FR2993298B1 - Methode et dispositif de nettoyage de piscine - Google Patents
Methode et dispositif de nettoyage de piscine Download PDFInfo
- Publication number
- FR2993298B1 FR2993298B1 FR1356764A FR1356764A FR2993298B1 FR 2993298 B1 FR2993298 B1 FR 2993298B1 FR 1356764 A FR1356764 A FR 1356764A FR 1356764 A FR1356764 A FR 1356764A FR 2993298 B1 FR2993298 B1 FR 2993298B1
- Authority
- FR
- France
- Prior art keywords
- pool
- vehicle
- pool cleaning
- cleaning method
- submerged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title abstract 3
- 238000000034 method Methods 0.000 title 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/46—Inspecting cleaned containers for cleanliness
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
- G05D1/222—Remote-control arrangements operated by humans
- G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- 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
- E04H4/06—Safety devices; Coverings for baths
-
- 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
- E04H4/12—Devices or arrangements for circulating water, i.e. devices for removal of polluted water, cleaning baths or for water treatment
- E04H4/1281—Devices for distributing chemical products in the water of swimming pools
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Architecture (AREA)
- Signal Processing (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Computing Systems (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Studio Devices (AREA)
- User Interface Of Digital Computer (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/545,918 US9388595B2 (en) | 2012-07-10 | 2012-07-10 | Pool cleaning system and method to automatically clean surfaces of a pool using images from a camera |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2993298A1 FR2993298A1 (fr) | 2014-01-17 |
FR2993298B1 true FR2993298B1 (fr) | 2021-06-11 |
Family
ID=49850474
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1356764A Active FR2993298B1 (fr) | 2012-07-10 | 2013-07-10 | Methode et dispositif de nettoyage de piscine |
Country Status (4)
Country | Link |
---|---|
US (8) | US9388595B2 (fr) |
AU (1) | AU2013206751B2 (fr) |
ES (1) | ES2527883R1 (fr) |
FR (1) | FR2993298B1 (fr) |
Families Citing this family (43)
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AU2013284446B2 (en) | 2012-06-27 | 2017-07-13 | Pentair Water Pool And Spa, Inc. | Pool cleaner with laser range finder system and method |
US9388595B2 (en) | 2012-07-10 | 2016-07-12 | Aqua Products, Inc. | Pool cleaning system and method to automatically clean surfaces of a pool using images from a camera |
EP3031651B1 (fr) * | 2012-12-22 | 2018-04-25 | Maytronics Ltd. | Station subaquatique pour robot de nettoyage de piscine autonome |
WO2014143779A2 (fr) | 2013-03-15 | 2014-09-18 | Hayward Industries, Inc | Système de commande de piscine/spa modulaire |
AU2014251158B2 (en) * | 2013-04-08 | 2017-06-01 | Zodiac Pool Systems, Inc. | Systems and methods for wirelessly communicating with automatic swimming pool cleaners |
EP3682725A1 (fr) * | 2014-01-21 | 2020-07-22 | Positec Power Tools (Suzhou) Co., Ltd | Tondeuse automatique |
FR3019573B1 (fr) * | 2014-04-04 | 2016-03-25 | Zodiac Pool Care Europe | Robot nettoyeur de piscine a puissance de pompage reglable |
US9885196B2 (en) | 2015-01-26 | 2018-02-06 | Hayward Industries, Inc. | Pool cleaner power coupling |
CA3146537C (fr) | 2015-01-26 | 2023-01-03 | Hayward Industries, Inc. | Nettoyeur de piscine avec separateur de particules hydrocyclonique et/ou systeme d'entrainement a six rouleaux |
AU2016223005C1 (en) | 2015-02-24 | 2021-09-09 | Hayward Industries, Inc. | Pool cleaner with optical out-of-water and debris detection |
US9995050B2 (en) | 2015-03-26 | 2018-06-12 | Aqua Products, Inc. | Method and apparatus for communicating over a two-wire power cable between an external power supply and a self-propelled robotic swimming pool cleaner |
FR3041980B1 (fr) * | 2015-10-01 | 2017-11-17 | Zodiac Pool Care Europe | Systeme de nettoyage de piscine a dispositif de prise d’images |
US20170212484A1 (en) | 2016-01-22 | 2017-07-27 | Hayward Industries, Inc. | Systems and Methods for Providing Network Connectivity and Remote Monitoring, Optimization, and Control of Pool/Spa Equipment |
US11720085B2 (en) | 2016-01-22 | 2023-08-08 | Hayward Industries, Inc. | Systems and methods for providing network connectivity and remote monitoring, optimization, and control of pool/spa equipment |
EP3199725B1 (fr) * | 2016-01-26 | 2020-05-27 | Maytronics Ltd. | Procede de commande d'un robot de nettoyage de piscine |
CN105721834B (zh) * | 2016-03-29 | 2018-12-25 | 北京小米移动软件有限公司 | 控制平衡车停靠的方法及装置 |
ES2954602T3 (es) * | 2016-04-04 | 2023-11-23 | Maytronics Ltd | Sistema para el mantenimiento de un robot de limpieza de piscinas |
US10329785B2 (en) | 2016-04-08 | 2019-06-25 | Robson Forensic, Inc. | Lifeguard positioning system |
US20170293490A1 (en) * | 2016-04-11 | 2017-10-12 | Aqua Products, Inc. | Method for modifying an onboard control system of a pool cleaner, and power source for a pool cleaner |
US10942990B2 (en) * | 2016-06-15 | 2021-03-09 | James Duane Bennett | Safety monitoring system with in-water and above water monitoring devices |
HRP20220218T1 (hr) * | 2016-09-13 | 2022-04-29 | Maytronics Ltd. | Robot za čišćenje bazena |
US20180135325A1 (en) * | 2017-01-17 | 2018-05-17 | Aquatron Robotic Technology Ltd. | Method and device for remotely controlling robotic pool cleaner |
US10156083B2 (en) | 2017-05-11 | 2018-12-18 | Hayward Industries, Inc. | Pool cleaner power coupling |
US10214933B2 (en) | 2017-05-11 | 2019-02-26 | Hayward Industries, Inc. | Pool cleaner power supply |
US9896858B1 (en) | 2017-05-11 | 2018-02-20 | Hayward Industries, Inc. | Hydrocyclonic pool cleaner |
US9885194B1 (en) | 2017-05-11 | 2018-02-06 | Hayward Industries, Inc. | Pool cleaner impeller subassembly |
US10161153B2 (en) | 2017-05-11 | 2018-12-25 | Hayward Industries, Inc. | Pool cleaner canister handle |
US9878739B1 (en) | 2017-05-11 | 2018-01-30 | Hayward Industries, Inc. | Pool cleaner modular drivetrain |
WO2019014406A1 (fr) | 2017-07-12 | 2019-01-17 | Zodiac Pool Systems Llc | Systèmes et procédés pour cartographier ou par ailleurs discerner des caractéristiques de piscines et de spas |
EP3673232B8 (fr) | 2017-08-22 | 2023-07-19 | Pentair Water Pool and Spa, Inc. | Système de contrôle pour nettoyeur de piscine |
EP3692229A1 (fr) | 2017-10-04 | 2020-08-12 | Zodiac Pool Systems LLC | Procédé et système de nettoyage d'une piscine avec utilisation d'un nettoyeur de piscine automatique et d'un dispositif de cartographie de la piscine |
US10494827B2 (en) * | 2017-11-28 | 2019-12-03 | Aquatron Robotic Technology Ltd. | Directional control of robotic pool cleaners |
US20190226265A1 (en) * | 2018-01-19 | 2019-07-25 | Cehan Ahmad | Child-Safe Automatic Doors |
ES2725274A1 (es) * | 2018-03-20 | 2019-09-20 | Aquatic Sweeper S L | Sistema para la limpieza de fondos acuáticos |
US11504607B2 (en) | 2019-02-05 | 2022-11-22 | Deep Innovations Ltd. | System and method for using a camera unit for the pool cleaning robot for safety monitoring and augmented reality games |
AU2020270408A1 (en) * | 2019-05-03 | 2022-01-06 | Hayward Industries, Inc. | Systems and methods for providing monitoring, optimization, and control of pool/spa equipment using video analytics |
EP3959397A1 (fr) | 2019-05-29 | 2022-03-02 | Zodiac Pool Care Europe | Ensembles brosses principalement pour nettoyeurs de piscine automatiques |
CN112049475A (zh) * | 2020-09-07 | 2020-12-08 | 杨智琼 | 一种可爬柱吸污机 |
CN112104841B (zh) * | 2020-11-05 | 2021-12-07 | 乐荣时代智能安防技术(深圳)有限公司 | 一种用于移动目标监测的多摄像头智能监控方法 |
US20220203560A1 (en) * | 2020-12-28 | 2022-06-30 | Aquatron Robotic Technology Ltd. | Pool cleaning robot with visual display |
US20230208473A1 (en) * | 2021-12-22 | 2023-06-29 | Maytronics Ltd. | Underwater communication |
CN116076950A (zh) * | 2022-06-13 | 2023-05-09 | 北京众清科技有限公司 | 一种水池清洗的方法及装置 |
CN116257068A (zh) * | 2022-08-05 | 2023-06-13 | 智橙动力(北京)科技有限公司 | 泳池清洁机器人的池壁避障移动方法、装置、电子设备 |
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AU2013284446B2 (en) * | 2012-06-27 | 2017-07-13 | Pentair Water Pool And Spa, Inc. | Pool cleaner with laser range finder system and method |
US9388595B2 (en) | 2012-07-10 | 2016-07-12 | Aqua Products, Inc. | Pool cleaning system and method to automatically clean surfaces of a pool using images from a camera |
JP6162905B2 (ja) | 2014-09-19 | 2017-07-12 | 株式会社東芝 | 管理装置、計測装置、サービス提供装置、プログラム、伝送システムおよび伝送方法 |
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2012
- 2012-07-10 US US13/545,918 patent/US9388595B2/en active Active
-
2013
- 2013-07-09 AU AU2013206751A patent/AU2013206751B2/en active Active
- 2013-07-10 FR FR1356764A patent/FR2993298B1/fr active Active
- 2013-07-10 ES ES201331047A patent/ES2527883R1/es active Pending
-
2016
- 2016-07-11 US US15/207,065 patent/US9995051B2/en active Active
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2018
- 2018-05-08 US US15/973,983 patent/US10338599B2/en active Active
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2019
- 2019-05-20 US US16/416,840 patent/US10739785B2/en active Active
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2020
- 2020-07-02 US US16/919,750 patent/US11003191B2/en active Active
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2021
- 2021-01-07 US US17/143,624 patent/US11262766B2/en active Active
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2022
- 2022-01-10 US US17/572,388 patent/US11880207B2/en active Active
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2023
- 2023-12-05 US US18/529,301 patent/US20240176355A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US20220129005A1 (en) | 2022-04-28 |
US11262766B2 (en) | 2022-03-01 |
FR2993298A1 (fr) | 2014-01-17 |
US11003191B2 (en) | 2021-05-11 |
US10739785B2 (en) | 2020-08-11 |
US20160319559A1 (en) | 2016-11-03 |
US20200333797A1 (en) | 2020-10-22 |
AU2013206751B2 (en) | 2016-12-15 |
US20180341272A1 (en) | 2018-11-29 |
US20140015959A1 (en) | 2014-01-16 |
AU2013206751A1 (en) | 2014-01-30 |
US20190271987A1 (en) | 2019-09-05 |
US20210124366A1 (en) | 2021-04-29 |
ES2527883R1 (es) | 2015-02-11 |
US11880207B2 (en) | 2024-01-23 |
US9995051B2 (en) | 2018-06-12 |
US9388595B2 (en) | 2016-07-12 |
ES2527883A2 (es) | 2015-02-02 |
US10338599B2 (en) | 2019-07-02 |
US20240176355A1 (en) | 2024-05-30 |
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