted relative to the hollow body about a transverse axis.
  • the front axle carries two motor rolling members mounted respectively at each end of the axle, each motor drive member being rotated by an electric drive motor.
  • said pumping device comprises an electric pump motor comprising a rotary motor shaft coupled to an axial pumping propeller interposed in a hydraulic circuit whose axis of rotation is inclined relative to the longitudinal direction.
  • the invention also extends to a method of controlling a submerged surface cleaner apparatus according to the invention.
  • the invention also relates to a submerged surface-cleaning apparatus and a control method of the apparatus characterized in combination by all or some of the features mentioned above or below.
  • An apparatus comprises a hollow body 1 and bodies 2, 3, 4 for guiding the hollow body 1 on a surface immersed in at least one preferred direction of advancement and in a main direction of advancement, said direction longitudinal, parallel to the immersed surface.
  • This hollow body 1 is formed mainly of a concave casing delimiting a main enclosure.
  • This concave casing is for example made by molding or rotational molding.
  • This housing is preferably made of a thermoplastic material, such as polyethylene, polypropylene, ABS, PMMA or any equivalent material.
  • This hollow body 1 has a central chamber adapted to receive a filtration chamber.
  • This central chamber is delimited by a lower wall extending in a substantially horizontal plane; by walls lateral extending generally in vertical planes; by a front wall extending generally in a vertical plane, orthogonal to the planes of the vertical side walls; and by a rear wall extending generally in a vertical plane orthogonal to the planes of the vertical side walls.
  • the bottom wall has an opening extending transversely to the vicinity of the front wall so that liquid can enter the central chamber through this lower transverse opening.
  • the rear wall comprises a cylindrical opening.
  • the cylindrical opening in the rear wall of the housing is longitudinally offset from the lower transverse opening in the bottom wall.
  • this cylindrical opening is arranged in the upper part of the casing so that it is also vertically offset from the transverse lower opening.
  • this hollow body 1 comprises a filtration chamber 8 having an inlet 9 of liquid situated at the base of the hollow body 1, ie in the lower part of the apparatus, an outlet 10 of liquid disposed at opposite the base of the body 1, that is to say in the upper part of the apparatus, and a hydraulic circuit adapted to ensure a flow of liquid between the inlet 9 of liquid and the outlet 10 of liquid to through a filtering device 11.
  • the transverse opening in the bottom wall of the housing forms the liquid inlet 9 of the apparatus and the cylindrical opening in the rear wall of the apparatus forms the liquid outlet of the apparatus.
  • the inlet 9 of liquid and the outlet 10 of liquid are offset longitudinally, but both centered on the same longitudinal vertical plane of the apparatus.
  • the central chamber of the hollow body 1 is adapted to receive the filtering device 11.
  • the filtering device 11 is arranged between the inlet 9 of liquid and the outlet 10 of liquid.
  • This filtering device 11 can be of any known type.
  • the filtering device 11 comprises a rigid armature and a filter cloth carried by this rigid armature.
  • a filtering device 11 is therefore self-supporting and can be easily manipulated by a user.
  • the apparatus also comprises a hatch 6 for access to this filter device 11.
  • This access hatch 6 forms an upper wall of the hollow body 1 and covers the latter. In the embodiment shown, this hatch 6 is formed on the top of the device so that a user of the device can easily open the hatch 6 and extract the filter device 11.
  • the access hatch 6 is articulated to the body 1 of the apparatus by hinges 23 arranged at the rear of the apparatus.
  • the rolling members 2, 3, 4 for guiding and driving the apparatus comprise a front axle comprising front driving wheels, one on each side, and a rear axle comprising 3 non-drive rear wheels, one on each side.
  • the apparatus comprises brushes 4 arranged at the front of the apparatus. These brushes 4 are intended to ensure a brushing of the immersed surface and to move the brushed debris towards the rear of the apparatus towards the inlet 9 of liquid arranged under the apparatus.
  • the apparatus comprises two coaxial front brushes 4.
  • Each brush 4 is adapted to be rotated about an axis extending in a direction, said transverse direction, perpendicular to the longitudinal direction.
  • Each brush 4 comprises a plurality of fins 41 extending radially from a brush shaft forming the axis of rotation of the brush 4.
  • the fins 41 are for example made of rubber or a resistant plastic material.
  • the apparatus further comprises at least one electric motor for driving the front 2-wheel drive wheels.
  • the apparatus comprises two drive motors 20a, 20b, one on each side, respectively for the independent drive of each of the front wheels 2.
  • each front wheel 2 has an internal toothing 5 cooperating with a pinion 45 driven by the corresponding drive motor 20a, 20b.
  • the brushes 4 are preferably also rotated from at least one electric motor 20, 20a, 20b driving the front wheels 2 via a gear system.
  • the internal toothing of each wheel 2 before driving cooperates with a pinion 42 fixed to one end of the shaft of a brush 4 so that a rotation of the wheel 2 leads through of the toothing 5 and the pinion 42, the rotation of the shaft of the brush 4, and thus the rotation of the brush 4.
  • the rolling members consist of the front wheels 2 driving, rear wheels 3 non-driving and brushes 4 which participate in driving and guiding the apparatus on the immersed surface.
  • the rolling members 2, 3, 4 have areas intended to come into contact with the immersed surface which are coplanar and define a theoretical rolling plane 50.
  • the longitudinal direction of advancement of the apparatus is parallel to this theoretical plane of rolling.
  • the front wheels 2 preferably have a diameter of between 100 mm and 500 mm, in particular between 150 mm and 250 mm. According to the embodiment of the figures, the front wheels 2 have a diameter of the order of 200 mm. In this way, these front wheels 2 facilitate the crossing of obstacles and have improved motor skills.
  • their peripheral tread is formed or coated with a non-slip material.
  • the front wheels 2 and the brushes 4 constitute forward driving members 2, 4 which extend projecting forwardly with respect to the other components of the apparatus, in particular the hollow body, so as to form the end part. before the apparatus and coming first in contact with an obstacle encountered during the forward movement, for example a vertical wall.
  • An apparatus comprises a motorized device liquid pumping device comprising an electric pumping motor 12 having a rotary motor shaft 13 coupled to an axial pumping propeller 14 rotated by the engine 12 around an axis 51.
  • the propeller 14 is interposed in the hydraulic circuit of the engine. in order to generate there a flow of liquid between the inlet 9 of liquid and the exit 10 of liquid.
  • the liquid outlet 10 is directly opposite the pumping propeller so that the liquid flows out of the liquid outlet 10 in a direction corresponding to the flow of liquid generated by the pumping propeller, this flow having a speed oriented along the axis 51 of rotation of the propeller 14.
  • the pumping propeller 14 has an orientation for generating a liquid flow with a horizontal component to the rear.
  • the pump propeller 14 has an inclined axis of rotation making, with said longitudinal direction and with the theoretical plane of rolling, an angle ⁇ different from 90 °.
  • This propeller 14 is rotated by the pumping motor 12, which preferably has a rotating motor shaft 13 parallel to the axis of rotation of the propeller 14.
  • the pump motor 12 is disposed under the hydraulic circuit, entirely outside this hydraulic circuit which completely bypasses the pump motor 12 from above.
  • the rotary shaft 13 of the pump motor 12 passes through an inclined lower wall delimiting the hydraulic circuit.
  • the seal is provided by an O-ring 18.
  • the filtering device 11 of the hydraulic circuit can be removed from the apparatus from the top of the apparatus as previously mentioned, without being impeded by the pump motor 12.
  • Only the pumping propeller 14 is arranged in the hydraulic circuit so as to ensure the flow of liquid.
  • This pumping propeller 14 is arranged at the rear of the apparatus, close to the liquid outlet 10. In other words, the pump propeller 14 and the liquid outlet 10 form the end portion of the hydraulic circuit.
  • the orientation of the hydraulic reaction force Fe created by this output flow, and therefore the amplitude of its longitudinal component Fel, depend on the inclination ⁇ , with respect to the theoretical rolling plane 50, of the axis 51. rotation of the propeller and the liquid outlet.
  • this inclination ⁇ is between 15 ° and 45 °.
  • the rolling plane 50 is the theoretical plane defined by the contact zones of the rolling members 2, 3, 4 with the submerged surface. This rolling plane 50 is horizontal when the immersed surface is flat horizontal.
  • the amplitude of the hydraulic reaction force depends on the liquid flow rate generated by the pumping device between each liquid inlet 9 and each liquid outlet 10.
  • An apparatus comprises a control unit 90 adapted to control a modulation of the flow of liquid flowing between each liquid inlet 9 and each liquid outlet 10 generated by said pumping device.
  • the figure 5 schematically shows the architecture of the control system of an apparatus according to a preferred embodiment of the invention.
  • the control unit 90 is adapted to receive information from a device for detecting at least one signal, said setpoint signal, representative of at least one predetermined state of the apparatus.
  • This device for detecting setpoint signals comprises, for example, sensors 91, 92, 93.
  • These sensors 91, 92, 93 may be respectively sensors of front wall, rear wall, and water line so that their activations reveal that the apparatus is respectively in a state of blocking against against a wall, a rear locking against a wall and a state of passage in line d 'water.
  • a front wall or rear wall sensor can be of any known type.
  • such a sensor may be a contact sensor.
  • such a wall sensor is an electronic sensor adapted to periodically measure a magnitude representative of the resistive torque of at least one motor 20a, 20b, electrical driving a member 2, 4 rolling motor and to compare this value with a predetermined value representative of the maximum allowable value.
  • An overshoot indicates a blockage of the device against a front or rear wall in the direction of travel of the device.
  • Such a sensor is described in the patent application FR 2 864 129 the applicant.
  • the control unit 90 is adapted to control the power of the electric motor 12 of the pumping device.
  • the control unit 90 is also adapted to control the power of the electric motors 20a, 20b for driving the driving members 2, 4 which contribute to driving the apparatus on the immersed surface.
  • the control unit 90 of an apparatus according to the invention can be programmed so as to provide the apparatus according to the invention with various functionalities.
  • the control unit 90 has the particularity of being able to modulate the power of the pumping device, which makes it possible to limit the energetic consumptions of the apparatus and to optimize the crossing of obstacles, the climbs of walls, the descents of wall and in general, the handling of the apparatus.
  • the drive of the apparatus follows the method described below.
  • a first step the electric motor 12 of the pumping device is started.
  • the motors 20a, 20b driving the bodies 2, 4 rolling motor are also started, so that in a next step, the device moves on the immersed surface on which he was placed.
  • a timer, said trajectory timer, of a predetermined duration depending in particular on the immersed surface to be cleaned is then triggered.
  • a specific change of direction procedure is initiated if the timer expires without the device encountering any obstacle.
  • a vertical or substantially vertical obstacle is detected by a sensor of the apparatus, said wall sensor, for example an electronic sensor adapted to detect a variation of tilt, a dedicated timer, said wall timer, of a predetermined duration, for example 10 seconds, is triggered.
  • This wall sensor is scanned for the duration of the wall timer. If the tilt sensor indicates a return to the horizontal of the device is that the obstacle encountered was actually a staircase that the device has just crossed.
  • the electric motors 20a, 20b traction are maintained for a predetermined period of time to cross the steps of the stairs. At the end of this predetermined period of time, the electric motors 20a, 20b are reversed and the power of the pump is reduced to a predetermined value, for example to 20% of its full power so as to initiate the return of the device towards the basin.
  • the wall sensor is active, that is to say for example, as long as the inclination sensor indicates an inclination, it is because the obstacle is not a step, but a vertical wall of the basin.
  • a timer dedicated to climbing the walls is triggered and the power of the pump is reduced by a predetermined value, for example 20%, which allows the device to climb along the wall and to clean the latter while limiting energy costs.
  • the power of the pump is reduced to a predetermined value, for example at 50% of its full power, and the driving motors of the driving members 20a, 20b are cut.
  • the device will naturally return to the bottom of the pool. The device will then follow a procedure of change of direction similar to that described below and resume a normal aspiration on the bottom of the basin.
  • Such a change of direction procedure may for example include the following steps.
  • the power of the pump is reduced to a predetermined value, for example to 20% of its full power.
  • the motors 20a, 20b driving the rolling members are reversed for a predetermined period of time, for example for five seconds.
  • a rotation of a predetermined angle for example 120 °, is performed.
  • these electric motors 20a, 20b are actuated in the opposite direction so that the apparatus pivots in part on itself. even from the predetermined angle.
  • the pump is returned to full power and the suction of the debris can resume its course and the device follow a new trajectory.
  • the trajectory timer is reset.
  • the predetermined angle that defines the rotation of the apparatus may be selected in the range of 90 ° to 180 °. The limits of this interval are excluded since the value 90 ° would lead the apparatus to go along the vertical wall and the value 180 ° would place the apparatus on the trajectory from which it comes, which is not satisfactory.
  • the angle can be an angle to the right or left of the device so that the device can start in any direction except the direction from which it comes.
  • a control method of an apparatus according to the invention may have a large number of variants without departing from the scope of the invention.
  • the main feature is that the control unit can modulate the power of the pump in a number of specific situations, which optimizes performance while limiting the energy requirements of the device.
  • an apparatus according to the invention allows the use of standard traction motors with medium performance, which have low costs, without affecting the performance of the apparatus.
  • the device for detecting setpoint signals representative of predetermined states of the apparatus may have many variants so as to allow detection of undescribed states of the apparatus.
  • an apparatus according to the invention which has an overall height of 250 mm and which is equipped with a pump motor with a power output of 80 W can produce a liquid flow rate of the order of 18 m 3 / h. .
  • the total power consumed for the operation of this device driven at an average speed of the order of 10 m / min, is of the order of 85W.
  • a device according to WO 0 250 388 equipped with the same pumping motor and the same height produces a flow rate of about 15 m 3 / h.
  • the total power consumed for the operation of this prior device driven at the same average speed is of the order of 105 W. It is therefore found that an apparatus according to the invention has an improvement of the order of 20% performance compared to an earlier device comparable to WO 0 250 388 .

Claims (15)

  1. Rollreinigungsvorrichtung für eine Unterwasseroberfläche, umfassend:
    - einen Hohlkörper (1),
    - Rollorgane (2, 3, 4), die Kontaktzonen mit der Unterwasseroberfläche aufweisen, die eine Rollebene (50) des Hohlkörpers (1) auf der Unterwasseroberfläche definiert,
    - wenigstens einen Antriebsmotor (20) wenigstens eines Rollorgans, bezeichnet als Motorrollorgan (2) derart, dass eine Antriebsvorrichtung gebildet wird, die in der Lage ist, über diese(s) hohle(n) Motorrollorgan(e) den Hohlkörper (1) in Verschiebung auf der Unterwasseroberfläche wenigstens in der Fortschrittsrichtung und gemäß einer Hauptfortschrittsrichtung, bezeichnet als Längsrichtung, anzutreiben,
    - eine im Hohlkörper ausgesparte Filterkammer, die Folgendes aufweist:
    *wenigstens einen sich an der Basis des genannten Hohlkörpers (1) befindenden Flüssigkeitseingang (9) im Hohlkörper (1),
    *wenigstens einen sich entfernt von der Basis des genannten Hohlkörpers (1) befindenden Flüssigkeitsausgang (10) außerhalb des Hohlkörpers (1),
    *wenigstens einen hydraulischen Schaltkreis der Flüssigkeitszirkulation zwischen wenigstens einem Flüssigkeitseingang (9) und wenigstens einem Flüssigkeitsausgang (10) über wenigstens eine Filtervorrichtung (11),
    - wenigstens eine motorisierte Pumpvorrichtung (12, 13, 14), die wenigstens teilweise in einem hydraulischen Schaltkreis zwischengeschaltet und geeignet ist, um einen Flüssigkeitsdurchsatz zwischen jedem Flüssigkeitseingang (9) und jedem Flüssigkeitsausgang (10) zu generieren, die durch diesen hydraulischen Schaltkreis verbunden sind,
    - wenigstens einen Flüssigkeitsausgang, bezeichnet als hinterer Ausgang (10), der derart nach hinten ausgerichtet ist, dass der Flüssigkeitsstrom, der durch diesen hinteren Ausgang (10) austritt, per Reaktion der Kräfte, zu der auch die resultierende Kraft gehört, bezeichnet als hydraulische Reaktionskraft, eine längliche Antriebskomponente der Vorrichtung nach vorne ungleich Null aufweist,
    dadurch gekennzeichnet, dass sie Folgendes umfasst:
    - eine Erfassungsvorrichtung (91, 92, 93) von wenigstens Signal, bezeichnet als Sollsignal, das einen vorbestimmten Zustand der Vorrichtung darstellt,
    - eine Steuereinheit (90), die geeignet ist, um eine Modulation des Flüssigkeitsdurchsatzes zu steuern, der aus wenigstens einem hinteren Flüssigkeitsausgang (10) austritt, wobei diese Modulation die Modulation der hydraulischen Reaktionskraft und der länglichen Antriebskomponente gemäß dem Wert von wenigstens einem von der genannten Erfassungsvorrichtung (91 92, 93) erfassten Sollsignal bewirkt, die durch den Flüssigkeitsstrom induziert wird, der aus diesem hinteren Ausgang (10) austritt.
  2. Vorrichtung gemäß Anspruch 1, dadurch gekennzeichnet, dass die genannte Steuereinheit (90) geeignet ist, um eine Modulation des Flüssigkeitsdurchsatzes zu steuern, der durch die Pumpvorrichtung (12, 13, 14) gepumpt wird und zwischen jedem Flüssigkeitseingang (9) und jedem hinteren Flüssigkeitsausgang (10) zirkuliert,
  3. Vorrichtung gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass die genannte Steuereinheit geeignet ist, um eine Modulation des Flüssigkeitsdurchsatzes zu steuern, der wenigstens aus einem hinteren Flüssigkeitsausgang derart austritt, dass der genannte Durchsatz einen Wert aufweist, der aus mindestens zwei unterschiedlichen und von einem Durchsatz Null unterschiedlichen Werten ausgewählt ist.
  4. Vorrichtung gemäß Anspruch 3, dadurch gekennzeichnet, dass die Steuereinheit geeignet ist, um eine Modulation des Flüssigkeitsdurchsatzes zu steuern, der wenigstens aus einem hinteren Flüssigkeitsausgang derart austritt, dass der Durchsatz einen Wert aufweist, der ausgewählt ist aus: einem maximalen Durchsatzwert, einem Wert in der Größenordnung von 50 % des maximalen Durchsatzes und einem Wert in der Größenordnung von 20 % des maximalen Durchsatzes.
  5. Vorrichtung gemäß Anspruch 1 bis 5, dadurch gekennzeichnet, dass die genannte Pumpvorrichtung (12, 13, 14) einen elektrischen Pumpmotor (12) umfasst und dass die genannte Steuereinheit (90) geeignet ist, um die Leistung des elektrischen Pumpmotors (12) derart zu modulieren, das der Flüssigkeitsdurchsatz moduliert wird, der zwischen jedem Flüssigkeitseingang (9) und jedem hinteren Flüssigkeitsausgang (10) zirkuliert, der eine Modulation der hydraulischen Reaktionskraft erlaubt.
  6. Vorrichtung gemäß Anspruch 1 bis 5, dadurch gekennzeichnet, dass wenigstens ein hinterer Ausgang (10) derart ausgerichtet ist, dass die genannte hydraulische Reaktionskraft eine Komponente ungleich Null, bezeichnet als vertikale Komponente, zum Antrieb der Vorrichtung zur Unterwasseroberfläche aufweist.
  7. Vorrichtung gemäß Anspruch 6, dadurch gekennzeichnet, dass die Rotationsachse der Pumpschraube (14) im Verhältnis zur Längsrichtung geneigt ist und sich in einer orthogonalen Längsebene zur Rollebene (50) erstreckt.
  8. Vorrichtung gemäß Anspruch 1 bis 7, dadurch gekennzeichnet, dass die genannte Steuereinheit (90) geeignet ist, um die hydraulische Reaktionskraft durch die Modulation des Flüssigkeitsdurchsatzes zu modulieren, der durch die Pumpvorrichtung (12, 13, 14) gepumpt wird, wenn die Vorrichtung entlang einer vertikalen Wand derart aufsteigt, das die Aufstiegsgeschwindigkeit der Vorrichtung begrenzt wird.
  9. Vorrichtung gemäß Anspruch 1 bis 8, dadurch gekennzeichnet, dass die genannte Steuereinheit (90) geeignet ist, um die hydraulische Reaktionskraft durch die Modulation des Flüssigkeitsdurchsatzes zu modulieren, der durch die Pumpvorrichtung (12, 13, 14) gepumpt wird, wenn die Vorrichtung sich in der Wasserlinie derart befindet, dass das Absinken der Vorrichtung zur Unterwasseroberfläche entgegen der Wasserlinie zugelassen wird.
  10. Vorrichtung gemäß Anspruch 1 bis 6, dadurch gekennzeichnet, dass die genannte Steuereinheit (90) geeignet ist, um die hydraulische Reaktionskraft durch die Modulation des Flüssigkeitsdurchsatzes zu modulieren, der aus wenigstens einem hinteren Flüssigkeitsausgang derart austritt, dass ein Schwenkmoment der Vorrichtung um eine zur Rollebene parallele Achse, das jedes Motorrollorgan (2) der Vorrichtung in Kontakt mit der Unterwasseroberfläche zurückholen soll, induziert wird, wenn jedes Motorrollorgan (2) der Vorrichtung von der Unterwasseroberfläche losgelöst ist.
  11. Vorrichtung gemäß Anspruch 1 bis 10, dadurch gekennzeichnet, dass die genannte Steuervorrichtung (90) geeignet ist, um ebenfalls jeden Antriebsmotor (20a, 20b) jedes Motorrollorgans (2) zu steuern.
  12. Vorrichtung gemäß Anspruch 1 bis 11, dadurch gekennzeichnet, dass sie eine vordere Achse umfasst, die wenigstens ein Motorrollorgan (2) trägt, das im Verhältnis zum Hohlkörper (1) rotierend um eine transversale Achse montiert ist.
  13. Vorrichtung gemäß Anspruch 12, dadurch gekennzeichnet, dass die vordere Achse zwei Motorrollorgane (2) trägt, die jeweils an jedem Ende der Achse montiert sind, wobei jedes Motorrollorgan (2) durch einen elektrischen Antriebsmotors (20a, 20b) in Rotation angetrieben wird.
  14. Vorrichtung gemäß Anspruch 1 bis 13, dadurch gekennzeichnet, dass die genannte Erfassungsvorrichtung (91, 92, 93) wenigstens einen Wandsensor (91; 92) umfasst, der mit der Steuereinheit (90) verbunden und geeignet ist, um das Vorhandensein einer vertikalen Wand festzustellen.
  15. Steuerverfahren einer Reinigungsvorrichtung einer Unterwasseroberfläche gemäß Anspruch 1 bis 14, in der:
    - wenigstens eine motorisierte Pumpvorrichtung (12, 13, 14) der Vorrichtung in Betrieb genommen wird,
    - wenigstens ein Antriebsmotor (20a, 20b) wenigstens eines Rollorgans (2) der Vorrichtung in Betrieb genommen wird,
    dadurch gekennzeichnet, dass die Leistung der Pumpvorrichtung (12, 13, 14) per Steuerung einer Steuereinheit (90) moduliert wird, sobald ein Signal, bezeichnet als Sollsignal, durch eine Erfassungsvorrichtung (91, 92, 93) eines Signals erfasst wird, das einen vorbestimmten Zustand der Vorrichtung darstellt.
EP09729473A 2008-03-27 2009-03-25 Rollreinigungsvorrichtung für eine unterwasseroberfläche mit kombiniertem hydraulik-/elektroantrieb und entsprechendes verfahren Active EP2255048B1 (de)

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FR0801676A FR2929311A1 (fr) 2008-03-27 2008-03-27 Appareil roulant nettoyeur de surface immergee a entrainement mixte hydraulique et electrique et procede correspondant
PCT/FR2009/050509 WO2009125128A2 (fr) 2008-03-27 2009-03-25 Appareil roulant nettoyeur de surface immergée à entraînement mixte hydraulique et électrique et procédé correspondant

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AU2009235320B2 (en) 2014-10-23
US20110020139A1 (en) 2011-01-27
ATE523645T1 (de) 2011-09-15
US8394266B2 (en) 2013-03-12
WO2009125128A2 (fr) 2009-10-15
FR2929311A1 (fr) 2009-10-02
ES2373208T3 (es) 2012-02-01
EP2255048A2 (de) 2010-12-01
AU2009235320A1 (en) 2009-10-15
WO2009125128A3 (fr) 2010-01-14
CA2709977A1 (fr) 2009-10-15

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