EP3126595B1 - Swimming-pool cleaning robot with adjustable pumping power - Google Patents
Swimming-pool cleaning robot with adjustable pumping power Download PDFInfo
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- EP3126595B1 EP3126595B1 EP15719797.1A EP15719797A EP3126595B1 EP 3126595 B1 EP3126595 B1 EP 3126595B1 EP 15719797 A EP15719797 A EP 15719797A EP 3126595 B1 EP3126595 B1 EP 3126595B1
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- Prior art keywords
- cleaning robot
- robot
- pool
- cleaning
- pump
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
Definitions
- the present invention relates to the field of swimming pool equipment. It relates more particularly to a swimming pool cleaning device capable of moving along inclined walls.
- the invention relates to a device for cleaning a surface immersed in a liquid, such as a surface formed by the walls of a pool, in particular a swimming pool.
- a mobile pool cleaning robot Such a cleaning robot carries out said cleaning by traversing the bottom and walls of the pool of the pool, brushing these walls, and sucking the debris to a filter.
- Debris means all the particles present in the basin, such as pieces of leaves, microalgae, etc., these debris being normally deposited at the bottom of the basin or glued on the side walls thereof.
- the robot is powered by an electrical cable connecting the robot to an outdoor control unit and power supply.
- patents are known FR 2 925 557 and 2,925,551 , of the Applicant, which are aimed at a submerged surface cleaner device with removable filter device.
- Such devices generally comprise a body, drive members of said body on the immersed surface, a filtration chamber formed within the body and comprising a liquid inlet, a liquid outlet, a hydraulic circuit for circulating liquid between the body. input and output through a filter device.
- the patent is still known FR 2 954 380 , from the same applicant, who aims a pool cleaning robot with an accelerometer to determine changes in attitude within the pool.
- the robot is removed from the water by the user at the end of the cycle or at regular intervals to be cleaned, when the filter is too full of particles (leaves, microparticles etc.).
- WO 2013/060984 a submerged surface cleaning apparatus of a pool comprising, upon activation of a return control button, a return instruction issued by a programmed control device which is adapted to inhibit a cleaning program and control the device for driving the device to drive it to the surface of the water thus facilitating the removal of water performed by the user.
- the invention therefore aims to solve some of these problems.
- the invention also relates in particular to a swimming pool cleaning device whose energy consumption is reduced.
- a “pool cleaning robot” is a device for cleaning a submerged surface, that is to say, typically a device, mobile within or at the bottom of a swimming pool, and adapted to carry out the filtration debris deposited on a wall.
- a cleaning robot of swimming pool when it includes means of automated management of movements at the bottom and on the walls of the pool to cover the entire surface to be cleaned.
- liquid Abbreviated as “liquid”, the term “liquid” is used to describe the mixture of water and debris suspended in the pool or in the fluid circulation circuit within the cleaning apparatus.
- the means for generating a plating force of the robot comprise at least one liquid inlet located under the cleaning robot. It is understood that the terms below and above refer to a reference related to the position of the cleaning robot on a surface that it travels. The underside of the robot being located between said robot and the wall traveled, and the top of the robot being the part of the robot farthest from the surface traveled.
- the means for generating a plating force of the robot comprise at least one liquid outlet located above the cleaning robot.
- At least one liquid outlet produces a liquid jet substantially perpendicular to the support plane of the cleaning robot on its support surface.
- the means for determining the adhesion of the cleaning robot to the surface, when this surface is a side wall of the pool comprises a determination of the level reached by the robot at the end of the climb along the surface. a pool side wall, and / or a determination of the air intake by said robot at the end of climb.
- the means for determining the adhesion of the cleaning robot to the surface, when this surface is a side wall of the swimming pool comprises a determination of the robot's descent time at the bottom of the pool, and / or a determination of the air intake by said robot at the end of climb.
- the invention also relates to a cleaning robot comprising an external power supply and control unit, said outdoor unit having means for displaying the chosen pump power, and modification control means of this choice.
- the invention also relates to an immersed surface cleaning apparatus characterized in combination by all or some of the characteristics mentioned above or below.
- the invention finds its place in a swimming pool technical environment, for example a family-type buried pool.
- An immersed surface cleaning apparatus comprises, in the present non-limiting embodiment, a cleaning unit, hereinafter referred to as a pool cleaning robot, and a feeding and control unit of said pool cleaning robot.
- the cleaning unit is represented according to an embodiment given here by way of example, in Figures 1 and 2 .
- the pool cleaning robot 10 comprises a body 11 and a driving and guiding device comprising driving and guiding members 12 of the body on a submerged surface.
- these driving and guiding members consist of wheels or caterpillars arranged laterally to the body (see FIG. figure 1 ).
- the pool cleaning robot 10 further comprises a motor driving said driving and guiding members, said motor being fed, in the present embodiment, via an on-board card.
- the drive and guide members define a guide plane on a surface immersed by their points of contact with said immersed surface.
- Said guide plane parallel to the plane formed by the longitudinal and transverse axes, is generally substantially tangential to the immersed surface at the point where the device is located.
- Said guide plane is for example substantially horizontal when the device moves on a submerged surface of the pool bottom.
- the pool cleaning robot 10 comprises a water filtration circuit comprising at least one liquid inlet 13 and a liquid outlet 14.
- the liquid inlet 13 is, in the present nonlimiting example, situated at the base of the body 11 (in other words under it, when the pool cleaning robot 10 is placed in its normal operating position at the bottom of the pool), that is to say immediately facing a surface immersed on which moves the pool cleaning robot 10 so as to suck debris accumulated on said immersed surface.
- the liquid outlet 14 is on the top of the pool cleaning robot 10.
- the liquid outlet 14 is in a direction substantially perpendicular to the guide plane, that is to say vertically if the pool cleaning robot 10 rests on the bottom of the pool, and horizontally if the cleaning appliance is going through a vertical wall of the pool.
- the water filtration circuit connects the liquid inlet 13 to the liquid outlet 14.
- the water filtration circuit is adapted to ensure a flow of liquid from the liquid inlet 13 to the liquid outlet 14
- the pool cleaning robot 10 comprises a pump (not shown in the figures) comprising a motor and a propeller (also not visible in the figures), said motor driving the rotating propeller, said propeller being disposed in the hydraulic circuit.
- the apparatus comprises a filtration chamber 15 interposed on the hydraulic circuit between the liquid inlet 13 and the liquid outlet 14.
- the filtration chamber 15 comprises a filter basket 16 and a cover 17 forming the upper wall of the filtration chamber 15.
- the filter basket 16 is extractable, that is to say it can be extracted from and introduced into the body 11 of the cleaning robot 10.
- the body 11 of the cleaning robot 10 has a housing for this purpose. wherein the filter basket 16 can be mounted.
- the fact that the filter basket 16 is extractable makes it easy to empty, especially without having to handle the robot 10 in its entirety.
- the pool cleaning robot 10 is supplied with energy by means of a sealed flexible cable.
- this flexible cable is attached to the body of the pool cleaning robot 10 at its upper part.
- This flexible cable is connected at its other end to the power supply unit (not shown on the figure 1 ), disposed outside the basin, this power unit is itself connected to the electric current on the sector.
- the pool cleaning robot 10 further comprises here a gripping handle 18 adapted to allow a user to take the robot out of the water, especially when cleaning the filter.
- the cleaning robot 10 has means for determining at any time its attitude in the pool.
- the cleaning robot 10 comprises for example at least one type of accelerometer known per se, or a means of detection of vertical passage type "tilt” or other equivalent device known to those skilled in the art.
- This accelerometer is for example used to determine that the cleaning robot is climbing along a side wall of the pool and not only to determine that the robot has arrived in a water line as described in the description. prior art ( WO 2013/060984 ).
- the operating parameters of the cleaning robot 10, such as, for example, the type of cleaning cycle requested by the user, are set via a user interface located on the power and control unit. , and computing means hosted in this power supply and control unit.
- a cleaning robot frequently has two cleaning cycles.
- a first cycle the robot travels, for example pseudo-randomly the bottom of the pool, and cleans it, without climbing along the side walls.
- the robot travels both the bottom of the pool and rises along the side walls, so as to take off the debris that is stuck to it, or that concentrate at the water line.
- the robot climbs along the side wall, emerges partially to rub the water line with its brush, tilts to move laterally along the wall, and plunges back by reversing its direction to go down to the bottom while still cleaning the wall.
- the user interface of the power and control unit comprises means for controlling the power level of the pump when the cleaning robot is climbing along a side wall. of the swimming pool.
- This pump causes, on the one hand, a suction of water at the inlet water 13 located under the robot, so closer to the surface against which the robot evolves, and, on the other hand, a water outlet through the water outlet 14, which is substantially perpendicular to the support plane of the robot and thus to the traveled surface.
- These two phenomena suction under the robot and discharge of pressurized water above the robot, determine plating forces exerted on the robot towards the surface that it is going through.
- the grip of the robot on the wall is increased, which facilitates its ascent.
- Such means for generating a plating force differ from the prior art in which the rise of the pool walls by the pool cleaning robots is carried out by means of propulsion of the robot in a desired direction and with a certain amount of force. the robot's progress along the walls.
- Such a posteriori adjustment of the plating force appears desirable when the conditions of adhesion of the robot on the surface do not comply with the "standard" conditions for which the robot has been pre-set at the factory outlet.
- the robot is in fact usually preset for a power of 60 to 80% of its maximum power when the accelerometer (or a means of detection of passage to the vertical or a rise angle greater than a predetermined value) determines that the robot is being mounted on the side walls of the pool.
- the surfaces of the smoothest to the roughest can be schematically distributed, the tile type surfaces being very slippery, followed by fiberglass or vinyl liner surfaces. Concrete or agglomerate type surfaces of gravel or plastic particles being the roughest. It is also known that some pools have water lines materialized by a very slippery tiled area, which then has friction characteristics significantly different from the rest of the walls of the pool.
- the robot may have used drive and guiding means that reduce or modify its adhesion to the surface of the walls of the pool.
- the pump itself may have non-nominal operating characteristics, resulting in incorrect rise behavior along the sidewalls of the pool.
- the pool can see its walls made particularly slippery by the presence of algae.
- the user interface accessible thereto on the power supply and control unit, comprises, in the present example, a visual indicator of the upstream pump power setting, and a control button for modifying this power. climbing pump.
- the visual indicator may consist of four light-emitting diodes aligned horizontally facing the user, thus forming a cursor.
- the pump power is set to minimum, only the leftmost diode is lit.
- the other diodes are lit gradually from the left depending on the chosen power level.
- Each user's support on the control button changes the power cyclically between its possible positions, four successive presses returning the setting to its initial value.
- the user visually determines up to what level his cleaning robot 10 rides along the wall, and if said robot comes aspirate air as it emerges, and infers a possible change in pump setting.
- This setting remains stored for the future use cycles of the cleaning robot, or until the next user setting change.
- the standard setting of the power of the pump is 60% when the robot is determined to be running through a side wall of the pool, which corresponds to a typical case. for American type pools (relatively adherent wall).
- the figure 3 illustrates the case of a manual adjustment of the pump power.
- the pump has four adjustment levels available to the user: 50%, 60%, 80% and 100%. These values are naturally given here merely by way of example, and are not limiting in number of settings or in values thereof.
- step 301 if the user visually determines that the cleaning robot 10 does not rise beyond the water line and does not aspire to air (step 301), it verifies that the cleaning robot however reaches the water line and the brush (step 302). If this is the case, it is that the behavior in line of water is satisfactory. The setting of the pump is correct and no change is necessary.
- the cleaning robot 10 if the cleaning robot 10 emerges from the water and draws in air (step 301), the power must be reduced by one notch, hence here to 50%, and the user supports for this purpose three on the control button, which is visually reflected by the return to the only left diode on. More generally, as long as the minimum power of the pump on the wall has not been reached and the robot continues to behave unsatisfactorily (step 303), the wall pump power must be reduced (step 304). .
- the power must be increased, in our example to 80%.
- the user presses once on the control button, which visually translates into the lighting of the three left diodes.
- step 305 it is necessary to increase the pump power in the wall (step 306).
- the user notices that the robot is still under the water line at the end of the climb, it increases the power again to bring it to 100%, the four LEDs of the indicator visual then being lit.
- step 401 if the cleaning robot 10 determines that it does not rise beyond the water line and does not draw air (step 401), it verifies that it does not remain below the water line (step 402). If this is the case, it is that the behavior in line of water is satisfactory. The setting of the pump is correct and no change is necessary.
- step 401 if the cleaning robot 10 emerges from the water and draws in air (step 401), as long as the minimum power of the pump on the wall has not been reached and the robot continues to behave unsatisfactorily (step 403), the robot decrements the wall pump power (step 405).
- the cleaning robot 10 rises slowly and always remains below the water line (step 402), as long as the maximum power of the pump on the wall has not been reached and the robot continues to behaving unsatisfactorily (step 404), the robot increases the wall pump power (step 406).
- the accelerometer in combination with a stopwatch to determine the time between the reversal of direction of rotation of the cleaning robot drive means 10 can take place at any height on the wall and / or entrance of air in the hydraulic circuit of the cleaning robot 10 when it arrives in line of water, and the change of attitude of the cleaning robot 10 when it tilts from the wall towards the bottom of the pool.
- This duration is an image of the height of the wall and the adhesion of the cleaning robot 10. If this duration is abnormally low, the plating force and therefore the adhesion of the cleaning robot 10 are increased.
- an apparatus according to the invention does not include its own pump and is connected to an external hydraulic circuit, for example outside a swimming pool, comprising a pump and creating a suction at the end of a pipe connectable to the hydraulic circuit of the device, for example at its liquid outlet.
- the cleaning robot 10 is provided with means for determining its climbing speed along the side wall, and automatically infers the level of adhesion of the robot on this wall.
- These means can for example take the form of a chronometer which determines the time between the change of attitude of the robot (passage to the vertical) and the moment when the cleaning robot 10 emerges from the water (also detected by the robot).
- accelerometer the stopwatch also determining the time of descent of the robot to the bottom of the pool. This time of descent is relatively independent of the adhesion of the robot on the side wall. It allows to estimate the height of the wall.
- the comparison between the descent time and the rise time gives an image of the adhesion of the wall which leads to an adjustment of the plating force if this adhesion of the wall is outside a predetermined range.
- the robot determines in real time its climbing speed along a wall, and adjusts its pump power accordingly.
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Description
La présente invention relève du domaine des équipements pour piscines. Elle concerne plus particulièrement un appareil de nettoyage de piscine capable de se mouvoir le long de parois inclinées.The present invention relates to the field of swimming pool equipment. It relates more particularly to a swimming pool cleaning device capable of moving along inclined walls.
L'invention concerne un appareil nettoyeur de surface immergée dans un liquide, telle qu'une surface formée par les parois d'un bassin, notamment d'une piscine. Il s'agit notamment d'un robot mobile de nettoyage de piscine. Un tel robot de nettoyage réalise ledit nettoyage en parcourant le fond et les parois du bassin de la piscine, en brossant ces parois, et en aspirant les débris vers un filtre. On désigne par débris toutes les particules présentes au sein du bassin, telles que morceaux de feuilles, microalgues, etc., ces débris étant normalement déposés au fond du bassin ou collés sur les parois latérales de celui-ci.The invention relates to a device for cleaning a surface immersed in a liquid, such as a surface formed by the walls of a pool, in particular a swimming pool. These include a mobile pool cleaning robot. Such a cleaning robot carries out said cleaning by traversing the bottom and walls of the pool of the pool, brushing these walls, and sucking the debris to a filter. Debris means all the particles present in the basin, such as pieces of leaves, microalgae, etc., these debris being normally deposited at the bottom of the basin or glued on the side walls thereof.
Le plus couramment, le robot est alimenté en énergie par un câble électrique reliant le robot à une unité extérieure de commande et d'alimentation.Most commonly, the robot is powered by an electrical cable connecting the robot to an outdoor control unit and power supply.
On connaît, par exemple, dans ce domaine, les brevets
Ces appareils disposent de programmes automatiques de nettoyage du fond du bassin et éventuellement des parois latérales du bassin. Un tel programme détermine un nettoyage de la piscine en un temps prédéterminé, par exemple d'une heure et demie. On connait par exemple, la demande de brevet
Généralement, le robot est retiré de l'eau par l'utilisateur à la fin du cycle ou à intervalles réguliers pour être nettoyé, lorsque le filtre est trop plein de particules (feuilles, microparticules etc.). On connaît d'ailleurs la demande de brevet
Par ailleurs, dans l'art antérieur, selon que le robot de nettoyage parvenait correctement ou non à monter le long des parois de la piscine pour nettoyer celles-ci, il était connu de lui ajouter des lests ou des flotteurs pour corriger son comportement. Il est clair que cette installation n'était pas aisée, demandait des moyens complémentaires non disponibles à l'utilisateur final du robot, et provoquait des variations importantes de comportement du robot dans l'ensemble de ses évolutions.Furthermore, in the prior art, depending on whether or not the cleaning robot was able to climb the walls of the pool to clean them, it was known to add ballast or floats to correct its behavior. It is clear that this installation was not easy, asked additional resources not available to the end user of the robot, and caused significant variations in the behavior of the robot in all its developments.
L'invention vise donc à résoudre certains de ces problèmes. L'invention vise par ailleurs notamment un appareil de nettoyage de piscine dont la consommation d'énergie soit réduite.The invention therefore aims to solve some of these problems. The invention also relates in particular to a swimming pool cleaning device whose energy consumption is reduced.
L'invention vise sous un premier aspect un robot de nettoyage de piscine comprenant :
- un corps,
- au moins un circuit hydraulique de circulation de liquide entre au moins une entrée de liquide et au moins une sortie de liquide,
- des moyens d'entrainement et de guidage dudit robot de nettoyage sur une surface,
- des moyens de générer une force de plaquage du robot de nettoyage sur ladite surface,
- des moyens de détermination de l'adhérence du robot de nettoyage sur la surface,
- des moyens de modifier la force de plaquage du robot de nettoyage sur ladite surface, selon l'adhérence déterminée.
- a body,
- at least one liquid circulation hydraulic circuit between at least one liquid inlet and at least one liquid outlet,
- means for driving and guiding said cleaning robot on a surface,
- means for generating a plating force of the cleaning robot on said surface,
- means for determining the adhesion of the cleaning robot to the surface,
- means for modifying the plating force of the cleaning robot on said surface, according to the determined adhesion.
On appelle "robot de nettoyage de piscine" un appareil pour le nettoyage d'une surface immergée, c'est-à-dire typiquement un appareil, mobile au sein ou au fond d'un bassin de piscine, et adapté à effectuer la filtration de débris déposés sur une paroi. Un tel appareil est communément connu sous le nom de robot de nettoyage de piscine, lorsqu'il comporte des moyens de gestion automatisée des déplacements au fond et sur les parois de la piscine pour couvrir toute la surface à nettoyer.A "pool cleaning robot" is a device for cleaning a submerged surface, that is to say, typically a device, mobile within or at the bottom of a swimming pool, and adapted to carry out the filtration debris deposited on a wall. Such a device is commonly known as a cleaning robot of swimming pool, when it includes means of automated management of movements at the bottom and on the walls of the pool to cover the entire surface to be cleaned.
On nomme ici par abus de langage "liquide" le mélange d'eau et de débris en suspension dans la piscine ou dans le circuit de circulation de fluide au sein de l'appareil de nettoyage.Abbreviated as "liquid", the term "liquid" is used to describe the mixture of water and debris suspended in the pool or in the fluid circulation circuit within the cleaning apparatus.
Dans un mode de réalisation particulier, les moyens de générer une force de plaquage du robot comprennent au moins une entrée de liquide localisée sous le robot de nettoyage. On comprend que les termes de dessous et dessus font référence à un repère lié à la position du robot de nettoyage sur une surface qu'il parcourt. Le dessous du robot étant situé entre ledit robot et la paroi parcourue, et le dessus du robot étant la partie du robot la plus éloignée de la surface parcourue.In a particular embodiment, the means for generating a plating force of the robot comprise at least one liquid inlet located under the cleaning robot. It is understood that the terms below and above refer to a reference related to the position of the cleaning robot on a surface that it travels. The underside of the robot being located between said robot and the wall traveled, and the top of the robot being the part of the robot farthest from the surface traveled.
Dans un mode de réalisation particulier, les moyens de générer une force de plaquage du robot comprennent au moins une sortie de liquide localisée au dessus du robot de nettoyage.In a particular embodiment, the means for generating a plating force of the robot comprise at least one liquid outlet located above the cleaning robot.
Plus précisément dans ce cas, au moins une sortie de liquide produit un jet de liquide sensiblement perpendiculaire au plan d'appui du robot de nettoyage sur sa surface de support.Specifically in this case, at least one liquid outlet produces a liquid jet substantially perpendicular to the support plane of the cleaning robot on its support surface.
Dans un mode de réalisation particulier, les moyens de détermination de l'adhérence du robot de nettoyage sur la surface, lorsque cette surface est une paroi latérale de la piscine, comprennent une détermination du niveau atteint par le robot en fin de montée le long d'une paroi latérale de piscine, et / ou une détermination de l'aspiration d'air par ledit robot en fin de montée.In a particular embodiment, the means for determining the adhesion of the cleaning robot to the surface, when this surface is a side wall of the pool, comprises a determination of the level reached by the robot at the end of the climb along the surface. a pool side wall, and / or a determination of the air intake by said robot at the end of climb.
Dans un mode de réalisation particulier, les moyens de détermination de l'adhérence du robot de nettoyage sur la surface, lorsque cette surface est une paroi latérale de la piscine, comprennent une détermination du temps de redescente du robot au fond de la piscine, et / ou une détermination de l'aspiration d'air par ledit robot en fin de montée.In a particular embodiment, the means for determining the adhesion of the cleaning robot to the surface, when this surface is a side wall of the swimming pool, comprises a determination of the robot's descent time at the bottom of the pool, and / or a determination of the air intake by said robot at the end of climb.
Dans un mode de réalisation particulier, les moyens de modifier la force de plaquage du robot de nettoyage comprennent des moyens de modifier la puissance de la pompe. Plus précisément dans ce cas, dans une réalisation particulière, la puissance de la pompe peut être choisie entre un ensemble de valeurs prédéterminées. A titre d'exemple, les valeurs prédéterminées sont sensiblement les valeurs suivantes :
- 40 à 55%,
- 55 à 70%,
- 70 à 90%,
- 90 à 100% de la puissance maximale de la pompe.
- 40 to 55%,
- 55 to 70%,
- 70 to 90%,
- 90 to 100% of the maximum power of the pump.
Selon un autre mode de réalisation, les valeurs prédéterminées sont sensiblement les valeurs suivantes :
- 30 à 50%,
- 50 à 70%,
- 70 à 90%,
- 90 à 100% de la puissance maximale de la pompe.
- 30 to 50%,
- 50 to 70%,
- 70 to 90%,
- 90 to 100% of the maximum power of the pump.
L'invention concerne également un robot de nettoyage comportant une unité extérieure d'alimentation et de commande, ladite unité extérieure comportant des moyens de visualisation de la puissance de pompe choisie, et des moyens de commande de modification de ce choix.The invention also relates to a cleaning robot comprising an external power supply and control unit, said outdoor unit having means for displaying the chosen pump power, and modification control means of this choice.
L'invention concerne également un appareil nettoyeur de surface immergée caractérisé en combinaison par tout ou partie des caractéristiques mentionnées ci-dessus ou ci-après.The invention also relates to an immersed surface cleaning apparatus characterized in combination by all or some of the characteristics mentioned above or below.
Les caractéristiques et avantages de l'invention seront mieux appréciés grâce à la description qui suit, description qui expose les caractéristiques de l'invention au travers d'un exemple non limitatif d'application.The characteristics and advantages of the invention will be better appreciated thanks to the description which follows, description which sets out the characteristics of the invention through a non-limiting example of application.
La description s'appuie sur les figures annexées dans lesquelles :
- La
figure 1 illustre une vue en perspective d'un robot de nettoyage de piscine mettant en oeuvre un système de filtration tel qu'exposé, - La
figure 2 illustre une vue en coupe du même appareil selon un plan vertical longitudinal, - La
figure 3 illustre un organigramme de réglage de la puissance de pompe en paroi dans le cas d'un exemple de réglage manuel, - La
figure 4 illustre un organigramme de réglage de la puissance de pompe en paroi dans le cas d'un exemple de réglage automatique.
- The
figure 1 illustrates a perspective view of a pool cleaning robot implementing a filtration system as described, - The
figure 2 illustrates a sectional view of the same apparatus in a longitudinal vertical plane, - The
figure 3 illustrates a flowchart for adjusting the wall pump power in the case of an example of manual adjustment, - The
figure 4 illustrates a flowchart for adjusting the wall pump power in the case of an example of automatic adjustment.
L'invention trouve sa place au sein d'un environnement technique de piscine, par exemple une piscine enterrée de type familial.The invention finds its place in a swimming pool technical environment, for example a family-type buried pool.
Un appareil nettoyeur de surface immergée comporte, dans le présent exemple de réalisation non limitatif, une unité de nettoyage, appelé plus loin robot de nettoyage de piscine, et une unité d'alimentation et de commande dudit robot de nettoyage de piscine.An immersed surface cleaning apparatus comprises, in the present non-limiting embodiment, a cleaning unit, hereinafter referred to as a pool cleaning robot, and a feeding and control unit of said pool cleaning robot.
L'unité de nettoyage est représentée selon un mode de réalisation donné ici à titre d'exemple, en
Le robot de nettoyage de piscine 10 comprend un corps 11 et un dispositif d'entraînement et de guidage comprenant des organes d'entraînement et de guidage 12 du corps sur une surface immergée. Dans le présent exemple non limitatif, ces organes d'entrainement et de guidage sont constitués de roues ou de chenilles disposées de façon latérale au corps (voir
Le robot de nettoyage de piscine 10 comprend en outre un moteur entraînant lesdits organes d'entraînement et de guidage, ledit moteur étant alimenté, dans le présent exemple de réalisation, via une carte embarquée.The
On définit pour la suite de la description un repère XrYrZr relatif à ce robot de nettoyage 10, dans lequel :
- un axe longitudinal Xr est défini comme l'axe de déplacement du robot de nettoyage 10 lorsque les roues de déplacement 12 sont commandées à se mouvoir de façon identique,
- un axe transversal Yr est défini comme perpendiculaire à l'axe longitudinal Xr, et situé dans un plan parallèle au plan d'appui des roues de déplacement 12 du robot de nettoyage 10, cet axe latéral Yr étant ainsi parallèle à l'axe de rotation des roues,
- un axe vertical Zr est défini comme perpendiculaire aux deux autres axes, le dessous du robot selon cet axe vertical Zr étant situé entre ledit robot et la paroi parcourue, et le dessus du robot selon cet axe étant la partie du robot la plus éloignée de la surface parcourue.
- a longitudinal axis X r is defined as the axis of movement of the cleaning
robot 10 when thedisplacement wheels 12 are controlled to move identically, - a transverse axis Y r is defined as perpendicular to the longitudinal axis X r , and situated in a plane parallel to the plane of support of the
displacement wheels 12 of the cleaningrobot 10, this lateral axis Y r thus being parallel to the axis of rotation of the wheels, - a vertical axis Z r is defined as perpendicular to the two other axes, the bottom of the robot along this vertical axis Z r being situated between said robot and the wall traveled, and the top of the robot along this axis being the part of the robot farthest of the surface traveled.
Les notions d'avant, arrière, gauche, droite, haut, bas, supérieur, inférieur, etc. relatives au robot de nettoyage sont définies par rapport à ce repère XrYrZr.The notions of front, back, left, right, up, down, up, down, etc. relating to the cleaning robot are defined with respect to this reference mark X r Y r Z r .
Les organes d'entraînement et du guidage définissent un plan de guidage sur une surface immergée par leurs points de contact avec ladite surface immergée. Ledit plan de guidage, parallèle au plan formé par les axes longitudinaux et transversaux, est généralement sensiblement tangent à la surface immergée au point auquel se trouve l'appareil. Ledit plan de guidage est par exemple sensiblement horizontal lorsque l'appareil se déplace sur une surface immergée de fond de piscine.The drive and guide members define a guide plane on a surface immersed by their points of contact with said immersed surface. Said guide plane, parallel to the plane formed by the longitudinal and transverse axes, is generally substantially tangential to the immersed surface at the point where the device is located. Said guide plane is for example substantially horizontal when the device moves on a submerged surface of the pool bottom.
Dans tout le texte un élément « bas » est plus proche du plan de guidage qu'un élément haut.Throughout the text a "low" element is closer to the guidance plane than high element.
Le robot de nettoyage de piscine 10 comporte un circuit de filtration d'eau comportant au moins une entrée de liquide 13 et une sortie de liquide 14. L'entrée de liquide 13 est, dans le présent exemple non limitatif, située à la base du corps 11 (en d'autres termes sous celui-ci, lorsque le robot de nettoyage de piscine 10 est posé dans sa position de fonctionnement normale au fond de la piscine), c'est-à-dire immédiatement en regard d'une surface immergée sur laquelle se déplace le robot de nettoyage de piscine 10 afin de pouvoir aspirer les débris accumulés sur ladite surface immergée. La sortie de liquide 14 se situe sur le dessus du robot de nettoyage de piscine 10.The
Dans le présent exemple de réalisation, la sortie de liquide 14 se fait dans une direction sensiblement perpendiculaire au plan de guidage, c'est-à-dire verticalement si le robot de nettoyage de piscine 10 repose sur le fond de la piscine, et horizontalement si l'appareil de nettoyage est en train de parcourir une paroi verticale de la piscine.In the present embodiment, the
Le circuit de filtration d'eau relie l'entrée de liquide 13 à la sortie de liquide 14. Le circuit de filtration d'eau est adapté pour pouvoir assurer une circulation de liquide depuis l'entrée de liquide 13 vers la sortie de liquide 14. Le robot de nettoyage de piscine 10 comprend à cet effet une pompe (non illustrée sur les figures) comprenant un moteur et une hélice (également non visibles sur les figures), ledit moteur entraînant l'hélice en rotation, ladite hélice étant disposée dans le circuit hydraulique.The water filtration circuit connects the
L'appareil comprend une chambre de filtration 15 interposée, sur le circuit hydraulique, entre l'entrée de liquide 13 et la sortie de liquide 14.The apparatus comprises a
La chambre de filtration 15 comprend un panier de filtration 16 et un couvercle 17 formant la paroi supérieure de la chambre de filtration 15.The
Le panier de filtration 16 est extractible, c'est-à-dire qu'il peut être extrait du, et introduit dans, le corps 11 du robot de nettoyage 10. Le corps 11 du robot de nettoyage 10 présente à cet effet un logement dans lequel le panier de filtration 16 peut être monté. Le fait que le panier de filtration 16 soit extractible permet de le vider facilement, notamment sans devoir manipuler le robot 10 en entier.The
Le robot de nettoyage de piscine 10 est, dans le présent exemple, alimenté en énergie au moyen d'un câble souple étanche. Dans le présent exemple, ce câble souple est attaché au corps du robot de nettoyage de piscine 10 en sa partie supérieure. Ce câble souple est relié, en son autre extrémité, à l'unité d'alimentation (non illustrée sur la
Le robot de nettoyage de piscine 10 comporte en outre ici une poignée de préhension 18 adaptée à permettre à un utilisateur de sortir le robot de l'eau, notamment lorsqu'il faut nettoyer le filtre.The
Par ailleurs, le robot de nettoyage 10 comporte des moyens de déterminer à tout moment son attitude dans la piscine. A cet effet, le robot de nettoyage 10 comporte par exemple au moins un accéléromètre de type connu en soi, ou un moyen de détection de passage à la verticale de type « tilt » ou autre dispositif équivalent connu de l'homme du métier. Cet accéléromètre est par exemple utilisé pour déterminer que le robot de nettoyage est en train de monter le long d'une paroi latérale de la piscine et pas seulement pour déterminer que le robot est arrivé en ligne d'eau comme cela est décrit dans l'art antérieur (
Les paramètres de fonctionnement du robot de nettoyage 10, tels que, par exemple, le type de cycle de nettoyage demandé par l'utilisateur, sont réglés par l'intermédiaire d'une interface utilisateur située sur l'unité d'alimentation et de commande, et de moyens de calcul hébergés dans cette unité d'alimentation et de commande.The operating parameters of the cleaning
On rappelle qu'un tel robot de nettoyage comporte fréquemment deux cycles de nettoyage. Dans un premier cycle, le robot parcourt, par exemple pseudo-aléatoirement le fond de la piscine, et nettoie celui-ci, sans monter le long des parois latérales. Dans un second cycle, le robot parcourt à la fois le fond de la piscine et monte également le long des parois latérales, de manière à décoller les débris qui y sont collés, ou qui se concentrent au niveau de la ligne d'eau. Dans ce second cycle, le robot monte le long de la paroi latérale, émerge partiellement pour frotter la ligne d'eau avec sa brosse, s'incline pour se déplacer latéralement le long de la paroi, et replonge en inversant son sens de marche pour redescendre au fond tout en nettoyant encore la paroi.It is recalled that such a cleaning robot frequently has two cleaning cycles. In a first cycle, the robot travels, for example pseudo-randomly the bottom of the pool, and cleans it, without climbing along the side walls. In a second cycle, the robot travels both the bottom of the pool and rises along the side walls, so as to take off the debris that is stuck to it, or that concentrate at the water line. In this second cycle, the robot climbs along the side wall, emerges partially to rub the water line with its brush, tilts to move laterally along the wall, and plunges back by reversing its direction to go down to the bottom while still cleaning the wall.
Dans le présent exemple de réalisation, l'interface utilisateur de l'unité d'alimentation et de commande comporte des moyens de contrôler le niveau de puissance de la pompe lorsque le robot de nettoyage est en train de monter le long d'une paroi latérale de la piscine.In the present exemplary embodiment, the user interface of the power and control unit comprises means for controlling the power level of the pump when the cleaning robot is climbing along a side wall. of the swimming pool.
Cette pompe provoque en effet, d'une part, une aspiration d'eau au niveau de l'entrée d'eau 13 située sous le robot, donc au plus près de la surface contre laquelle le robot évolue, et, d'autre part, une évacuation d'eau par la sortie d'eau 14, laquelle est sensiblement perpendiculaire au plan d'appui du robot et donc à la surface parcourue. Ces deux phénomènes, d'aspiration sous le robot et d'évacuation d'eau sous pression au dessus du robot, déterminent des forces de plaquage exercées sur le robot vers la surface qu'il est en train de parcourir. L'adhérence du robot sur la paroi s'en trouve accrue, ce qui facilite son ascension. De tels moyens de générer une force de plaquage diffèrent de l'art antérieur dans lequel l'ascension des parois de piscines par les robots nettoyeurs de piscines s'effectue par des moyens de propulsion du robot dans une direction voulue et avec une certaine force permettant la progression du robot le long des parois.This pump causes, on the one hand, a suction of water at the
Un tel réglage a posteriori de la force de plaquage apparaît souhaitable lorsque les conditions d'adhérence du robot sur la surface ne sont pas conformes aux conditions « standard » pour lesquelles le robot a été préréglé en sortie d'usine. Le robot est en effet usuellement préréglé pour une puissance de 60 à 80% de sa puissance maximale lorsque l'accéléromètre (ou un moyen de détection de passage à la verticale ou à un angle de montée supérieur à une valeur prédéterminée) détermine que le robot est en cours de montée sur les parois latérales de la piscine.Such a posteriori adjustment of the plating force appears desirable when the conditions of adhesion of the robot on the surface do not comply with the "standard" conditions for which the robot has been pre-set at the factory outlet. The robot is in fact usually preset for a power of 60 to 80% of its maximum power when the accelerometer (or a means of detection of passage to the vertical or a rise angle greater than a predetermined value) determines that the robot is being mounted on the side walls of the pool.
Dans un premier cas, il peut apparaître que la nature du matériau formant les parois de la piscine soit très différente du matériau « standard » pour lequel le robot de nettoyage 10 a été préréglé. Il a en effet été observé que la nature des parois des piscines variait considérablement, notamment d'un pays à l'autre, entrainant des besoins de configuration différenciée des réglages de pompe selon les caractéristiques de friction du matériau formant ces parois.In a first case, it may appear that the nature of the material forming the walls of the pool is very different from the "standard" material for which the cleaning
On peut schématiquement répartir les surfaces de la plus lisse à la plus rugueuse, les surfaces de type carrelage étant très glissantes, suivies des surfaces de type fibre de verre ou liner vinyle. Les surfaces de type béton ou agglomérat de gravillons ou de particules plastiques étant les plus rugueuses. Il est par ailleurs connu que certaines piscines comportent des lignes d'eau matérialisées par une zone carrelée très glissante, qui présente alors des caractéristiques de frictions nettement différentes du reste des parois de la piscine.The surfaces of the smoothest to the roughest can be schematically distributed, the tile type surfaces being very slippery, followed by fiberglass or vinyl liner surfaces. Concrete or agglomerate type surfaces of gravel or plastic particles being the roughest. It is also known that some pools have water lines materialized by a very slippery tiled area, which then has friction characteristics significantly different from the rest of the walls of the pool.
Il peut alors être souhaitable d'augmenter la force de plaquage du robot sur la surface, lorsque la paroi est plus lisse, et, au contraire, de réduire cette force de plaquage lorsque cette paroi est plus adhérente.It may then be desirable to increase the plating force of the robot on the surface, when the wall is smoother, and, conversely, to reduce this plating force when this wall is more adherent.
Dans un second cas, le robot peut présenter des moyens d'entrainement et de guidage usés qui réduisent ou modifient son adhérence sur la surface des parois de la piscine.In a second case, the robot may have used drive and guiding means that reduce or modify its adhesion to the surface of the walls of the pool.
Dans un autre cas, la pompe elle-même peut présenter des caractéristiques de fonctionnement non nominales, avec pour effet un comportement de montée incorrect le long des parois latérales de la piscine.In another case, the pump itself may have non-nominal operating characteristics, resulting in incorrect rise behavior along the sidewalls of the pool.
Dans encore un autre cas, la piscine peut voir ses parois rendues particulièrement glissantes par la présence d'algues.In yet another case, the pool can see its walls made particularly slippery by the presence of algae.
Dans tous ces cas, il est possible de déterminer un réglage correct de puissance de la pompe du robot de nettoyage 10 lors de ses phases de montée le long des parois de la piscine, quelle que soit la nature de la surface formant ces parois.In all these cases, it is possible to determine a correct power setting of the cleaning
On considère que le réglage est correct lorsque le robot monte jusqu'à la ligne d'eau et la nettoie, sans émerger du bassin au point que l'entrée d'eau 13 vienne à l'air libre et que le robot de nettoyage 10 aspire de l'air dans son circuit de filtration. Une telle aspiration, outre qu'elle est bruyante, réduit d'un coup la force de plaquage du robot sur la paroi, et peut provoquer le décollement de celui-ci de la paroi, et sa redescente en pleine eau vers le fond du bassin, sans nettoyer la paroi latérale pendant la descente.It is considered that the adjustment is correct when the robot goes up to the water line and cleans it, without emerging from the basin to the point that the
Dans le présent exemple de réalisation, on suppose que le réglage de la pompe, lorsque l'accéléromètre détermine que le robot de nettoyage 10 est en train de parcourir une surface sensiblement horizontale, c'est à dire typiquement le fond de la piscine, est indépendant de ce réglage de puissance de pompe associé aux conditions de montée le long des parois latérales. Ce réglage de pompe en conditions de robot horizontal est, par exemple, de 100%.In the present embodiment, it is assumed that the adjustment of the pump, when the accelerometer determines that the cleaning
L'interface utilisateur, accessible à celui-ci sur l'unité d'alimentation et de commande, comporte, dans le présent exemple, un indicateur visuel du réglage de puissance de pompe en montée, et un bouton de commande de modification de cette puissance de pompe en montée.The user interface, accessible thereto on the power supply and control unit, comprises, in the present example, a visual indicator of the upstream pump power setting, and a control button for modifying this power. climbing pump.
L'indicateur visuel peut être constitué de quatre diodes électroluminescentes alignées horizontalement face à l'utilisateur, formant ainsi un curseur. Lorsque, par exemple, la puissance de la pompe est réglée au minimum, seule la diode la plus à gauche est allumée. Les autres diodes sont allumées progressivement en partant de la gauche selon le niveau de puissance choisi.The visual indicator may consist of four light-emitting diodes aligned horizontally facing the user, thus forming a cursor. When, for example, the pump power is set to minimum, only the leftmost diode is lit. The other diodes are lit gradually from the left depending on the chosen power level.
Chaque appui de l'utilisateur sur le bouton de commande fait évoluer la puissance de façon cyclique entre ses positions possibles, quatre appuis successifs ramenant le réglage à sa valeur initiale.Each user's support on the control button changes the power cyclically between its possible positions, four successive presses returning the setting to its initial value.
Dans le but de procéder à ce réglage de puissance de pompe associé aux conditions de montée le long des parois latérales, l'utilisateur détermine visuellement jusqu'à quel niveau son robot de nettoyage 10 monte le long de la paroi, et si ledit robot vient aspirer de l'air lorsqu'il émerge, et en déduit une éventuelle modification de réglage de pompe.In order to carry out this pump power adjustment associated with the climbing conditions along the side walls, the user visually determines up to what level his
Ce réglage reste alors mémorisé pour les cycles d'utilisation futurs du robot de nettoyage, ou jusqu'au prochain changement de réglage par l'utilisateur.This setting remains stored for the future use cycles of the cleaning robot, or until the next user setting change.
On suppose ici, à titre d'exemple illustratif, que le réglage standard de la puissance de la pompe est de 60% lorsque le robot est déterminé comme étant en train de parcourir une paroi latérale de la piscine, ce qui correspond à un cas typique pour des piscines de type américain (paroi relativement adhérente). La
On suppose également que la pompe dispose de quatre niveaux de réglage accessibles à l'utilisateur: 50%, 60%, 80% et 100%. Ces valeurs sont naturellement données ici à simple titre d'exemple, et ne sont pas limitatives en nombre de réglages ou en valeurs de ceux-ci.It is also assumed that the pump has four adjustment levels available to the user: 50%, 60%, 80% and 100%. These values are naturally given here merely by way of example, and are not limiting in number of settings or in values thereof.
Dans le réglage standard cité plus haut à 60%, les deux diodes de gauche de l'interface utilisateur sont allumées.In the standard setting mentioned above at 60%, the two LEDs on the left of the user interface are lit.
Dans ce cas, et en particulier lors de la première utilisation de son robot dans sa piscine, si l'utilisateur détermine visuellement que le robot de nettoyage 10 ne monte pas au-delà de la ligne d'eau et n'aspire pas d'air (étape 301), il vérifie que le robot de nettoyage atteint cependant la ligne d'eau et la brosse (étape 302). Si tel est le cas, c'est que le comportement en ligne d'eau est satisfaisant. Le réglage de la pompe est correct et aucun changement n'est nécessaire.In this case, and in particular during the first use of his robot in his swimming pool, if the user visually determines that the cleaning
Par contre, si le robot de nettoyage 10 émerge de l'eau et aspire de l'air (étape 301), la puissance doit être réduite d'un cran, donc ici à 50%, et l'utilisateur appuie à cet effet trois fois sur le bouton de commande, ce qui se traduit visuellement par le retour à la seule diode gauche allumée. Plus généralement, tant que la puissance minimale de la pompe sur la paroi n'a pas été atteinte et que le robot continue à se comporter de façon non satisfaisante (étape 303), il faut diminuer la puissance de pompe en paroi (étape 304).On the other hand, if the cleaning
De même, si le robot de nettoyage 10 monte lentement et reste toujours en dessous de la ligne d'eau (étape 302), la puissance doit être augmentée, dans notre exemple à 80%. Dans ce cas, l'utilisateur appuie une fois sur le bouton de commande , ce qui se traduit visuellement par l'allumage des trois diodes gauches.Similarly, if the cleaning
Plus généralement, tant que la puissance maximale de la pompe sur la paroi n'a pas été atteinte et que le robot continue à se comporter de façon non satisfaisante (étape 305), il faut augmenter la puissance de pompe en paroi (étape 306).More generally, as long as the maximum power of the pump on the wall has not been reached and the robot continues to behave unsatisfactorily (step 305), it is necessary to increase the pump power in the wall (step 306). .
Si, après avoir réglé la puissance à 80%, l'utilisateur constate que le robot reste encore sous la ligne d'eau en fin de montée, il augmente encore la puissance pour la porter à 100%, les quatre diodes de l'indicateur visuel étant alors allumées.If, after having adjusted the power to 80%, the user notices that the robot is still under the water line at the end of the climb, it increases the power again to bring it to 100%, the four LEDs of the indicator visual then being lit.
Il est clair que dans tous ces cas, le réglage de la puissance de pompe doit être effectué lorsque le filtre est vide, faute de quoi la puissance de plaquage se trouve restreinte par la déperdition de pression au travers dudit filtre.It is clear that in all these cases, the adjustment of the pump power must be performed when the filter is empty, otherwise the plating power is restricted by the loss of pressure through said filter.
Dans le cas d'un réglage automatique de puissance de la pompe (tel qu'illustré par la
Par contre, si le robot de nettoyage 10 émerge de l'eau et aspire de l'air (étape 401), tant que la puissance minimale de la pompe sur la paroi n'a pas été atteinte et que le robot continue à se comporter de façon non satisfaisante (étape 403), le robot décrémente la puissance de pompe en paroi (étape 405).On the other hand, if the cleaning
De même, si le robot de nettoyage 10 monte lentement et reste toujours en dessous de la ligne d'eau (étape 402), tant que la puissance maximale de la pompe sur la paroi n'a pas été atteinte et que le robot continue à se comporter de façon non satisfaisante (étape 404), le robot augmente la puissance de pompe en paroi (étape 406). Contrairement à l'art antérieur (
Dans une variante de réalisation, un appareil selon l'invention ne comprend pas sa propre pompe et est relié à un circuit hydraulique extérieur, par exemple extérieur à un bassin de piscine, comprenant une pompe et créant une aspiration à l'extrémité d'un tuyau raccordable au circuit hydraulique de l'appareil, par exemple au niveau de sa sortie de liquide.In an alternative embodiment, an apparatus according to the invention does not include its own pump and is connected to an external hydraulic circuit, for example outside a swimming pool, comprising a pump and creating a suction at the end of a pipe connectable to the hydraulic circuit of the device, for example at its liquid outlet.
Dans une autre variante, le robot de nettoyage 10 est doté de moyens de détermination de sa vitesse de montée le long de la paroi latérale, et en infère automatiquement le niveau d'adhérence du robot sur cette paroi. Ces moyens peuvent par exemple prendre la forme d'un chronomètre qui détermine le temps entre le changement d'attitude du robot (passage à la verticale) et le moment où le robot de nettoyage 10 émerge de l'eau (également détecté par l'accéléromètre), le chronomètre déterminant également le temps de redescente du robot jusqu'au fond de la piscine. Ce temps de redescente est relativement indépendant de l'adhérence du robot sur la paroi latérale. Il permet donc d'estimer la hauteur de la paroi. La comparaison entre le temps de descente et le temps de montée donne une image de l'adhérence de la paroi qui conduit à un ajustement de la force de plaquage si cette adhérence de la paroi est en dehors d'une gamme prédéterminée.In another variant, the cleaning
Dans ce cas, il n'est pas nécessaire de solliciter l'intervention de l'utilisateur, le robot procédant à son réglage de puissance lors de sa première utilisation, ou de façon récurrente dans le temps.In this case, it is not necessary to solicit the intervention of the user, the robot performing its power adjustment during its first use, or recurrently in time.
Dans encore une autre variante, le robot détermine en temps réel sa vitesse de montée le long d'une paroi, et ajuste sa puissance de pompe en conséquence.In yet another variant, the robot determines in real time its climbing speed along a wall, and adjusts its pump power accordingly.
Claims (10)
- Swimming pool cleaning robot (10), comprising:- a body (11),- at least one liquid circulation hydraulic circuit between at least one liquid inlet (13) and at least one liquid outlet (14),- means for driving and guiding said cleaning robot (10) over a surface,- means for generating a force for pressing the cleaning robot (10) against said surface,characterized in that the cleaning robot (10) comprises also:- means for determining the adherence of the cleaning robot (10) to the surface,- means for modifying the force for pressing the cleaning robot (10) against said surface, depending on the adherence determined.
- Cleaning robot (10) according to Claim 1, characterized in that the means for generating a force for pressing the cleaning robot (10) comprise at least one liquid inlet (13) located under the cleaning robot's (10) body (11).
- Cleaning robot (10) according to either of Claims 1 and 2, characterized in that the means for generating a force for pressing the cleaning robot (10) comprise at least one liquid outlet (14) located above the cleaning robot's (10) body (11).
- Cleaning robot (10) according to Claim 3, characterized in that at least one liquid outlet (14) produces a jet of liquid approximately perpendicular to the bearing plane of the cleaning robot (10) on its support surface.
- Cleaning robot (10) according to any one of Claims 1 to 4, characterized in that the means for determining the adherence of the cleaning robot (10) to the surface, when this surface is a lateral wall of the swimming pool, comprise determination of the level reached by the cleaning robot (10) at the end of climbing a swimming pool lateral wall, and/or determination that air is sucked in by said cleaning robot (10) at the end of climbing.
- Cleaning robot (10) according to any one of Claims 1 to 5, characterized in that the means for determining the adherence of the cleaning robot (10) to the surface, when this surface is a lateral wall of the swimming pool, comprise determination of the time taken for the cleaning robot (10) to descend to the bottom of the swimming pool, and/or determination that air is sucked in by said cleaning robot (10) at the end of climbing.
- Cleaning robot (10) according to any one of Claims 1 to 6, characterized in that the means for modifying the force for pressing the cleaning robot (10) comprise means for modifying the power of the pump.
- Cleaning robot (10) according to Claim 7, characterized in that the power of the pump may be selected from a number of predetermined values.
- Cleaning robot (10) according to Claim 8, characterized in that the predetermined values are approximately the following values:- 30 to 50%,- 50 to 70%,- 70 to 90%,- 90 to 100% of the maximum power of the pump.
- Cleaning robot (10) according to any one of Claims 7 to 9, characterized in that it comprises an external power supply and control unit, said external unit comprising means for displaying the selected pump power and control means for modifying this choice.
Applications Claiming Priority (2)
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FR1453005A FR3019573B1 (en) | 2014-04-04 | 2014-04-04 | ROBOT POOL CLEANER WITH ADJUSTABLE PUMPING POWER |
PCT/FR2015/050870 WO2015150712A1 (en) | 2014-04-04 | 2015-04-02 | Swimming-pool cleaning robot with adjustable pumping power |
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EP3126595A1 EP3126595A1 (en) | 2017-02-08 |
EP3126595B1 true EP3126595B1 (en) | 2019-07-03 |
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EP (1) | EP3126595B1 (en) |
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- 2014-04-04 FR FR1453005A patent/FR3019573B1/en active Active
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2015
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ZA201607138B (en) | 2020-01-29 |
FR3019573B1 (en) | 2016-03-25 |
CA2944721A1 (en) | 2015-10-08 |
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