EP2824256B1 - Method for cleaning a tank using a robot - Google Patents

Method for cleaning a tank using a robot Download PDF

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Publication number
EP2824256B1
EP2824256B1 EP14176788.9A EP14176788A EP2824256B1 EP 2824256 B1 EP2824256 B1 EP 2824256B1 EP 14176788 A EP14176788 A EP 14176788A EP 2824256 B1 EP2824256 B1 EP 2824256B1
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EP
European Patent Office
Prior art keywords
robot
vertical wall
control unit
motors
during
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EP14176788.9A
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German (de)
French (fr)
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EP2824256A2 (en
EP2824256A3 (en
Inventor
Yoann CHOURAQUI
Damien Dumontier
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Hexagone Manufacture Sas
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Hexagone Manufacture 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Definitions

  • the present invention relates to a method of cleaning a basin using a robot, and a robot implementing such a method.
  • the cleaning of a pool is usually done with a robot that rolls on the bottom of the pool and sucks water and impurities to reject only water after filtration .
  • the document US2003 / 102014 A1 describes such a robot.
  • the movement of the robot is either controlled remotely by an operator, or performed automatically.
  • An object of the present invention is to provide a cleaning method which does not have the drawbacks of the prior art and which in particular allows improved cleaning of the corners between the bottom and the vertical walls.
  • control unit forces the robot to roll against the vertical wall.
  • control unit controls each motor so that the speed of the wheels which are against the vertical wall is less than the speed of the wheels which are not against the vertical wall.
  • the robot comprises a gyroscope having an angular offset with respect to the direction of advancement of the robot.
  • the angle of rotation is less than the actual angle between the vertical walls.
  • the robot comprises a distance detector intended to measure the distance between the robot and the vertical wall which it follows, and, during the stages of advancement and finishing, when the distance measured is greater than a threshold, the The control unit controls each motor so that the speed of the wheels which are against the vertical wall is less than the speed of the wheels which are not against the vertical wall.
  • the robot comprises a gyroscope having an angular offset with respect to the direction of advancement of the robot.
  • the robot comprises a contact roller with a vertical axis of rotation intended to ensure contact against the vertical wall.
  • the Fig. 1 shows a basin 50 filled with water which comprises a bottom 52, delimited by N vertical walls 53 and 54, thus forming between the bottom 52 and each vertical wall 53, 54, a wedge 55, 56.
  • N is equal to 4, but N can take other values when the basin 50 is not rectangular. N is greater than or equal to 4.
  • the basin 50 is cleaned by a robot 100 which comprises a frame 102, wheels 104 and 106, motors 108 and 110, a control unit 112, a contact detector 114 and a suction system 304 ( Fig. 3 ).
  • Each motor 108, 110 is controlled independently by the control unit 112 in which is also stored the number N of vertical walls 53,54.
  • the contact detector 114 is disposed at the front of the frame 102 and makes it possible to inform the control unit 112 when the robot 100 encounters an obstacle at the front.
  • the direction of advancement of the robot 100 is represented by the arrow 116.
  • the suction system draws water and impurities at the base of frame 102 and reject only water after filtration.
  • the Fig. 3 shows a sectional view of the robot 100.
  • a pipe 306 which opens at a first end on the side of the frame 102 and under the frame 102 and the second end at the suction system 304.
  • the Fig. 2 shows an algorithm of a cleaning method 200 according to the invention.
  • the principle of the cleaning method 200 is based on the fact that the robot 100 successively follows all the corners 55 and 56 until the complete turn of the basin 50.
  • the robot 100 progresses along the vertical walls 53 and 54 leaving them on the left because the suction system has a suction mouth positioned at the base and on the left of the frame 102, but it is possible to place the suction mouth on the right of the frame 102 and the robot 100 will then progress along the vertical walls 53 and 54 leaving them to the right.
  • the cleaning method 200 consists in wedging the robot 100 against a vertical wall 53, following this vertical wall 53, in detecting the next vertical wall 54 with the aid of the contact detector 114, rotating to wedge the robot 100 along the next vertical wall 54, to follow this vertical wall 54 next, and so on until the complete turn of the basin 50.
  • the robot 100 is wedged against a vertical wall 53, 54 when the side of the robot 100 is pressed against said vertical wall 53, 54, that is to say here when the left wheels 104 are against the vertical wall 53, 54.
  • the finishing step 216 completes the cleaning of the corner 55 of the first vertical wall 53 in the event that the cleaning has started along this first vertical wall 53 and not at the beginning thereof.
  • the set of corners 55, 56 is thus perfectly cleaned.
  • control unit 112 which receives information from the contact detector 114 and controls the motors 108 and 110.
  • the step of disengagement 206 makes it possible to turn back the robot 100 of the vertical wall 54 with which it is in contact by the front, in order then to allow its rotation without risk of contact with this vertical wall 54.
  • the clearance distance therefore depends the size of the robot 100.
  • the robot 100 can leave in another cleaning cycle, for example to clean the remainder of the bottom 52.
  • the robot 100 comprises interface means, for example of the keyboard type, which make it possible to store in the control unit 112 the number N of vertical walls 53, 54, and the angle or angles of rotation.
  • each angle of rotation is the same, only this value can be stored and cleaning can start from any vertical wall 53, 54.
  • the control unit 112 reads the value of the angle of rotation and then performs the corresponding rotation.
  • the control unit 112 reads, from the series of angles of rotation, the value of the angle of rotation corresponding to its position in the basin 50, that is to say relative to to the vertical wall 54 that it has reached, then it performs the corresponding rotation.
  • the robot 100 Due to the errors of parallelism both between the vertical walls 53, 54 and the wheels 104 and 106 of the robot 100, and to ensure that the robot 100 follows well at most near each vertical wall 53, 54, the robot 100 is forced to roll against the vertical wall 53, 54 by the control unit 112 which forces it to roll in crab during the progress 204 and finishing 216 stages, plus particularly against the vertical wall of rank 'n' during the advancement step 204 and against the rank wall '1' during the finishing step 216.
  • This constraint is achieved for example by a lower speed of rotation of the wheels 104 which are against the vertical wall 53, 54 than that of the wheels 106 which are not against the vertical wall 53, 54.
  • the control unit 112 therefore controls the motor 108 of the wheels 104 which are against the vertical wall 53, 54 and the motor 110 of the wheels 106 which are not against the vertical wall 53, 54 to obtain a lower speed of the wheels 104 which are against the vertical wall 53, 54 that the wheels 106 which are not against the vertical wall 53, 54.
  • Such a shift is for example of the order of 15%.
  • This constraint can also be achieved by setting up, in the robot 100, a gyroscope 118 having an angular offset with respect to the advancement direction 116 of the robot 100.
  • This angular offset is for example of the order of 7 ° oriented towards the vertical wall 53, 54.
  • the robot has a contact roller 120 with a vertical axis of rotation which ensures contact against the vertical wall 53, 54 and the rolling of the robot 100 on the vertical wall 53, 54.
  • the angle of rotation is less than the actual angle between the vertical walls 53 and 54 at the level of the rotation, for example of the order of 10 °.
  • each rotation takes place at an angle of about 80 °.
  • the robot 100 further has a distance detector 122 which is mounted on the frame 102 and which allows the control unit 112 to measure the distance between the robot 100 and the vertical wall 53, 54 it follows.
  • the distance detector 122 may be for example a mechanical or electrical sensor.
  • the control unit 112 controls each motor 108, 110 so that the speed of the wheels 104 which are against the vertical wall 53, 54 is less than the speed of the wheels 106 which are not against the vertical wall 53, 54.

Description

La présente invention concerne un procédé de nettoyage d'un bassin à l'aide d'un robot, ainsi qu'un robot mettant en oeuvre un tel procédé.The present invention relates to a method of cleaning a basin using a robot, and a robot implementing such a method.

Le nettoyage d'un bassin, tel qu'une piscine, s'effectue généralement à l'aide d'un robot qui roule sur le fond de la piscine et qui aspire l'eau et les impuretés pour rejeter uniquement l'eau après filtration. Le document US2003/102014 A1 décrit un tel robot. Le déplacement du robot est soit commandé à distance par un opérateur, soit réalisé de manière automatique.The cleaning of a pool, such as a pool, is usually done with a robot that rolls on the bottom of the pool and sucks water and impurities to reject only water after filtration . The document US2003 / 102014 A1 describes such a robot. The movement of the robot is either controlled remotely by an operator, or performed automatically.

Dans ce dernier cas, soit le robot se déplace de manière aléatoire, soit le robot vient au contact d'une paroi verticale, fait demi-tour et revient vers la paroi verticale opposée et ainsi de suite.In the latter case, either the robot moves randomly or the robot comes into contact with a vertical wall, turns around and returns to the opposite vertical wall and so on.

De tels déplacements ne sont pas satisfaisants car le nettoyage des coins entre le fond et les parois verticales n'est pas réalisé correctement alors que la plupart des impuretés se logent dans ces coins.Such displacements are not satisfactory because the cleaning of the corners between the bottom and the vertical walls is not done correctly while most of the impurities are housed in these corners.

Un objet de la présente invention est de proposer un procédé de nettoyage qui ne présente pas les inconvénients de l'art antérieur et qui en particulier permet un nettoyage amélioré des coins entre le fond et les parois verticales.An object of the present invention is to provide a cleaning method which does not have the drawbacks of the prior art and which in particular allows improved cleaning of the corners between the bottom and the vertical walls.

A cet effet, est proposé un procédé de nettoyage d'un bassin comportant un fond et N parois verticales à l'aide d'un robot comportant un détecteur de contact, un châssis, sur lequel sont montés un ensemble de roues gauches et un ensemble de roues droites, chaque ensemble étant entraîné en rotation par un moteur commandé par une unité de contrôle, le procédé de nettoyage comportant :

  • une étape de calage au cours de laquelle l'unité de contrôle commande les moteurs pour caler le robot contre la paroi verticale de rang n=1,
  • une étape d'avancement au cours de laquelle l'unité de contrôle commande les moteurs pour avancer le robot le long de la paroi verticale de rang n jusqu'à la détection de la paroi verticale de rang n+1 par le détecteur de contact,
  • une étape de dégagement au cours de laquelle l'unité de contrôle commande les moteurs pour reculer le robot sur une distance de dégagement pour se dégager de la paroi verticale de rang n+1,
  • une étape de rotation au cours de laquelle l'unité de contrôle commande les moteurs pour faire faire au robot une rotation sur lui-même pour se caler contre la paroi verticale de rang n+1,
  • une étape de test au cours de laquelle l'unité de contrôle vérifie si n est égal à N,
dans le cas où n est différent de N, le procédé de nettoyage se poursuit par:
  • une étape d'incrémentation au cours de laquelle l'unité de contrôle incrémente de '1' la valeur de n, et
  • un bouclage au cours duquel le procédé de nettoyage boucle sur l'étape d'avancement,
dans le cas où n est égal à N, le procédé de nettoyage se poursuit par:
  • une étape de finition au cours de laquelle l'unité de contrôle commande les moteurs pour avancer le robot le long de la paroi verticale de rang '1' jusqu'à la détection de la paroi verticale de rang '2' par le détecteur de contact, et
  • une étape d'arrêt.
For this purpose, there is provided a method for cleaning a basin comprising a bottom and N vertical walls using a robot comprising a contact detector, a frame, on which are mounted a set of left wheels and a set of straight wheels, each set being rotated by a motor controlled by a control unit, the cleaning method comprising:
  • a stalling step during which the control unit controls the motors to wedge the robot against the vertical wall of rank n = 1,
  • a step of advancement during which the control unit controls the motors to advance the robot along the vertical wall of rank n until the detection of the vertical wall of rank n + 1 by the contact detector,
  • a release step in which the control unit controls the motors to move the robot a distance of clearance to disengage from the vertical wall of rank n + 1,
  • a step of rotation during which the control unit controls the motors to make the robot rotate on itself to wedge against the vertical wall of rank n + 1,
  • a test step during which the control unit checks whether n is equal to N,
in the case where n is different from N, the cleaning process continues with:
  • an increment step in which the control unit increments the value of n by 1, and
  • a looping during which the cleaning process loops on the advancement stage,
in the case where n is equal to N, the cleaning process is continued by:
  • a finishing step during which the control unit controls the motors to advance the robot along the vertical row wall '1' until the detection of the vertical row wall '2' by the contact detector , and
  • a stop step.

Avantageusement, au cours des étapes d'avancement et de finition, l'unité de contrôle contraint le robot à rouler contre la paroi verticale.Advantageously, during the stages of advancement and finishing, the control unit forces the robot to roll against the vertical wall.

Selon un mode de réalisation particulier, l'unité de contrôle commande chaque moteur de manière à ce que la vitesse des roues qui sont contre la paroi verticale soit inférieure à la vitesse des roues qui ne sont pas contre la paroi verticale.According to a particular embodiment, the control unit controls each motor so that the speed of the wheels which are against the vertical wall is less than the speed of the wheels which are not against the vertical wall.

Selon un mode de réalisation particulier, le robot comporte un gyroscope présentant un décalage angulaire par rapport à la direction d'avancement du robot.According to a particular embodiment, the robot comprises a gyroscope having an angular offset with respect to the direction of advancement of the robot.

Avantageusement, au cours de l'étape de rotation, l'angle de rotation est inférieur à l'angle réel entre les parois verticales.Advantageously, during the step of rotation, the angle of rotation is less than the actual angle between the vertical walls.

Avantageusement, le robot comporte un détecteur de distance destiné à mesurer la distance entre le robot et la paroi verticale qu'il suit, et, au cours des étapes d'avancement et de finition, lorsque la distance mesurée est supérieure à un seuil, l'unité de contrôle commande chaque moteur de manière à ce que la vitesse des roues qui sont contre la paroi verticale soit inférieure à la vitesse des roues qui ne sont pas contre la paroi verticale.Advantageously, the robot comprises a distance detector intended to measure the distance between the robot and the vertical wall which it follows, and, during the stages of advancement and finishing, when the distance measured is greater than a threshold, the The control unit controls each motor so that the speed of the wheels which are against the vertical wall is less than the speed of the wheels which are not against the vertical wall.

L'invention propose également un robot destiné à nettoyer un bassin comportant un fond et N parois verticales, et comportant un détecteur de contact, un châssis, sur lequel sont montés un ensemble de roues gauches et un ensemble de roues droites, chaque ensemble étant entraîné en rotation par un moteur commandé par une unité de contrôle, ledit robot étant tel que:

  • l'unité de contrôle est prévue pour commander les moteurs afin de caler le robot contre une paroi verticale,
  • l'unité de contrôle est prévue pour commander les moteurs afin d'avancer le robot le long d'une paroi verticale tant que le détecteur de contact ne détecte aucun contact,
  • l'unité de contrôle est prévue pour commander les moteurs afin de reculer le robot sur une distance de dégagement lorsque le détecteur de contact détecte un contact,
  • l'unité de contrôle est prévue pour commander les moteurs afin de faire faire au robot une rotation sur lui-même après le dégagement,
  • l'unité de contrôle est prévue pour vérifier si n est égal à N,
dans le cas où n est différent de N:
  • l'unité de contrôle est prévue pour incrémenter de '1' la valeur de n, et
dans le cas où n est égal à N:
  • l'unité de contrôle est prévue pour commander les moteurs afin d'avancer le robot le long d'une paroi verticale tant que le détecteur de contact ne détecte aucun contact.
The invention also proposes a robot intended to clean a basin comprising a bottom and N vertical walls, and comprising a contact detector, a chassis, on which are mounted a set of left wheels and a set of straight wheels, each assembly being driven. in rotation by a motor controlled by a control unit, said robot being such that:
  • the control unit is designed to control the motors in order to wedge the robot against a vertical wall,
  • the control unit is provided to control the motors in order to advance the robot along a vertical wall as long as the contact sensor does not detect any contact,
  • the control unit is provided to control the motors to move the robot back a distance of clearance when the contact sensor detects a contact,
  • the control unit is designed to control the motors in order to make the robot rotate on itself after the release,
  • the control unit is designed to check if n is equal to N,
in the case where n is different from N:
  • the control unit is designed to increment the value of n by '1', and
in the case where n is equal to N:
  • the control unit is designed to control the motors in order to advance the robot along a vertical wall as long as the contact sensor does not detect any contact.

Avantageusement, le robot comporte un gyroscope présentant un décalage angulaire par rapport à la direction d'avancement du robot.Advantageously, the robot comprises a gyroscope having an angular offset with respect to the direction of advancement of the robot.

Avantageusement, le robot comporte une roulette de contact à axe de rotation vertical destinée à assurer le contact contre la paroi verticale.Advantageously, the robot comprises a contact roller with a vertical axis of rotation intended to ensure contact against the vertical wall.

Les caractéristiques de l'invention mentionnées ci-dessus, ainsi que d'autres, apparaîtront plus clairement à la lecture de la description suivante d'un exemple de réalisation, ladite description étant faite en relation avec les dessins joints, parmi lesquels :

  • la Fig. 1 montre une vue de dessus d'un bassin,
  • la Fig. 2 est un algorithme d'un procédé de nettoyage selon l'invention, et
  • la Fig. 3 montre une vue en coupe d'un robot selon l'invention.
The characteristics of the invention mentioned above, as well as others, will appear more clearly on reading the following description of an exemplary embodiment, said description being given in relation to the attached drawings, among which:
  • the Fig. 1 shows a top view of a pond,
  • the Fig. 2 is an algorithm of a cleaning method according to the invention, and
  • the Fig. 3 shows a sectional view of a robot according to the invention.

Dans la description qui suit, les termes relatifs à une position sont pris en référence à un bassin implanté dans le sol.In the following description, the terms relating to a position are taken with reference to a pond implanted in the ground.

La Fig. 1 montre un bassin 50 rempli d'eau qui comprend un fond 52, délimité par N parois verticales 53 et 54, formant ainsi entre le fond 52 et chaque paroi verticale 53, 54, un coin 55, 56. Classiquement N est égal à 4, mais N peut prendre d'autres valeurs lorsque le bassin 50 n'est pas rectangulaire. N est supérieur ou égal à 4.The Fig. 1 shows a basin 50 filled with water which comprises a bottom 52, delimited by N vertical walls 53 and 54, thus forming between the bottom 52 and each vertical wall 53, 54, a wedge 55, 56. Classically N is equal to 4, but N can take other values when the basin 50 is not rectangular. N is greater than or equal to 4.

Le nettoyage du bassin 50 est réalisé par un robot 100 qui comprend un châssis 102, des roues 104 et 106, des moteurs 108 et 110, une unité de contrôle 112, un détecteur de contact 114 et un système d'aspiration 304 (Fig. 3).The basin 50 is cleaned by a robot 100 which comprises a frame 102, wheels 104 and 106, motors 108 and 110, a control unit 112, a contact detector 114 and a suction system 304 ( Fig. 3 ).

Il y a un ensemble de roues gauches 104 et un ensemble de roues droites 106 et chaque ensemble est entraîné en rotation par un moteur respectivement référencé 108, 110.There is a set of left wheels 104 and a set of straight wheels 106 and each set is rotated by a motor respectively referenced 108, 110.

Chaque moteur 108, 110 est commandé de manière indépendante par l'unité de contrôle 112 dans laquelle est par ailleurs mémorisé le nombre N de parois verticales 53,54.Each motor 108, 110 is controlled independently by the control unit 112 in which is also stored the number N of vertical walls 53,54.

Le détecteur de contact 114 est disposé à l'avant du châssis 102 et permet d'informer l'unité de contrôle 112 lorsque le robot 100 rencontre un obstacle à l'avant.The contact detector 114 is disposed at the front of the frame 102 and makes it possible to inform the control unit 112 when the robot 100 encounters an obstacle at the front.

La direction d'avancement du robot 100 est représentée par la flèche 116.The direction of advancement of the robot 100 is represented by the arrow 116.

Le système d'aspiration permet d'aspirer l'eau et les impuretés à la base du châssis 102 et de rejeter uniquement l'eau après filtration.The suction system draws water and impurities at the base of frame 102 and reject only water after filtration.

La Fig. 3 montre une vue en coupe du robot 100. Sous le châssis 102 est réalisée une canalisation 306 qui débouche par une première extrémité sur le côté du châssis 102 et sous le châssis 102 et par la deuxième extrémité au niveau du système d'aspiration 304.The Fig. 3 shows a sectional view of the robot 100. Under the frame 102 is formed a pipe 306 which opens at a first end on the side of the frame 102 and under the frame 102 and the second end at the suction system 304.

L'eau et les impuretés sont aspirées par la première extrémité à travers la canalisation 306 puis traversent des filtres appropriés qui retiennent les impuretés et l'eau est rejetée à l'extérieur du robot 100. Les flèches de la Fig. 3 montrent le mouvement d'aspiration et de rejet de l'eau par le système d'aspiration 304.Water and impurities are sucked through the first end through line 306 and then pass through suitable filters that retain impurities and the water is released outside the robot 100. The arrows of the Fig. 3 show the movement of suction and rejection of water by the suction system 304.

La Fig. 2 montre un algorithme d'un procédé de nettoyage 200 selon l'invention.The Fig. 2 shows an algorithm of a cleaning method 200 according to the invention.

Pour effectuer un nettoyage amélioré des coins 55 et 56, le principe du procédé de nettoyage 200 repose sur le fait que le robot 100 suit successivement tous les coins 55 et 56 jusqu'à effectuer le tour complet du bassin 50.To perform an improved cleaning of the corners 55 and 56, the principle of the cleaning method 200 is based on the fact that the robot 100 successively follows all the corners 55 and 56 until the complete turn of the basin 50.

Dans le mode de réalisation de l'invention présenté ici, le robot 100 progresse le long des parois verticales 53 et 54 en les laissant à gauche car le système d'aspiration présente une bouche d'aspiration positionnée à la base et sur la gauche du châssis 102, mais il est possible de placer la bouche d'aspiration sur la droite du châssis 102 et le robot 100 progressera alors le long des parois verticales 53 et 54 en les laissant à droite.In the embodiment of the invention presented here, the robot 100 progresses along the vertical walls 53 and 54 leaving them on the left because the suction system has a suction mouth positioned at the base and on the left of the frame 102, but it is possible to place the suction mouth on the right of the frame 102 and the robot 100 will then progress along the vertical walls 53 and 54 leaving them to the right.

De manière plus détaillée, le procédé de nettoyage 200 consiste à caler le robot 100 contre une paroi verticale 53, à suivre cette paroi verticale 53, à détecter la paroi verticale 54 suivante à l'aide du détecteur de contact 114, à effectuer une rotation pour caler le robot 100 le long de cette paroi verticale 54 suivante, à suivre cette paroi verticale 54 suivante, et ainsi de suite jusqu'à effectuer le tour complet du bassin 50. Le robot 100 est calé contre une paroi verticale 53, 54 lorsque le côté du robot 100 est plaqué contre ladite paroi verticale 53, 54, c'est-à-dire ici lorsque les roues gauches 104 sont contre la paroi verticale 53, 54.In a more detailed manner, the cleaning method 200 consists in wedging the robot 100 against a vertical wall 53, following this vertical wall 53, in detecting the next vertical wall 54 with the aid of the contact detector 114, rotating to wedge the robot 100 along the next vertical wall 54, to follow this vertical wall 54 next, and so on until the complete turn of the basin 50. The robot 100 is wedged against a vertical wall 53, 54 when the side of the robot 100 is pressed against said vertical wall 53, 54, that is to say here when the left wheels 104 are against the vertical wall 53, 54.

Le procédé de nettoyage 200 comporte:

  • une étape de calage 202 au cours de laquelle l'unité de contrôle 112 commande les moteurs 108 et 110 pour caler le robot 100 contre la paroi verticale de rang n=1, ici la paroi verticale référencée 53 par exemple,
  • une étape d'avancement 204 au cours de laquelle l'unité de contrôle 112 commande les moteurs 108 et 110 pour avancer le robot 100 le long de la paroi verticale de rang n dans la direction d'avancement 116, jusqu'à la détection de la paroi verticale de rang n+1 (ici la paroi verticale référencée 54) par le détecteur de contact 114,
  • une étape de dégagement 206 au cours de laquelle l'unité de contrôle 112 commande les moteurs 108 et 110 pour reculer le robot 100 dans la direction opposée à la direction d'avancement 116, sur une distance de dégagement pour se dégager de la paroi verticale de rang n+1,
  • une étape de rotation 208 au cours de laquelle l'unité de contrôle 112 commande les moteurs 108 et 110 pour faire faire au robot 100 une rotation sur lui-même pour se caler contre la paroi verticale de rang n+1, ici la rotation est effectuée à droite pour venir contre la paroi verticale référencée 54, par exemple en faisant tourner les roues gauches 104 qui sont contre la paroi verticale 53, 54 en avant et en en faisant tourner les roues droite 106 qui ne sont pas contre une paroi verticale 53, 54 en arrière,
  • une étape de test 210 au cours de laquelle l'unité de contrôle 112 vérifie si n est égal à N,
dans le cas où n est différent de N, le procédé de nettoyage 200 se poursuit par:
  • une étape d'incrémentation 212 au cours de laquelle l'unité de contrôle 112 incrémente de '1' la valeur de n, et
  • un bouclage 214 au cours duquel le procédé de nettoyage 200 boucle sur l'étape d'avancement 204,
dans le cas où n est égal à N, le procédé de nettoyage 200 se poursuit par:
  • une étape de finition 216 au cours de laquelle l'unité de contrôle 112 commande les moteurs 108 et 110 pour avancer le robot 100 le long de la paroi verticale de rang '1' (ici la paroi verticale référencée 53) dans la direction d'avancement 116, jusqu'à la détection de la paroi verticale de rang '2' (ici la paroi verticale référencée 54) par le détecteur de contact 114, et
  • une étape d'arrêt 218.
The cleaning method 200 comprises:
  • a stagger step 202 during which the control unit 112 controls the motors 108 and 110 to wedge the robot 100 against the vertical wall of rank n = 1, here the vertical wall referenced 53 for example,
  • an advancement step 204 during which the control unit 112 controls the motors 108 and 110 to advance the robot 100 along the vertical wall of rank n in the direction of advance 116, until the detection of the vertical wall of rank n + 1 (here the vertical wall referenced 54) by the contact detector 114,
  • a step of clearing 206 during which the control unit 112 controls the motors 108 and 110 to move the robot 100 in the direction opposite to the direction of advance 116, over a clearance distance to disengage from the vertical wall of rank n + 1,
  • a step of rotation 208 during which the control unit 112 controls the motors 108 and 110 to make the robot 100 rotate on itself to wedge against the vertical wall of rank n + 1, here the rotation is made to the right to come against the vertical wall referenced 54, for example by rotating the left wheels 104 which are against the vertical wall 53, 54 forwards and by rotating the right wheels 106 which are not against a vertical wall 53 , 54 back,
  • a test step 210 during which the control unit 112 checks whether n is equal to N,
in the case where n is different from N, the cleaning process 200 continues with:
  • an incrementing step 212 during which the control unit 112 increments the value of n by 1, and
  • a loopback 214 during which the cleaning process 200 loops on the advancement step 204,
in the case where n is equal to N, the cleaning method 200 continues with:
  • a finishing step 216 during which the control unit 112 controls the motors 108 and 110 to advance the robot 100 along the vertical row wall '1' (here the vertical wall referenced 53) in the direction of advance 116, until the detection of the vertical wall of rank '2' (here the vertical wall referenced 54) by the contact detector 114, and
  • a stop step 218.

L'étape de finition 216 permet de compléter le nettoyage du coin 55 de la première paroi verticale 53 au cas où le nettoyage a débuté le long de cette première paroi verticale 53 et non au début de celle-ci.The finishing step 216 completes the cleaning of the corner 55 of the first vertical wall 53 in the event that the cleaning has started along this first vertical wall 53 and not at the beginning thereof.

L'ensemble des coins 55, 56 est ainsi parfaitement nettoyé.The set of corners 55, 56 is thus perfectly cleaned.

L'ensemble des manoeuvres est commandé par l'unité de contrôle 112 qui reçoit des informations du détecteur de contact 114 et commande les moteurs 108 et 110.All the maneuvers are controlled by the control unit 112 which receives information from the contact detector 114 and controls the motors 108 and 110.

L'étape de dégagement 206 permet de reculer le robot 100 de la paroi verticale 54 avec laquelle il est en contact par l'avant, afin de permettre ensuite sa rotation sans risque de contact avec cette paroi verticale 54. La distance de dégagement dépend donc de l'encombrement du robot 100.The step of disengagement 206 makes it possible to turn back the robot 100 of the vertical wall 54 with which it is in contact by the front, in order then to allow its rotation without risk of contact with this vertical wall 54. The clearance distance therefore depends the size of the robot 100.

Après l'étape d'arrêt 218, le robot 100 peut partir dans un autre cycle de nettoyage par exemple pour nettoyer le reste du fond 52.After the stopping step 218, the robot 100 can leave in another cleaning cycle, for example to clean the remainder of the bottom 52.

Ainsi l'unité de contrôle 112 est prévue:

  • pour commander les moteurs 108 et 110 afin de caler le robot 100 contre une paroi verticale (ici la paroi verticale de rang 1, 53),
  • pour commander les moteurs 108 et 110 afin d'avancer le robot 100 le long d'une paroi verticale (d'abord la paroi verticale de rang 1 puis les parois verticales suivantes de rang 'n') tant que le détecteur de contact 114 ne détecte aucun contact (c'est-à-dire avec la paroi verticale de rang 'n+1'),
  • pour commander les moteurs 108 et 110 afin de reculer le robot 100 sur une distance de dégagement lorsque le détecteur de contact 114 détecte un contact afin de dégager le robot 100 de la paroi verticale de rang n+1,
  • pour commander les moteurs 108 et 110 afin de faire faire au robot 100 une rotation sur lui-même après le dégagement et caler le robot 100 contre la paroi verticale de rang n+1,
  • pour vérifier si n est égal à N,
dans le cas où n est différent de N:
  • pour incrémenter de '1' la valeur de n, et
dans le cas où n est égal à N:
  • pour commander les moteurs 108 et 110 afin d'avancer le robot 100 le long d'une paroi verticale (ici la paroi verticale de rang '1' 53) tant que le détecteur de contact 114 ne détecte aucun contact.
Thus the control unit 112 is provided:
  • to control the motors 108 and 110 to wedge the robot 100 against a vertical wall (here the vertical wall of rank 1, 53),
  • to control the motors 108 and 110 in order to advance the robot 100 along a vertical wall (first the vertical wall of rank 1 then the vertical walls of rank 'n') as long as the contact detector 114 does not detects no contact (that is to say with the vertical wall of rank 'n + 1'),
  • for controlling the motors 108 and 110 to move the robot 100 back a clearance distance when the contact sensor 114 detects a contact to disengage the robot 100 from the vertical wall of rank n + 1,
  • to control the motors 108 and 110 in order to make the robot 100 rotate on itself after the clearance and wedge the robot 100 against the vertical wall of rank n + 1,
  • to check if n is equal to N,
in the case where n is different from N:
  • to increment the value of n by 1, and
in the case where n is equal to N:
  • for controlling the motors 108 and 110 to advance the robot 100 along a vertical wall (here the vertical row wall '1' 53) until the contact sensor 114 detects no contact.

Le robot 100 comporte des moyens d'interface, par exemple du type clavier, qui permettent de mémoriser dans l'unité de contrôle 112 le nombre N de parois verticales 53, 54, et le ou les angles de rotation.The robot 100 comprises interface means, for example of the keyboard type, which make it possible to store in the control unit 112 the number N of vertical walls 53, 54, and the angle or angles of rotation.

Si chaque angle de rotation est identique, seule cette valeur peut être mémorisée et le nettoyage peut débuter à partir de n'importe quelle paroi verticale 53, 54. A chaque étape de rotation 208, l'unité de contrôle 112 lit la valeur de l'angle de rotation puis effectue la rotation correspondante.If each angle of rotation is the same, only this value can be stored and cleaning can start from any vertical wall 53, 54. At each rotation step 208, the control unit 112 reads the value of the angle of rotation and then performs the corresponding rotation.

Si les angles de rotation ne sont pas tous identiques, la série d'angles de rotation peut être mémorisée et le nettoyage débutera alors toujours à partir de la même paroi verticale 53, 54 pour suivre la série. A chaque étape de rotation 208, l'unité de contrôle 112 lit, parmi la série d'angles de rotation, la valeur de l'angle de rotation correspondante à sa position dans le bassin 50, c'est-à-dire par rapport à la paroi verticale 54 qu'il a atteint, puis il effectue la rotation correspondante.If the angles of rotation are not all the same, the series of angles of rotation can be memorized and the cleaning will then always start from the same vertical wall 53, 54 to follow the series. At each rotation step 208, the control unit 112 reads, from the series of angles of rotation, the value of the angle of rotation corresponding to its position in the basin 50, that is to say relative to to the vertical wall 54 that it has reached, then it performs the corresponding rotation.

Du fait des erreurs de parallélisme aussi bien entre les parois verticales 53, 54 et les roues 104 et 106 du robot 100, et pour assurer que le robot 100 suive bien au plus près chaque paroi verticale 53, 54, le robot 100 est contraint de rouler contre la paroi verticale 53, 54 par l'unité de contrôle 112 qui le force à rouler en crabe au cours des étapes d'avancement 204 et de finition 216, plus particulièrement contre la paroi de verticale de rang 'n' au cours de l'étape d'avancement 204 et contre la paroi de rang '1' au cours de l'étape de finition 216.Due to the errors of parallelism both between the vertical walls 53, 54 and the wheels 104 and 106 of the robot 100, and to ensure that the robot 100 follows well at most near each vertical wall 53, 54, the robot 100 is forced to roll against the vertical wall 53, 54 by the control unit 112 which forces it to roll in crab during the progress 204 and finishing 216 stages, plus particularly against the vertical wall of rank 'n' during the advancement step 204 and against the rank wall '1' during the finishing step 216.

Cette contrainte est réalisée par exemple par une vitesse de rotation moins importante des roues 104 qui sont contre la paroi verticale 53, 54 que celle des roues 106 qui ne sont pas contre la paroi verticale 53, 54. Dans ce mode de réalisation, l'unité de contrôle 112 commande donc le moteur 108 des roues 104 qui sont contre la paroi verticale 53, 54 et le moteur 110 des roues 106 qui ne sont pas contre la paroi verticale 53, 54 pour obtenir une vitesse moindre des roues 104 qui sont contre la paroi verticale 53, 54 que celle des roues 106 qui ne sont pas contre la paroi verticale 53, 54. Un tel décalage de vitesse est par exemple de l'ordre de 15%.This constraint is achieved for example by a lower speed of rotation of the wheels 104 which are against the vertical wall 53, 54 than that of the wheels 106 which are not against the vertical wall 53, 54. In this embodiment, the control unit 112 therefore controls the motor 108 of the wheels 104 which are against the vertical wall 53, 54 and the motor 110 of the wheels 106 which are not against the vertical wall 53, 54 to obtain a lower speed of the wheels 104 which are against the vertical wall 53, 54 that the wheels 106 which are not against the vertical wall 53, 54. Such a shift is for example of the order of 15%.

Cette contrainte peut également être réalisée par la mise en place, dans le robot 100, d'un gyroscope 118 présentant un décalage angulaire par rapport à la direction d'avancement 116 du robot 100. Ce décalage angulaire est par exemple de l'ordre de 7° orienté vers la paroi verticale 53, 54. Lorsque le robot 100 suit alors la direction donnée par le gyroscope 118, il vient au contact de la paroi verticale 53, 54 à cause du décalage angulaire.This constraint can also be achieved by setting up, in the robot 100, a gyroscope 118 having an angular offset with respect to the advancement direction 116 of the robot 100. This angular offset is for example of the order of 7 ° oriented towards the vertical wall 53, 54. When the robot 100 then follows the direction given by the gyro 118, it comes into contact with the vertical wall 53, 54 because of the angular offset.

Pour assurer un déplacement régulier du robot 100 le long de la paroi verticale 53, 54, le robot présente une roulette de contact 120 à axe de rotation vertical qui assure le contact contre la paroi verticale 53, 54 et le roulement du robot 100 sur la paroi verticale 53, 54.To ensure a smooth movement of the robot 100 along the vertical wall 53, 54, the robot has a contact roller 120 with a vertical axis of rotation which ensures contact against the vertical wall 53, 54 and the rolling of the robot 100 on the vertical wall 53, 54.

Pour assurer qu'après l'étape de rotation 208, le robot 100 soit déjà contraint contre la paroi verticale 53, 54 à suivre, l'angle de rotation est inférieur à l'angle réel entre les parois verticales 53 et 54 au niveau de la rotation, par exemple de l'ordre de 10°. Par exemple, lorsque le bassin 50 est rectangulaire, chaque rotation s'effectue sur un angle de 80° environ.To ensure that after the step of rotation 208, the robot 100 is already forced against the vertical wall 53, 54 to follow, the angle of rotation is less than the actual angle between the vertical walls 53 and 54 at the level of the rotation, for example of the order of 10 °. For example, when the basin 50 is rectangular, each rotation takes place at an angle of about 80 °.

Pour assurer encore un meilleur suivi des parois verticales 53 et 54 par le robot 100, par exemple dans le cas d'un bassin 50 à formes libres, le robot 100 présente en outre un détecteur de distance 122 qui est monté sur le châssis 102 et qui permet à l'unité de contrôle 112 de mesurer la distance entre le robot 100 et la paroi verticale 53, 54 qu'il suit.To further ensure a better follow-up of the vertical walls 53 and 54 by the robot 100, for example in the case of a basin 50 with free shapes, the robot 100 further has a distance detector 122 which is mounted on the frame 102 and which allows the control unit 112 to measure the distance between the robot 100 and the vertical wall 53, 54 it follows.

Le détecteur de distance 122 peut être par exemple un capteur mécanique ou électrique.The distance detector 122 may be for example a mechanical or electrical sensor.

Si au cours des étapes d'avancement 204 et de finition 216, le détecteur de distance 122 mesure une distance supérieure à un seuil, l'unité de contrôle 112 commande chaque moteur 108, 110 de manière à ce que la vitesse des roues 104 qui sont contre la paroi verticale 53, 54 soit inférieure à la vitesse des roues 106 qui ne sont pas contre la paroi verticale 53, 54.If during the progress 204 and finishing 216 steps, the distance detector 122 measures a distance greater than a threshold, the control unit 112 controls each motor 108, 110 so that the speed of the wheels 104 which are against the vertical wall 53, 54 is less than the speed of the wheels 106 which are not against the vertical wall 53, 54.

Bien entendu, la présente invention n'est pas limitée aux exemples et modes de réalisation décrits et représentés, mais elle est susceptible de nombreuses variantes accessibles à l'homme de 1' art et dans le cadre des revendications ci-jointes.Of course, the present invention is not limited to the examples and embodiments described and shown, but it is capable of many variants accessible to those skilled in the art and within the scope of the appended claims.

Claims (9)

  1. Method for cleaning (200) a pool (50) comprising a bottom (52) and N vertical walls (53, 54) by means of a robot (100) comprising a contact detector (114) and a chassis (102), on which a set of left-hand wheels (104) and a set of right-hand wheels (106) are mounted, each set being rotated by a motor (108, 110) controlled by a control unit (112), the cleaning method (200) comprising:
    - a step of adjusting (202) during which the control unit (112) controls the motors (108, 110) to adjust the robot (100) against the vertical wall of rank n=1,
    - a step of advancing (204) during which the control unit (112) controls the motors (108, 110) to advance the robot (100) along the vertical wall of rank n until the detection of the vertical wall of rank n+1 by the contact detector (114),
    - a step of releasing (206) during which the control unit (112) controls the motors (108, 110) to withdraw the robot (100) over a release distance in order to be released from the vertical wall of rank n+1,
    - a step of rotation (208) during which the control unit (112) controls the motors (108, 110) to make the robot (100) rotate on itself in order to be adjusted against the vertical wall of rank n+1,
    - a step of testing (210) during which the control unit (112) checks whether n is equal to N,
    when n is different from N, the cleaning method (200) further comprises:
    - a step of incrementing (212) during which the control unit (112) increments the value of n by "1", and
    - a step of looping (214) during which the cleaning method (200) loops onto the step of advancing (204),
    when n is equal to N, the cleaning method (200) continues with:
    - a step of finishing (216) during which the control unit (112) controls the motors (108, 110) to advance the robot along the vertical wall of rank "1" until the detection of the vertical wall of rank "2" by the contact detector (114), and
    - a step of stopping (218).
  2. Cleaning method (200) according to claim 1, characterized in that during the steps of advancing (204) and finishing (216), the control unit (112) forces the robot (100) to run against the vertical wall (53, 54).
  3. Cleaning method (200) according to claim 2, characterized in that the control unit (112) controls each of the motors (108, 110) in such way that the speed of the wheels (104) that are against the vertical wall (53, 54) is less than the speed of the wheels (106) that are not against the vertical wall (53, 54).
  4. Cleaning method (200) according to claim 2, characterized in that the robot (100) comprises a gyroscope (118) having an angular offset with respect to the direction of advancement (116) of the robot (100).
  5. Cleaning method according to one of the claims 1 to 4, characterized in that during the step of rotation (208), the rotation angle is less than the actual angle between the vertical walls (53, 54).
  6. Cleaning method (200) according to one of the claims 1 to 5, characterized in that the robot (100) comprises a distance detector (122) configured to measure the distance between the robot (100) and the vertical wall (53, 54) that the robot (100) is following, and in that, during the steps of advancing (204) and finishing (216), when the distance measured is greater than a threshold, the control unit (112) controls each of the motors (108, 110) in such way that the speed of the wheels (104) that are against the vertical wall (53, 54) is less than the speed of the wheels (106) that are not against the vertical wall (53, 54).
  7. Robot (100) intended to clean a pool (50) comprising a bottom (52) and N vertical walls (53, 54), and comprising a contact detector (114), a chassis (102) on which a set of left-hand wheels (104) and a set of right-hand wheels (106) are mounted, each set being rotated by a motor (108, 110) controlled by a control unit (112), said robot (100) being such that:
    - the control unit (112) is intended to control the motors (108, 110) in order to adjust the robot (100) against a vertical wall,
    - the control unit (112) is intended to control the motors (108, 110) so as to advance the robot (100) along a vertical wall as long as the contact detector (114) detects no contact,
    - the control unit (112) is intended to control the motors (108, 110) in order to withdraw the robot (100) over a release distance when the contact detector (114) detects a contact,
    - the control unit (112) is intended to control the motors (108, 110) in order to make the robot (100) rotate on itself after the release,
    - the control unit being (112) is intended to check whether n is equal to N,
    when n is different from N:
    - the control unit (112) is intended to increment the value of n by "1", and
    when n is equal to N:
    - the control unit (112) is intended to control the motors (108, 110) in order to advance the robot (100) along a vertical wall as long as the contact detector (114) detects no contact.
  8. Robot (100) according to claim 7, characterized in that it comprises a gyroscope (118) having an angular offset with respect to the direction of advancement (116) of the robot (100).
  9. Robot (100) according to one of the claims 7 or 8, characterized in that it comprises a contact roller (120) with a vertical rotation axis (120) intended to ensure the contact against the vertical wall (53, 54).
EP14176788.9A 2013-07-11 2014-07-11 Method for cleaning a tank using a robot Active EP2824256B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1356818A FR3008442B1 (en) 2013-07-11 2013-07-11 METHOD OF CLEANING A BASIN USING A ROBOT

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EP (1) EP2824256B1 (en)
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016003077A1 (en) * 2014-07-01 2016-01-07 Samsung Electronics Co., Ltd. Cleaning robot and controlling method thereof
EP4100596A1 (en) * 2020-03-09 2022-12-14 Zodiac Pool Care Europe Method of effecting lateral movement of an automatic pool cleaner along a surface of a swimming pool

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3676884A (en) * 1970-04-14 1972-07-18 Stanley S Wulc Random motion suction cleaner
DE2726577C3 (en) * 1976-06-28 1981-11-19 Sommer, Schenk AG, Schinznach-Dorf Cleaning device for underwater cleaning of swimming pools
US5337434A (en) * 1993-04-12 1994-08-16 Aqua Products, Inc. Directional control means for robotic swimming pool cleaners
IL109394A (en) * 1994-04-22 1997-03-18 Maytronics Ltd Swimming pool cleaning, navigational control system and method
ES2221276T3 (en) * 1998-09-23 2004-12-16 3S Systemtechnik Ag SWIMMING POOL CLEANING DEVICE.
CN1240338C (en) * 2001-12-05 2006-02-08 温馨环保工程技术有限公司 Self-walking type sweeping device and method thereof
US7797780B2 (en) * 2004-11-12 2010-09-21 Smartpool, Inc. Wheel arrangement for swimming pool cleaner
US8623201B2 (en) * 2009-08-31 2014-01-07 Smartpool Llc Pool cleaning vehicle having improved logic

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US20150027959A1 (en) 2015-01-29
US9353542B2 (en) 2016-05-31
FR3008442B1 (en) 2015-08-21
EP2824256A2 (en) 2015-01-14
ES2606979T3 (en) 2017-03-28
EP2824256A3 (en) 2015-04-01

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