EP2516774B1 - Submerged surface-cleaning apparatus provided with an accelerometric device detecting gravitational acceleration - Google Patents

Description

The invention relates to a submerged surface cleaner.

A submerged surface cleaner is used to clean pools such as swimming pools. A pool should be regularly cleaned to provide water compatible with bathing activities. The frequency of cleaning a swimming pool depends on its size, its shape, its location, for example its proximity to trees likely to lose leaves, its use, climate, the requirement of its owner, etc.

• un corps creux,
• des organes roulants présentant des zones de contact avec la surface immergée définissant un plan de roulage du corps creux sur la surface immergée,
• au moins un moteur d'entraînement d'au moins un organe roulant, dit organe roulant moteur, de façon à former un dispositif d'entraînement apte à entraîner, par l'intermédiaire de ce(s) organe(s) roulant(s) moteur(s), le corps creux en déplacement sur la surface immergée au moins dans un sens d'avancement et selon une direction principale d'avancement, dite direction longitudinale,
• une chambre de filtration ménagée dans le corps creux et présentant :
  • au moins une entrée de liquide dans le corps creux située à la base dudit corps creux,
  • au moins une sortie de liquide hors du corps creux située à distance de la base dudit corps creux,
  • au moins un circuit hydraulique de circulation de liquide entre au moins une entrée de liquide et au moins une sortie de liquide à travers au moins un dispositif de filtrage.

Most known devices generally include:

• a hollow body,
• rolling members having areas of contact with the immersed surface defining a rolling plane of the hollow body on the immersed surface,
• at least one driving motor of at least one rolling member, said motor driving member, so as to form a driving device adapted to drive, via this (these) member (s) rolling (s) engine (s), the hollow body moving on the immersed surface at least in one direction of travel and in a main direction of advancement, referred to as the longitudinal direction,
• a filtration chamber formed in the hollow body and having:
  • at least one liquid inlet in the hollow body located at the base of said hollow body,
  • at least one liquid outlet out of the hollow body located at a distance from the base of said hollow body,
  • at least one liquid circulation hydraulic circuit between at least one liquid inlet and at least one liquid outlet at through at least one filtering device.

Most of these known apparatuses further include predetermined programs adapted to control the drive motors of the rolling members so as to define the movement paths of the apparatus. Thus, when such a program is activated, the apparatus is driven in displacement on the submerged surface along predetermined trajectories. These programs can for example access memory means in which are recorded data representative of the dimensions and shapes of the pool. Therefore, once this program is activated, the apparatus moves according to predetermined displacements taking into account the constraints of shapes and dimensions recorded in the storage means.

There are also programs that seek to optimize the movement of the device on the immersed surface to limit the cleaning time.

With such devices, however, it is necessary to be able to detect with some accuracy the position and / or orientation of the device on the immersed surface. The solutions used up to now to do this are unsatisfactory insofar as they are either simple in principle but unreliable and not very precise in their operation (ball tilt sensors), or rather relatively complex and expensive, and in fact not very precise (inertial system with double integration in time). Such an immersed surface cleaning apparatus known in the art is described in US 2007/0094817 A1 .

Consequently, the need arises to be able to have an onboard detection device on board the device which simultaneously is simple, inexpensive, of great precision and of total reliability.

The invention aims to solve this problem.

The invention also aims at providing a cleaning apparatus equipped with a detection device making it possible to provide new functionalities, in particular as regards the various categories of movement and / or orientation events of the apparatus, and more generally its behavior in displacement on the immersed surface, and this also in the case of a device driven on the immersed surface without a specific displacement program.

The invention thus aims in particular to provide a cleaning device that can be self-propelled, autonomous in its movements and capable of automatically adapting to the events it encounters, and this through a detection of its position and / or its orientation sufficiently accurate to permit the detection of such an event with reliability and the implementation of a modification of its drive control according to this detection.

• un corps creux,
• des organes de guidage et d'entraînement du corps creux sur la surface immergée,
• une chambre de filtration ménagée dans le corps creux et présentant :
  • au moins une entrée de liquide dans le corps creux située à la base dudit corps creux,
  • au moins une sortie de liquide hors du corps creux située à distance de la base dudit corps creux,
  • au moins un circuit hydraulique de circulation de liquide entre au moins une entrée de liquide et au moins une sortie de liquide à travers au moins un dispositif de filtrage,

caractérisé en ce qu'il comprend :

• un dispositif accéléromètrique solidaire du corps creux adapté pour fournir des mesures instantanées d'au moins une composante de l'accélération de la gravité terrestre selon au moins une direction fixe par rapport au corps creux,
• une unité de traitement des mesures d'accélération délivrées par le dispositif accéléromètrique, adaptée pour fournir des données représentatives de l'orientation angulaire de chaque direction fixe de l'appareil par rapport à la verticale.

To do this, the invention therefore relates to a submerged surface cleaning apparatus comprising:

• a hollow body,
• guiding and driving members of the hollow body on the immersed surface,
• a filtration chamber formed in the hollow body and having:
  • at least one liquid inlet in the hollow body located at the base of said hollow body,
  • at least one liquid outlet out of the hollow body located at a distance from the base of said hollow body,
  • at least one liquid circulation hydraulic circuit between at least one liquid inlet and at least one liquid outlet through at least one filtering device,

characterized in that it comprises:

• an accelerometric device secured to the hollow body adapted to provide instantaneous measurements of at least one component of the acceleration of the Earth's gravity in at least one fixed direction relative to the hollow body,
• a unit for processing acceleration measurements delivered by the accelerometric device, adapted to provide data representative of the angular orientation of each fixed direction of the apparatus by vertical ratio.

The inventors have indeed found that such an immersed surface cleaner device actually has movement movements that are slow enough, with sufficiently low accelerations, most often without shock or vibration, so that, against all odds, a simple detection of the orientation of at least one fixed direction of the apparatus with respect to the gravitational acceleration, that is to say with respect to the local vertical, suffices in practice to determine with very great reliability the displacement behavior of the apparatus on the immersed surface, in particular the occurrence of a specific displacement event requiring adjustment or control modification of the drive (for example a blockage, a reversal, a risk of entanglement of the cable, a contact with a bottom wall, a contact with a vertical wall, a displacement on an inclined wall, an arrival of the apparatus in line of water, an air intake e n water line, ... or any other malfunction). In addition, such a detection also makes it possible to confer new functionalities on the apparatus, for example the detection of the quality of the coating of the immersed surface from the rotational sliding rate of the apparatus. Such detection also makes it possible to control the movements of the apparatus according to predetermined trajectories (for example straight or spiral exploration) in a simple and reliable manner, by adapting to the events encountered if the need arises.

Advantageously and according to the invention, the processing unit is adapted to record over time said data representative of the angular orientation of each fixed direction relative to the vertical. Thus, the processing unit can determine not only the angular position of each fixed direction of the apparatus with respect to gravity, but also the variations over time of the orientation of each fixed direction of the apparatus and / or times corresponding to these variations. The inventors have determined that this information can be usefully exploited to detect the occurrence of various events, and in practice prove to be sufficient to be able to control with reliability apparatus according to the invention completely independently.

Thus, advantageously and according to the invention, the processing unit comprises an event detection module adapted for, from said data representative of the angular orientation of each fixed direction relative to the vertical, detecting the appearance of at least one predetermined event relating to the movement of the apparatus. Such an event is chosen for example from the following events: ascent of an inclined wall; climbing an inclined wall along a slope that does not correspond to the greatest slope; risk of entanglement of the cable; detecting the quality of the coating of the immersed surface by measuring a rotational slip rate; arrival of the apparatus on the bottom wall and measurement of the depth of the basin; flipping the device; abnormal position of the device (eg on the back); arrival in line of water of the apparatus; arrival of the device in contact with a non-horizontal wall (vertical side wall or inclined wall) ...

In an apparatus according to the invention, said treatment unit can be on board, that is to say carried by the hollow body and secured to the hollow body moving on the immersed surface. As a variant, said processing unit may, on the contrary, not be embarked, that is to say be deported outside the hollow body, independent of the hollow body, for example outside the basin, in particular integrated into a external control box. In this latter variant, said processing unit is adapted to communicate remotely with the accelerometric device, for example via a power supply cable of an on-board electric motor secured to the hollow body, or by wireless connection.

Preferably, advantageously according to the invention, the accelerometric device is adapted to provide instantaneous measurements of three components of the acceleration of the Earth's gravity in three orthogonal directions two by two. In one embodiment, the accelerometric device may consist of a simple three-axis accelerometer mounted fixed relative to the hollow body of the device.

An apparatus according to the invention may comprise all kinds of guiding and driving members. Advantageously, an apparatus according to the invention comprises driving guide members which have areas of contact with the submerged surface defining a contact plane, and in particular advantageously rolling members defining a rolling plane.

The invention applies to different kinds of apparatus, in particular of the electric and / or hydraulic drive and / or suction and / or pressure type; and / or electrically pumping and / or by suction and / or pressure ... Nevertheless, the invention is advantageously applied to a rolling type apparatus, self-propelled electric. Thus, advantageously, an apparatus according to the invention is also characterized in that it is a rolling apparatus comprising at least one electric motor for driving at least one rolling member, called a motor rolling member, so as to forming a driving device adapted to drive, via this (s) body (s) rolling (s) motor (s), the hollow body moving on the immersed surface at least in a direction of advancement and according to a main direction of advancement, called longitudinal direction. Advantageously and according to the invention, the processing unit comprises a control module adapted to supply control signals of each motor according to a predetermined operating mode as a function of detection data of at least one predetermined event delivered by the module. event detection.

Advantageously, in an apparatus according to the invention, said processing unit thus also functions as a control automaton able to control at least one electric drive motor as a function of said data representative of the angular orientation of each fixed direction of the apparatus. compared to the vertical.

Such a unit can be of any known type. It may for example comprise a microprocessor that can access a memory in which are memorized predetermined rules that define engine commands according to the accelerometric data delivered by the device accelerometer and, if appropriate, according to at least one operating parameter of at least one motor of the device (for example the rotational speed of each drive motor). These rules consist, for example, in driving the electric drive motors so that the apparatus turns around when a vertical wall is detected. These rules can also consist of increasing the power of the electric motors when a sloping wall, not vertical, is detected so that the device keeps the same speed of movement despite the inclination of the wall. These rules may also include turning off the electric motors if the accelerometer data reveals that the device has overturned. These rules may also consist of rotating the device several times on itself if the accelerometric data reveal that the device has made several revolutions in turn in the same direction so that the integrity of the power supply cable of the motors seems compromised or the anchor effect becomes too important. In general, these rules can be of all types. In addition, preferably, additional rules can be programmed by the user so that his cleaning device has specific features specific to his pool.

The invention also advantageously applies to an apparatus comprising at least one motorized pumping device, at least partially interposed in a hydraulic circuit, and adapted to generate a flow of liquid between each liquid inlet and each liquid outlet connected thereby. hydraulic circuit. Advantageously, such an apparatus according to the invention comprises at least one electric pumping motor on board the hollow body.

This pumping device preferably comprises an electric pumping 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.

Preferably, the processing unit is adapted to control said motorized pumping device according to said data accelerometer. This command modulates the flow of liquid flowing between the inlet and the outlet of liquid. However, the inventors have determined that in many situations, a modulation of the flow of liquid flowing between each inlet and each liquid outlet does not affect the cleaning performance of the device, while it reduces the overall power consumption. of the device. Thus, in many situations, an apparatus according to the invention consumes less energy while having optimal cleaning performance.

A processing unit of an apparatus according to the invention may also be adapted to control a modulation of the liquid flow according to the accelerometric data delivered by the accelerometric device.

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 the measurements provided by the accelerometer device.

The accelerometric device of an apparatus according to the invention makes it possible to detect the passage of the apparatus in line of water, the blocking of the apparatus against a bottom drain of a basin, the blocking of the apparatus against a vertical wall, etc.

Therefore, the control of the pumping device by the processing unit, from accelerometer data derived accelerometer measurements provided by an accelerometer, can reduce or even cut the power of the pump when the device encounters special areas, such as a bottom drain, to facilitate the crossing of these areas.

Advantageously and according to the invention, at least one liquid outlet, called the rear outlet, is oriented towards the rear, so that the stream of liquid that escapes through this rear outlet can create by reaction efforts whose resultant, said hydraulic reaction force, has a longitudinal component driving the device forward non-zero.

Alternatively or in combination, advantageously and according to the invention, at least one rear outlet is oriented so that the liquid stream escaping through this rear outlet can further create a hydraulic reaction force which has a vertical component of the device down non-zero.

An apparatus 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 pool. In particular, when such an apparatus encounters a vertical wall at the end of a trajectory on a horizontal or substantially horizontal wall, 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 ascent 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. According to the invention, 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. To do this, the measurements provided by the accelerometer make it possible to determine that the device moves along a vertical wall and then arrives in water line. In addition, 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 a return of the device to the bottom of the pool under the effect of its own weight. Reducing the power of the pump reduces energy consumption. In addition, the motor rolling members can be completely stopped in this configuration, which further reduces energy consumption.

An apparatus according to the invention 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. Of the In the same way as for the meeting of a vertical wall, 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. When the motor rolling members are detached from the vertical wall and therefore no longer allow the drive to be driven, the hydraulic drive provides the power required 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. Thus, 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 invention also relates to a submerged surface-cleaning apparatus characterized in combination by all or some of the characteristics mentioned above or below.

• la figure 1 est une vue schématique en perspective d'un appareil nettoyeur de surface immergée selon un mode de réalisation de l'invention,
• la figure 2 est une vue schématique de profil de l'appareil de la figure 1,
• la figure 3 est une vue schématique en coupe longitudinale d'un appareil selon un mode de réalisation de l'invention,
• la figure 4 est une vue schématique en perspective du dispositif d'entraînement d'un appareil selon un mode de réalisation de l'invention,
• la figure 5 est un schéma synoptique de la commande des moteurs électriques d'entraînement à partir des mesures des composantes de l'accélération gravitationnelle fournies par un accéléromètre solidaire de l'appareil selon l'invention,
• la figure 6 est une vue schématique représentant un repère à trois axes orthogonaux correspondant aux trois axes de mesures des composantes de l'accélération gravitationnelle délivrée par un accéléromètre solidaire d'un appareil selon l'invention représenté en une orientation quelconque à des fins d'illustration,
• la figure 7 est un premier exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à trois événements différents successifs,
• la figure 8 est un deuxième exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à un autre événement,
• la figure 9 est un troisième exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à un autre événement,
• la figure 10 est un quatrième exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à un autre événement,
• la figure 11 est un cinquième exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à un autre événement,
• la figure 12 est un sixième exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à un autre événement,
• la figure 13 est un septième exemple de signaux délivrés par l'accéléromètre d'un appareil selon l'invention correspondant à un autre événement.

Other objects, features and advantages of the invention will appear on reading the following description of an embodiment and examples given solely by way of non-limiting example and which refers to the appended figures, in which:

• the figure 1 is a schematic perspective view of an immersed surface cleaner apparatus according to one embodiment of the invention,
• the figure 2 is a schematic profile view of the device from the figure 1 ,
• the figure 3 is a schematic view in longitudinal section of an apparatus according to one embodiment of the invention,
• the figure 4 is a schematic perspective view of the drive device of an apparatus according to one embodiment of the invention,
• the figure 5 is a block diagram of the control of electric drive motors from the measurements of the components of the gravitational acceleration provided by an accelerometer secured to the apparatus according to the invention,
• the figure 6 is a schematic view showing a coordinate system with three orthogonal axes corresponding to the three measurement axes of the components of the gravitational acceleration delivered by an accelerometer integral with an apparatus according to the invention, represented in any orientation for purposes of illustration,
• the figure 7 is a first example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to three different successive events,
• the figure 8 is a second example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to another event,
• the figure 9 is a third example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to another event,
• the figure 10 is a fourth example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to another event,
• the figure 11 is a fifth example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to another event,
• the figure 12 is a sixth example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to another event,
• the figure 13 is a seventh example of signals delivered by the accelerometer of an apparatus according to the invention corresponding to another event.

Figures, scales and proportions are not strictly adhered to for the purpose of illustration and clarity.

Throughout the following detailed description with reference to the figures, and unless otherwise indicated, each member of the cleaning apparatus is described as arranged when the apparatus is in normal displacement on a horizontal submerged surface in a preferred sense of the invention. 'advancement.

An apparatus according to the invention 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 sidewalls 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. Thus, the cylindrical opening in the rear wall of the housing is longitudinally offset from the lower transverse opening in the bottom wall. In addition, this cylindrical opening is arranged in the upper part of the casing so that it is also vertically offset from the transverse lower opening.

As shown in particular on the figure 3 , this body 1 hollow comprises a filtration chamber 8 having an inlet 9 of liquid located at the base of the hollow body 1, that is to say in the lower part of the apparatus, an outlet 10 of liquid disposed 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 circulation of liquid between the inlet 9 of liquid and the outlet 10 of liquid through a device 11 of filtering.

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 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. For example, the filtering device 11 comprises a rigid armature and a filter cloth carried by this rigid armature. Such 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.

In the preferred embodiment shown in the figures, the rolling members 2, 3, 4 for guiding and driving the apparatus comprise a front axle comprising front-wheel 2, one on each side, and a rear axle comprising 3 non-drive rear wheels, one on each side.

In addition, preferably and as shown in the figures, the apparatus comprises brushes 4 arranged at the front of the apparatus. These brushes 4 are intended to ensure brushing of the immersed surface and to move the debris brushed towards the rear of the device towards the inlet 9 of liquid arranged under the apparatus.

These brushes 4 can be of all types. According to one embodiment of the invention, 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. Preferably, the apparatus comprises two drive motors 20a, 20b, one on each side, respectively for the independent drive of each of the front wheels 2. To do this, 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 20a, 20b driving the front wheels 2 via a gear system. According to this embodiment, 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.

Thus, in the embodiment shown, 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. In any event, 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 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. Advantageously, their peripheral tread is formed or coated with a non-slip material.

The front wheels 2 and the brushes 4 constitute front driving members 2, 4 which protrude 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.

According to a preferred embodiment, the apparatus comprises a motorized liquid pumping device comprising an electric pumping motor 12 having a rotary motor shaft coupled to an axial pumping propeller 14 driven in rotation by the motor 12 about an axis. . The propeller 14 is interposed in the hydraulic circuit so as to generate there a flow of liquid between the inlet 9 of liquid and the outlet 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 of rotation of the propeller 14. Liquid enters the hollow body 1 through the inlet 9 of liquid arranged under the apparatus. This liquid passes into a liquid inlet column 15 to reach the filtering device 11. This filtering device 11 passes the liquid through the filter cloth and retains the solid debris. The filtered liquid then reaches the liquid outlet 10 and is ejected at the rear of the apparatus, in the basin from which it comes.

An apparatus according to the invention comprises at least one accelerometer 80 integral with the hollow body of the apparatus. This accelerometer 80 is a three-axis accelerometer adapted to provide measurements of the Gx, Gy, Gz components of the gravitational acceleration BOY WUT along three longitudinal X orthogonal axes, Y lateral and Z in height, fixed relative to the accelerometer 80, and therefore relative to the device ( figure 6 ). An accelerometer 80 according to the invention may be of any known type, in particular an integrated circuit of analog output type or digital output type type. The attachment of the accelerometer 80 to the hollow body of the apparatus can be obtained by adhesive means, means of the screw / nut type, rivet or other equivalent means. This accelerometer 80 is connected to a unit 81 for processing the measurements provided by this accelerometer.

This processing unit 81 comprises an event detection module 82 and a device control module 83 of the apparatus. The event detection module 82 receives the three signals emitted by the accelerometer 80 corresponding to the instantaneous measurements of the amplitude of the three components Gx, Gy, Gz of the acceleration of the gravity. BOY WUT along the three orthogonal axes X, Y and Z, the event detection module 82 records these three components Gx, Gy, Gz of the acceleration of the gravity BOY WUT over time and analyzes these variations. It performs tests to determine whether or not these variations correspond to predetermined events.

After detection of a predetermined event by the event detection module 82, the latter addresses to the control module 83 a signal identifying this detected event. The control module 83 then generates control signals for the various motors of the apparatus, in particular at least the electric motors 20a, 20b for driving and, preferably, also the electric motor 12 for pumping.

The processing unit 81 may be of any known type. This processing unit 81 can be embedded on board the hollow body as shown, or on the contrary be integrated in an outer control box the device, to be completely independent, outside the basin. When the processing unit is not on board the hollow body, it is provided with remote communication means with the accelerometer 80, the latter also being associated with conjugated communication means, embedded on board the hollow body with the accelerometer 80, allowing the transmission of the measurement signals between the accelerometer 80 and the processing unit. These communication means may consist of a power cable of an onboard electric motor (drive motor and / or pump motor 12), or a specific cable deployed along such a cable. 'food. In a variant, these communication means may also consist of wireless connection means, in particular radiofrequency means.

According to one embodiment, this processing unit 81 is a digital processing unit. According to another embodiment, the processing unit 81 is an analog processing unit or comprises a combination of digital and analog means. According to a preferred embodiment, the processing unit 81 comprises at least one microprocessor, at least one random access memory associated with the microprocessor, at least one mass memory, in particular for recording the accelerometric signals delivered by the accelerometer 80 and a clock. Advantageously, in this embodiment, the accelerometer 80 is preferably directly soldered to the printed circuit carrying the microprocessor. This eliminates sealing problems by eliminating any wired through walls between the accelerometer 80 and the microprocessor.

In a variant not shown, the processing unit 81 comprises a learning module adapted to perform a training, under the control of an operator, to define events that correspond to temporal and / or spectral variations of the accelerometric measurements delivered by the operator. accelerometer 80.

According to another variant not shown of the invention, the apparatus further comprises means, said odometric means, adapted to estimate the position of the apparatus by odometry. These odometric means are adapted to provide measurements, called odometric measurements, from which the movements of the apparatus can be estimated. These odometric measurements are advantageously measurements of the rotational speeds of the wheels of the apparatus during these displacements on the immersed surface. These wheel rotation measurements are for example performed by an optical encoder disposed on the axis of the wheels.

These odometric measurements are advantageously transmitted to the processing unit 81 to facilitate or accelerate the detection of events by the event detection module 82.

Also, advantageously, the processing unit 81 receives signals from sensors associated with the various electric motors 20a, 20b drive and, if appropriate, the electric motor 12 pumping. In this way, the event detection module 82 can also take these signals into account in the context of the detection of predetermined events. These signals from the electric motors can be, for example, for each motor, signals representative of the speed of rotation of the motor, and / or signals representative of the direction of rotation of the motor, and / or signals of the torque produced by an engine. and / or signals of the electrical intensity consumed by the motor ...

The Figures 7 to 13 illustrate, without limitation, various possible examples of predetermined events that can be detected by the detection module 82. The ordinate values in these figures are the ratios of the value of each component on the module G of the acceleration of gravity.

On the figure 7 there are three successive phases corresponding to three successive events.

In the first phase P1, it is found that the lateral component Gy of the gravitational acceleration remains substantially constant and zero, the component Gz of the gravitational acceleration according to the height of the apparatus remains substantially constant and negative, and the longitudinal component Gx gravitational acceleration remains substantially constant and positive. Such signals correspond to a movement of the apparatus on a surface inclined relative to the horizontal. On the other hand, depending on the direction of movement of the apparatus with respect to the longitudinal X axis, the event detection module 82 can determine whether it is a downward movement on the inclined surface or towards the longitudinal axis. the top on the inclined surface.

In the case of detecting an event corresponding to a displacement on an upwardly inclined surface, the control module 83 of the motors can control an acceleration of the electric motors 20a, 20b drive to allow apparatus to climb the corresponding slope.

In the case of the detection of an event corresponding to a displacement on a downwardly inclined surface, the motor control module 83 can control a slowing down of the electric motors 20a, 20b of drive to prevent engine runaway during from the descent of the corresponding slope.

In the second phase P2, it can be seen that the longitudinal components Gx and lateral Gy of the gravitational acceleration remain substantially constant and zero, and the component Gz of the gravitational acceleration according to the height of the apparatus remains substantially constant and negative (Gz Where G is of the order of -1). Such signals correspond to a movement of the apparatus on a horizontal bottom surface of the basin. This is the normal movement of the apparatus, the electric drive and pumping motors being driven normally.

In the third phase P3, it can be seen that the lateral component Gy of the gravitational acceleration remains substantially constant and zero, as does the component Gz of the gravitational acceleration according to the height of the device, and the longitudinal component Gx of the device. Gravitational acceleration remains substantially constant and positive. Such signals correspond to a movement of the apparatus along a vertical wall. On the other hand, again, depending on the direction of movement of the apparatus with respect to the longitudinal axis X, the event detection module 82 can determine whether it is a downward movement on the wall vertical or upward on the substantially vertical wall.

In the case of detecting an event corresponding to displacement on a vertical wall upwards, the motor control module 83 can control an acceleration of the electric drive motors 20a, 20b to enable the apparatus to climb the wall. and a modification of the control of the pump motor 12, in particular to prevent excessive outflow out of the water on arrival in the water line. The detection module 82 of events monitors the occurrence of an event corresponding to the arrival of the device in line of water.

In the case of the detection of an event corresponding to displacement on a downward vertical wall, the motor control module 83 can control a slowing down of the electric drive motors 20a, 20b to prevent the engines from racing out. the descent of the vertical wall, and a decrease of the control signal of the pump motor 12, for example by a predetermined value and recorded. The event detection module 82 monitors the occurrence of an event corresponding to the arrival of the device at the bottom of the wall, that is to say a return of the device to an orientation at least substantially horizontal .

In the example shown figure 8 , the signals initially correspond to the third phase P3 of the figure 7 corresponding to a rise of the device along a vertical wall. But from a certain moment, we note that the lateral component Gy of the gravitational acceleration increases appreciably, that the longitudinal component Gx of the gravitational acceleration decreases slightly and that the component Gz of the gravitational acceleration according to the height of the device remains substantially constant and zero. Such signals correspond to a displacement of the apparatus mounted on the vertical wall but in a path inclined relative to the vertical. When such an event has been detected by the event detection module 82, the control module 83 for driving the electric motors 20a, 20b controls a slowing down of the drive motor opposite to the drift so as to bring the device back according to an ascending vertical trajectory.

In the example shown figure 9 the event detection module 82 detects a variation of the longitudinal components Gx and in height Gz in a relatively short time, for example of the order of a second, the longitudinal component Gx reaching its maximum value (Gx / G being order of 1), then the height component Gz reaching its maximum value (Gz / G being of the order of 1). Such signals correspond to the fact that the apparatus performs a salto in longitudinal rear rollover.

When such an event is detected, the motor control module 83 interrupts the pump motor 12 and then increments a counter by one. If the counter reaches a predetermined threshold value, for example equal to 5, in a predetermined time interval, for example of the order of 15 minutes, this means that this abnormal event (which corresponds to an excessive training speed of the device) was reiterated. The control module 83 then decreases the rotational speed values of the electric motors 20a, 20b for driving and the electric motor 12 for pumping, for example by 10%.

In the example shown figure 10 , the first two phases P11 and P12 respectively correspond to the second phase P2 of the figure 7 in which the apparatus moves on a horizontal bottom surface, and in the third phase P3 of the figure 7 wherein the apparatus moves uphill on a vertical wall. In the third phase P13, it can be seen that the component Gz of the gravitational acceleration according to the height of the apparatus increases to be positive until reaching its maximum value (Gz / G being of the order of 1) for a duration greater than a predetermined threshold, for example of several consecutive seconds, while the longitudinal components Gx and lateral Gy of the gravitational acceleration are substantially constant and zero. Such signals correspond to a reversal of the apparatus on the floating back surface.

When such an event is detected, the control module 83 imposes a minimum speed or a cut-off on all the electric drive and pumping motors to allow the apparatus to sink again and recover, during its operation. descent due to its balancing, in normal orientation, which occurs during the fourth phase P14 shown figure 10 . At the end of this fourth phase P14, the unit resumes its normal course of travel on the bottom (phase P15), the control module 83 again imposing a normal speed of the various engines. After detecting such an event, advantageously, the motor control module 83 again increments a counter by one unit. If the counter reaches a threshold value predetermined, for example equal to 5, in a predetermined time interval, for example of the order of 15 minutes, it means that this abnormal event has reiterated. The control module 83 then decreases the rotational speed values of the electric motors 20a, 20b for driving and the electric motor 12 for pumping, for example by 10%.

The Figures 11 to 13 are examples of signals for detecting the descent of an apparatus according to the invention after launching, depending on the depth of the basin, and to obtain an estimate of this depth.

On the figure 11 , the first phase P21 corresponds to a launching of the apparatus in horizontal stable initial position on the surface. It can be seen that the lateral component Gy and the longitudinal component Gx of the gravitational acceleration remain substantially constant and zero, and the component Gz of the gravitational acceleration according to the height of the apparatus remains substantially constant and negative of value corresponding to its amplitude. maximum (of the order of -1). During the second phase P22, there is a variation of the longitudinal component Gx of the gravitational acceleration which increases substantially up to its maximum value (Gx / G being of the order of 1), and a variation of the component. height Gz which also increases to a median value (Gz / G of the order of 0.5). When these two conditions are detected, the event detection module 82 triggers a clock, and stops this clock when all the components of the gravitational acceleration become stable for a predetermined duration, for example of the order of two consecutive seconds. corresponding to the third phase P23 during which the apparatus normally moves to the bottom of the pool on a horizontal surface. The duration of the second phase P22 that has elapsed between the triggering of the clock and its stop is an estimate of the depth of the basin.

It should be noted that if the above two conditions are not detected, this means that the apparatus is already at the bottom of the basin, so that the motor control module 83 can trigger the normal cleaning operation of the apparatus.

The figure 12 is similar to the figure 11 , and represents an example in which the duration of the second phase P22 is greater, corresponding to a greater depth of the basin.

The figure 13 represents the example in which the apparatus is thrown without precaution in the basin, which corresponds to the appearance in the first phase P31 of a strong shock 91 (variation of the three components fast and simultaneous), from which the module 82 event detection triggers the clock. The second phase P32 still corresponds to the descent of the apparatus in the basin, and the third phase P33 to the displacement of the apparatus on the horizontal bottom of the basin, as in the example of the figure 11 . The time elapsing between the shock 91 and the detection of the end of descent, carried out as above, also gives an estimate of the depth of the basin in this case.

The estimation of the depth of the basin also makes it possible to adapt the behavior of the apparatus according to this depth, in particular to choose and adjust cleaning times according to the predetermined programs adapted to each depth.

It goes without saying that the invention can be subject to many variants. In particular, other types of events can be detected and many different scenarios can be envisaged for the control of the motors by the control module 83 as a function of each detected event. The invention also applies to other apparatus than that shown in the figures and described above. Nothing also prevents the three-axis accelerometer from being replaced by a plurality of accelerometers, for example each dedicated to a single axis. In addition, an apparatus with a single accelerometer measuring the gravitational component along a single axis can also have advantageous applications in the simplest cases.

Claims (12)

1. An apparatus for cleaning an immersed surface, comprising:

   - a hollow body (1),

   - guiding and driving members (2, 3, 4) for guiding and driving the hollow body (1) over the immersed surface,

   - a filtration chamber which is provided in the hollow body and which has:

   o at least one liquid inlet (9) into the hollow body (1), located at the base of said hollow body (1),

   o at least one liquid outlet out of the hollow body (1), located remotely from the base of said hollow body (1),

   o at least one hydraulic circuit for circulation of liquid between at least one liquid inlet (9) and at least one liquid outlet through at least one filtering device (11),

   wherein it comprises:

   - an accelerometer device (80) which is fixedly joined to the hollow body and which is configured to provide instantaneous measurements of at least one acceleration component of the terrestrial gravity in at least one fixed direction which is fixed relative to the hollow body,

   - a processing unit (81) configured to process said instantaneous acceleration measurements supplied by the accelerometer device (80) and configured to provide data which are representative of the angular orientation of each of said at least one fixed direction of the apparatus relative to the vertical.
2. An apparatus according to claim 1, wherein said processing unit (81) is adapted to record over time said data representative of the angular orientation of each fixed direction relative to the vertical.
3. An apparatus according to one of the claims 1 or 2, wherein said processing unit (81) comprises an event detection module (82) which is adapted to detect, from said data representative of the angular orientation of each of said at least one fixed direction relative to the vertical, the occurrence of at least one predetermined event relating to the movement of the apparatus.
4. An apparatus according to claim 3, wherein the event detection module (82) is adapted to detect, from said data representative of the angular orientation of each fixed direction relative to the vertical, the occurrence of at least one predetermined event selected from: climbing an inclined wall; climbing an inclined wall in accordance with an incline which does not correspond to the greatest incline; risk of the cable becoming entangled; detection of the quality of the coating of the immersed surface by measuring a rate of rotational sliding; arrival of the apparatus at the base wall and measurement of the depth of the pool; arrival of the apparatus at the water line; arrival of the apparatus in contact with a non-horizontal wall (lateral vertical wall or inclined wall).
5. An apparatus according to one of the claims 1 to 4, wherein the accelerometer device (80) is adapted to provide instantaneous measurements of three components of the terrestrial gravity acceleration in three fixed directions which are each other orthogonal in groups of two.
6. An apparatus according to claim 5, wherein the accelerometer device (80) is a three-axis accelerometer.
7. An apparatus according to one of the claims 1 to 6, wherein it is a rolling apparatus comprising at least one electric motor (20) for driving at least one rolling member, called a drive rolling member (2), in order to form a drive device which is capable, via this/these drive rolling member(s), of moving the hollow body (1) over the immersed surface in at least one direction of advance and in a main direction of advance, called a longitudinal direction.
8. An apparatus according to one of the claims 3 or 4 and according to claim 7, wherein said processing unit (81) comprises a control module (83) which is adapted to provide control signals for each motor (20) in accordance with a predetermined operating mode in accordance with detection data of at least one predetermined event supplied by the event detection module.
9. An apparatus according to one of the claims 1 to 8, wherein it comprises at least one motorized pumping device (12, 14) which is at least partially interposed in a hydraulic circuit and which is adapted to produce a flow of liquid between each liquid inlet (9) and each liquid outlet (10) which are connected by that hydraulic circuit.
10. An apparatus according to claim 9, wherein it comprises at least one electric pumping motor which is fitted on-board the hollow body.
11. An apparatus according to one of the claims 1 to 10, wherein the processing unit (81) is carried by the hollow body (1).
12. An apparatus according to one of the claims 1 to 11, wherein the processing unit is independent of the hollow body (1).

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