WO2005028780A2 - Appareil assurant une stabilite subaquatique amelioree - Google Patents

Appareil assurant une stabilite subaquatique amelioree Download PDF

Info

Publication number
WO2005028780A2
WO2005028780A2 PCT/IL2004/000874 IL2004000874W WO2005028780A2 WO 2005028780 A2 WO2005028780 A2 WO 2005028780A2 IL 2004000874 W IL2004000874 W IL 2004000874W WO 2005028780 A2 WO2005028780 A2 WO 2005028780A2
Authority
WO
WIPO (PCT)
Prior art keywords
locomotive
robot
pool
motion
present
Prior art date
Application number
PCT/IL2004/000874
Other languages
English (en)
Other versions
WO2005028780A3 (fr
Inventor
Igor Fridman
Joseph Porat
Original Assignee
Aquaproducts Inc.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Aquaproducts Inc. filed Critical Aquaproducts Inc.
Publication of WO2005028780A2 publication Critical patent/WO2005028780A2/fr
Publication of WO2005028780A3 publication Critical patent/WO2005028780A3/fr

Links

Classifications

    • 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 stability of subaqueous traction vehicles. More particularly, it relates to an apparatus for improving the stability of underwater propelled devices, like swimming pool cleaning robots.
  • a flexible valve member is mounted proximate a throat region of the tube wherein as water is drawn up through the tube a decrease in pressure in the throat region causes the valve member to flex and momentarily interrupt the flow of water.
  • the interruption to the flow of water through the tube results in a momentary differential of ambient pressure underneath the flexible cleaning member which enables the device to move forwards incrementally along the underwater surface of the pool.
  • the robot has a protective housing of conventional design, the cleaner being operated at a primary cleaning speed as it traverses the surfaces to be cleaned and until the cleaner housing emerges from the water along a sidewall of the pool; thereafter the cleaner operates at a secondary drive speed that is relatively slower than the primary speed and the cleaner thereafter reverses direction and descends for a pre-determined period of time at the slower secondary speed in order to permit the air entrained under the housing to escape without destabilizing the cleaner during descent. After the predetermined period of time, the cleaner resumes operation at the more, rapid primary speed until the cleaner housing once again emerges from the water's surface, after which the cycle is repeated.
  • a machine for treating a surface area within a boundary perimeter includes a self propelled chassis having a surface treating device mounted on it.
  • a computing section is mounted on the chassis and a powered wheel (or each of plural powered wheels) has a motor module for receiving command signals from the computing section.
  • a position sensor is coupled to the computing section for generating a feedback signal representing the actual position of the machine.
  • a data loading device coacts with the computing section for transmitting data to such computing section.
  • a data file stores graphic data developed from a graphic depiction representing the surface area to be treated as well as other data developed in other ways.
  • the data file coacts with the computing section and transmits graphic and other data to it.
  • the computing section is arranged for processing the data and the feedback signal and responsively generating command signals directed to each motor module.
  • US Patent No. 5,569,371 (Perling) titled SYSTEM FOR UNDERWATER NAVIGATION AND CONTROL OF MOBILE SWIMMING POOL FILTER disclosed an underwater navigation and control system for a swimming pool cleaning robot, having a driver, an impeller, a filter and a processor for controlling the driver and a signal-producing circuit.
  • the system further includes a signal-detecting circuit mounted on the pool, an interface located on the ground in proximity to the pool and comprising a detector for receiving and processing data from the detecting circuit and for transmitting signals to the robot's processor. Determination of the actual robot location is performed by triangulation in which the stationary triangulation base is defined by at least two spaced-apart signal detectors and the mobile triangle apex is constituted by the signal-producing circuit carried by the robot.
  • US Patent No. 5,197,158 (Moini) titled SWIMMING POOL CLEANER disclosed a vacuum powered automatic swimming pool cleaning device having a hollow housing supported on two pairs of device mover wheels.
  • the housing includes a central water suction chamber in water flow communication with a water suction trough at the bottom of the housing and in water outlet communication with an external vacuum line, a gear train for driving one of the pairs of mover wheels, and pivoted directional control floats.
  • the water suction chamber houses an axle mounted turbine wheel bearing water driven vanes with the turbine being rotated in one direction only by water flow through the chamber.
  • the turbine axle bears a turbine power output drive gear which intermeshes with one or the other of two shift gears which in turn reversibly drive the gear train as dictated by the position of the directional control floats within the housing.
  • the swing shift of the control floats reverses the rotation of the mover wheels and thus the direction of movement of the cleaning device on the pool floor.
  • US Patent No. 4,786,334 (Nystrom) titled METHOD OF CLEANING THE BOTTOM OF A POOL disclosed a method of cleaning the bottom of a pool with the aid of a pool cleaner.
  • the pool cleaner travels along the bottom of the pool and collects material lying at the bottom of the pool.
  • the pool cleaner is arranged to travel to and fro in straight, parallel paths between two opposite walls of the pool.
  • a mobile machine for cleaning swimming pools by suction removal of sediment from the bottom of the swimming pools comprises a water turbine driving a drive wheel in such a way that the machine follows a self-steered path on the bottom of the swimming pools.
  • the drive wheel is capable of rotating about a vertical steering axle to prevent the machine from becoming blocked at a wall or in a corner of the swimming pools. It is noted that covering efficiently and quickly the bottom (and side walls) of a swimming pool is not simple a task, and various scanning algorithms (see some of the above-mentioned patents for examples) were devised to try and overcome this complex problem.
  • a locomotive element to be incorporated in an underwater device propelled on a supporting surface along a predetermined axis of motion, the locomotive element comprising at least one resilient surface that can be rolled on the supporting surface, said at least one surface having a plurality of flow-through passages substantially perpendicular to the axis of motion.
  • the element is in the form of a wheel.
  • the element is in the form of a track.
  • the element is in the form of a drum. Furthermore, in accordance with a preferred embodiment of the present invention, the flow-through passages are located in a plurality of protrusions provided on the resilient surface.
  • a pool cleaning robot comprising a motorized drive; an impeller driven by a pump motor; power supply; and locomotive elements coupled to the motorized drive for propelling the robot on a supporting surface along a predetermined axis of motion, each of the locomotive elements comprising:
  • At least one resilient surface that can be rolled on the supporting surface, said at least one surface having a plurality of flow-through passages substantially perpendicular to the axis of motion.
  • each of the locomotive elements is in the form of a wheel.
  • each of the locomotive elements is in the form of a track. Furthermore, in accordance with a preferred embodiment of the present invention, each of the locomotive elements is in the form of a drum.
  • the flow-through passages are located in a plurality of protrusions provided on the resilient surface. Furthermore, in accordance with a preferred embodiment of the present invention, there is provided a method for enhancing stability of a locomotive element, used to propel an underwater propelled device along a predetermined axis of motion, the method comprising:
  • each of the locomotive elements comprising:
  • At least one resilient surface that can be rolled on the supporting surface, said at least one surface having a plurality of flow-through passages substantially perpendicular to the axis of motion.
  • Figure 1a illustrates a sectional view of a pool cleaning robot in accordance with the present invention.
  • Figure 1 b illustrates the bottom view of a pool cleaning robot in accordance with the present invention.
  • Figure 2 illustrates an isometric view of a pool cleaning robot wheel in accordance with a preferred embodiment of the present invention.
  • Figure 3a illustrates a side view of a pool cleaning robot wheel in accordance with a preferred embodiment of the present invention.
  • Figure 3b illustrates a rear view of a pool cleaning robot wheel in accordance with a preferred embodiment of the present invention.
  • Figure 4a illustrates a side view of a pool cleaning robot belt or track in accordance with another preferred embodiment of the present invention.
  • Figure 4b illustrates a side view of a pool cleaning robot belt or track in accordance with yet another preferred embodiment of the present invention.
  • DETAILED DESCRIPTION OF THE INVENTION AND FIGURES A main aspect of the present invention is the provision of a pool- cleaning robot with a novel and unique stabilization mechanism that helps maintain the robot's direction of motion.
  • a robot housing 42 houses a motor drive 48 for driving the axles 44 (optionally a brush or sponge 54 may be added) on which ends wheels 46 are attached to the caterpillar tracks, an impeller 52 oriented horizontally (to pump water from the pool floor upwards into the robot), driven by a pump motor 50 (with ingress cover 51), control unit 56, central processing unit (CPU) 58 and wall encounter sensor 60.
  • the pumped dirt and foliage are collected inside a filter bag that is positioned inside the housing along the pump.
  • Power cable 62 goes through the housing 42 to provide power to the robot electric components. In other preferred embodiments of the present invention no power cable is provided and instead the robot is powered by battery.
  • FIG 1b illustrates the bottom view of a pool cleaning robot in accordance with the present invention.
  • Twin parallel caterpillar tracks 43 are provided, stretched over and motivated by wheels 46, which are motivated by axle 44.
  • wheel elements 80 are attached to axles 44.
  • the robot shown in Figures 1a and 1 b is driven by a single motor (drive motor 48).
  • drive motor 48 Usually pool cleaning robots targeted for small and medium sized pools are provided with a single motor drive, whereas for twin motor drive is popular in large pools cleaning robots.
  • Single motor drive can be reversed by employing provided transmission to reverse the direction of the rotation of the wheel axles, but it cannot be used to turn the robot sideways.
  • the stabilization mechanism that comprises the pres nt invention, shown in Figure 2, comprises a series of resilient flow-through passages 82 in the perimeter 88 of one or more of those robot elements 80 that are in contact directly or indirectly with the pool bottom (and sides).
  • the element is one or more members of a set wheels 90.
  • Passage 82 passes from one side 88 of the wheel to the other.
  • the passage is implemented as a cavity running from one side of the wheel to the other in a protrusion 84, the passage being open at each end.
  • Protrusions 84 are located around the perimeter of wheel element 80 and are separated by open recesses 86.
  • Passage 82 can equally be implemented in other manners by one skilled in the art and still have the functionality described here.
  • passages 82 could be inserted into a perimeter without protrusions 84 and recesses 86, however these elements have the advantage of adding traction.
  • Wheel element 80 fits onto an axle or other form of locomotion. (In Figure 2 the center 90 of element 80 is shaped to fit on the axle.)
  • the leading end of the passage is • - released from contact with the bottom, the resilient passage starts to spring back out to its original shape, and water rushes back into the passage, again creating a pair of counterbalancing stream vectors in opposing directions perpendicular to the plane of rotation.
  • the stream vectors taper off as the passage fully returns to its original volume.
  • the net result of the counterbalancing forces is to increase the stability of the wheel element 80, hence increasing the stability of the robot and minimizing the effects of other forces acting in directions other than the direction of motion on the wheel element 80.
  • FIG. 3a is a side view of the present invention with dotted arrows showing the direction of forces.
  • FIG. 3b is a rear view of wheel element 80 showing forces 94 and 96. Again, force 94 derives from water being pushed out the two sides as protrusion 84 is flattened.
  • protrusion 84 regains its shape, water rushes into passage 82, creating equal forces perpendicular to the plane of rotation.
  • the mechanism of the present invention can be implemented in various ways, the only requirement being that the element 80 is regularly compressed and released. Typically this would be done by having element 80 implemented as a rotating locomotive element in contact with the pool bottom (walls), although the compression/release could be effected by some type of powered mechanical element.
  • locomotive element for the purpose of the present invention, refers to any kind of intermediary element between the driving power of an underwater propelled device and the supporting surface on which the device is propelled, which physically causes the device to move (e.g.
  • Element 80 may be implemented in a cylindrical form (like a drum) used as a singie locomotion element across the width of the robot (in which case two such wheel elements are to be used).
  • Figure 4a shows an alternative embodiment of the present invention where element 80 has been implemented as a caterpillar track.
  • Figure 4b shows an alternative embodiment of the present invention where element 80 has been implemented as drive wheels for a caterpillar track.
  • the stabilization mechanism of the present invention is not limited to a particular type of swimming pool cleaning robot, or particular shape, depth, or volume of swimming pool. Note that although in the present specification and accompanying drawings the submerged robot was illustrated as having a single motor, the present invention is not limited to a single-motor robot.

Abstract

L'invention concerne un élément locomoteur qui s'incorpore dans un dispositif sous-marin propulsé sur une surface de support, le long d'un axe de mouvement préétabli. L'élément locomoteur comprend au moins une surface souple qui peut être enroulée sur la surface de support. La surface souple comprend plusieurs passages d'écoulement continu sensiblement perpendiculaires à l'axe de mouvement.
PCT/IL2004/000874 2003-09-25 2004-09-21 Appareil assurant une stabilite subaquatique amelioree WO2005028780A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL15811203A IL158112A0 (en) 2003-09-25 2003-09-25 Apparatus for improved subaqueous stability
IL158112 2003-09-25

Publications (2)

Publication Number Publication Date
WO2005028780A2 true WO2005028780A2 (fr) 2005-03-31
WO2005028780A3 WO2005028780A3 (fr) 2005-08-11

Family

ID=32697194

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2004/000874 WO2005028780A2 (fr) 2003-09-25 2004-09-21 Appareil assurant une stabilite subaquatique amelioree

Country Status (2)

Country Link
IL (1) IL158112A0 (fr)
WO (1) WO2005028780A2 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2584442A1 (fr) * 1985-07-02 1987-01-09 Puech Frederic Appareil de nettoyage automatique d'une surface immergee
US5001800A (en) * 1988-06-28 1991-03-26 Egatechnics S.R.L. Automatic, self-propelled cleaner for swimming pools

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2584442A1 (fr) * 1985-07-02 1987-01-09 Puech Frederic Appareil de nettoyage automatique d'une surface immergee
US5001800A (en) * 1988-06-28 1991-03-26 Egatechnics S.R.L. Automatic, self-propelled cleaner for swimming pools

Also Published As

Publication number Publication date
IL158112A0 (en) 2004-03-28
WO2005028780A3 (fr) 2005-08-11

Similar Documents

Publication Publication Date Title
US20060059637A1 (en) Apparatus for improved subaqueous stability
US6815918B2 (en) Pool cleaning method and apparatus
US11939791B2 (en) Controlling a movement of a pool cleaning robot
KR102137459B1 (ko) 로봇 청소기
EP0565226B1 (fr) Appareil de nettoyage pour piscine
US20070067930A1 (en) Cordless pool cleaning robot
US5985156A (en) Automatic swimming pool cleaning system
US6942790B1 (en) Open-air filtration cleaning device for pools and hot tubs
US20090301522A1 (en) Customized Programmable Pool Cleaner Method and Apparatus
US3972339A (en) Automatic swimming pool cleaner
ES2294984T3 (es) Metodo de control direccional para dispositivo limpiador de piscinas.
EP1749139A2 (fr) Procede et dispositif de nettoyage de piscines
EP1022411A3 (fr) Dispositif de renversement de flux de propulsion et de contrôle directionnel pour nettoyeurs automatiques de bassins de natation
US11674325B2 (en) Automatic pool cleaner
EP0835357B1 (fr) Systeme de nettoyage automatique de piscines
US20210277678A1 (en) Automatic swimming pool cleaners especially adept at climbing and cleaning pool stairs
WO2005028780A2 (fr) Appareil assurant une stabilite subaquatique amelioree
KR100576315B1 (ko) 수류에 따른 장애물 감지구조를 갖는 수영장 청소로봇
EP1512810B1 (fr) Appareil et procédé de nettoyage de piscine
US20070235380A1 (en) Pool skimmer device for surface debris
KR200325878Y1 (ko) 수류에 따른 장애물 감지구조를 갖는 수영장 청소로봇
CA1061062A (fr) Appareil pour le nettoyage automatique des piscines
JPH10129550A (ja) 水中移動台車

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BW BY BZ CA CH CN CO CR CU CZ DK DM DZ EC EE EG ES FI GB GD GE GM HR HU ID IL IN IS JP KE KG KP KZ LC LK LR LS LT LU LV MA MD MK MN MW MX MZ NA NI NO NZ PG PH PL PT RO RU SC SD SE SG SK SY TJ TM TN TR TT TZ UA UG US UZ VN YU ZA ZM

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): BW GH GM KE LS MW MZ NA SD SZ TZ UG ZM ZW AM AZ BY KG MD RU TJ TM AT BE BG CH CY DE DK EE ES FI FR GB GR HU IE IT MC NL PL PT RO SE SI SK TR BF CF CG CI CM GA GN GQ GW ML MR SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase