WO2005061822A1 - Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant - Google Patents
Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant Download PDFInfo
- Publication number
- WO2005061822A1 WO2005061822A1 PCT/FR2004/003292 FR2004003292W WO2005061822A1 WO 2005061822 A1 WO2005061822 A1 WO 2005061822A1 FR 2004003292 W FR2004003292 W FR 2004003292W WO 2005061822 A1 WO2005061822 A1 WO 2005061822A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- chassis
- driving
- submerged surface
- motor
- threshold value
- Prior art date
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 invention relates to a method for controlling an automatic cleaning device for a surface immersed in a liquid, in particular the side and bottom walls of a swimming pool.
- the invention also extends to a cleaning device for implementing this control method.
- Automatic cleaning devices are already known comprising: - a chassis carrying a liquid filtration device (electric pump motor, filtration chamber, pump, inlet (s) and outlet (s), filter element (s) ..., - chassis drive members on the surface to be cleaned, - motor means comprising at least one electric drive motor carried by the chassis and arranged to transmit a motor movement to at least part of the bodies drive, - electronic supply and control means for each electric drive motor adapted to be able to control a reversal of the drive direction of the drive members.
- Such cleaning devices generally give complete satisfaction with the quality and efficiency of the scanning carried out, when no event comes to interfere with their operation.
- their progress can be interrupted in particular by various obstacles projecting from the walls of the basin, such as a ladder, filtration block, or by winding their power cable.
- the cleaning apparatuses as designed at present offer no solution capable of enabling them to be released from their blocking situation.
- human intervention is often necessary to release the cleaning device.
- this human intervention can occur a long time after the blocking of this device. The first consequence consists, of course, in not performing the complete cleaning of the basin programmed by the user.
- Patent EP-1,277,897 describes a solution aimed at overcoming the above-mentioned drawback and has for this purpose a cleaning device provided with a translational movement sensor carried by the body and adapted to come in contact with the surface to be cleaned, measuring means capable of detecting the effective movement of this sensor and of a microprocessor programmed to reverse the direction of movement of the cleaning device when the measuring means deliver a signal representative of a stop of the movement of the sensor.
- This sensor can be a wheel applied to the surface to be cleaned, the rotation of which corresponds to the translational movement of the device.
- any shutdown of the sensor occurring while the motor means are supplied is representative of an interruption in the progression of this device, and leads to an inversion of the motor means which makes it possible to free the device from its situation blocking.
- the organ cleaning device motion sensor, measuring means, etc.
- cleaning whose cost price is thus found to be significantly higher than that of conventional cleaning devices.
- the procedure which consists in reversing the motor drive means of the chassis is initiated when a blockage is detected on the brush motors.
- Such a solution has a major drawback. If the device encounters a filtration ladder, for example, or another obstacle projecting from the walls of the basin, the device will be blocked in its progress while the brushes will still be driven normally in rotation by the brush motors. The blockage will not be detected, which can lead to overheating and risks of deterioration.
- the present invention aims to overcome this drawback and has the main objective of providing a cleaning device designed to manage the aforementioned situations of blockage of said device, without requiring any addition of specific hardware element dedicated to this management.
- Another object of the invention is to provide a cleaning device suitable for allowing, without adding any specific material element, to manage the drive speed of said device.
- the invention relates to a method for controlling a cleaning device of the type described above, said control method being characterized in that: - at least one electrical quantity is measured periodically making it possible to obtain a value representative of the resistive torque of at least one electric drive motor, - each value obtained is compared to a predetermined threshold value representative of a maximum admissible value, and in the event of the said threshold value being exceeded for at least one electric drive motor, a procedure, known as the backup procedure, is triggered in which: • the control of at least this electric drive motor is reversed so as to cause displacement of the device in a direction opposite to its initial direction of movement (which was hers before triggering of the backup procedure), • and the movements of the device are controlled capable of causing it to follow a trajectory allowing it to deviate from the initial trajectory that it followed when said threshold value was exceeded.
- the management of blocking situations is therefore ensured from the measurement of at least one electrical quantity, such as the intensity of the current, providing a value representative of the resistive torque of the chassis drive motor means. on the surface to be cleaned.
- a value is directly accessible in the electronic supply and control means, in particular on an input door of the microprocessor of the electronic supply and control means with which the conventional conventional cleaning devices are conventionally equipped.
- This management therefore requires only a transformation of the operation of these electronic supply and control means - in particular of the microprocessor - adapted to program the latter so that they control a specific backup procedure when the value is exceeded. threshold, representative of an abnormal blocking situation.
- the invention therefore consisted, not in providing for the addition of hardware elements dedicated to managing blocking situations, but on the contrary, in using the potential of the components of conventional cleaning devices.
- the invention therefore leads, for a negligible additional cost, to overcome a significant drawback of known cleaning devices.
- the blockage is detected directly on the drive means of the chassis on the surface to be cleaned.
- Those skilled in the art spontaneously tend to detect blockage on the areas of the device which come into contact with any obstacles encountered. These are the exterior parts of the device, like the bumpers.
- the unlocking procedure will be activated by the detection of the increase in the engine torque at the level of the means d 'chassis drives on the submerged surface.
- periodic measurements of the electrical quantity (s) representative (s) of the resistive torque of said motor are continued, and triggers the saving procedure only if the values obtained remain above the threshold value during a predetermined delay time.
- This delay time leads, in fact, to avoid untimely triggering of the backup procedure, in particular when obtaining values greater than the threshold value during normal operation of the device without blocking situation, for example representative of 'A transfer of the device between the bottom wall and a side wall of the basin.
- the quantity (the) quantity ( s) electrical (s) representative of the resistive torque of said motor more often, that is to say with a measurement frequency (fixed or variable) greater (for example by a multiplying factor of the order of 2 ) at the measurement frequency applied in the absence of exceeding said threshold value.
- the frequency of measurement of the electrical quantity (s) representative (s) of the resistive torque of the motor means in the absence of exceeding said threshold value must be: - sufficiently high to avoid any possibility of blockage and deterioration of the motor means between two successive measurements; to do this, a measurement frequency greater than 1 Hz, for example of the order of 10 Hz, is typically sufficient; - low enough to minimize the performance required for the electronic supply and control means and in particular to be compatible with the electronics traditionally used.
- the measurement frequency in the absence of exceeding said threshold value can be that imposed by the other functions using this measurement, for example speed regulation as described below.
- the electrical magnitude (s) representative of the resistive torque of the motor means is measured with a frequency of the order of 50 Hz and a measurement frequency of around 100Hz during each time delay.
- periodic measurements of the electrical magnitude (s) representative of the resistive torque of said motor are continued (having exceeded the value threshold), and in the event of the threshold value being exceeded for a predetermined period of time after the launching of this backup procedure, the power supply to the motor means is interrupted.
- This additional step leads, in fact, to detect the possible ineffectiveness of the safeguarding procedure, for example in the event of winding of the cable, and thus, in this hypothesis, to guarantee the integrity of the driving means and of the organs of training.
- a rotation of the cleaning apparatus is commanded capable of causing it to deviate from its initial trajectory.
- a movement of the cleaning apparatus is controlled in a direction opposite to its initial direction of movement, during a predetermined period of time, then again reversing at least said motor (having exceeded the threshold value) but with another direction so as to again command a movement of the device in the direction of movement initial.
- the device can be rotated when moving in the opposite direction to the initial direction of movement and / or during subsequent movement in the initial direction of movement, at the end of the backup procedure, and / or during a reversal of direction, the device being stopped on site.
- the movement of the device is controlled in the opposite direction to the initial direction of movement for a period of less than 30s, in particular of the order of 5s to 20s.
- the device is again controlled in the initial direction of movement, to resume the normal operating mode defined by the electronic supply and control means.
- the total duration of the backup procedure is less than 1 min, in particular of the order of 10 s to 30 s.
- the choice of the electrical quantity (s) to be measured and the measurement method depends on the type of electric motor (s) and on the configuration of the electronic supply and control means.
- the invention applies to a method for controlling an automatic cleaning device, the motor means of which comprise at least one direct current motor supplied by means of an electric current of predetermined medium voltage U mo y.
- the periodic measurement of the electrical quantity (s) advantageously consists in periodically generating micro-cuts in the supply of the motor means, in measuring during each micro-cut the electromotive force generated by these motor means (operating then generators), and to calculate a value representative of the load torque by comparing the average voltage U mean and the electromotive force measured.
- the speed of rotation of the motor means is calculated, proportional to the electromotive force generated by the latter, this speed of rotation is compared with a stored reference speed of rotation, and in case difference between the measured rotational speeds and stored, adjusting the average voltage U moy power so as to minimize the difference between the actual speed and the setpoint.
- the invention extends to a cleaning device comprising: - a chassis carrying a device for filtering the liquid, - chassis drive members on the surface to be cleaned, - motor means comprising at least one electric motor for drive carried by the chassis and arranged to transmit a motor movement to at least part of the drive members, - electronic supply and control means of each electric drive motor adapted to be able to control a direction reversal drive of the drive members, characterized in that the electronic supply and control means are suitable for: - periodically measuring at least one electrical quantity making it possible to obtain a value representative of the resistive torque of at least one electric motor d 'training, - compare each value obtained with a predetermined threshold value representative of a maximum admissible value, and if said threshold value is exceeded for an electric drive motor: • reverse the control at least of this electric drive motor so as to cause the device to move in a direction opposite to its initial direction of movement, "And command movements of the device capable of causing it to follow a trajectory enabling it to deviate from the initial trajectory that it
- the motor means comprise at least one DC motor supplied by means of an electric current of voltage U avg
- the electronic supply and control means are adapted for periodic measurements of the electrical quantity (s) for periodically generating micro-cuts in the supply of the motor means, measuring during each micro-cut the electromotive force generated by these motor means, and calculating a value representative of the resistive torque by comparison between the average voltage U moy and the electromotive force measured.
- the invention further relates to a method and an apparatus characterized in combination by all or some of the characteristics mentioned above or below.
- FIGS. 1 and 2 represent by way of nonlimiting example an apparatus according to the invention; in these drawings: - Figure 1 is a section through a longitudinal axial plane AA of the cleaning device according to the invention, - and Figure 2 is a section through a transverse plane BB.
- the apparatus shown by way of example in FIGS. 1 and 2 comprises a chassis 1 constituted by a hollow body 1 open at its base, the latter being equipped with a closure plate 2 provided with suction inlets 2a from the liquid in the vicinity of the surface to be cleaned.
- the body 1 is provided at its upper part with an outlet 3 for discharging the liquid, situated opposite the base of the said body so as to discharge the liquid in a direction at least substantially orthogonal thereto and to the surface to clean.
- the body 1 is internally equipped with a sealed casing 4 which is housed therein along its transverse axis as shown in the figures.
- This body 1 forms and delimits around the casing 4 a filtration chamber 4a equipped with a flexible filtration pocket 5 which is fixed to the base of the body 1 on the periphery of the plate 2.
- This pocket 5 is formed by a membrane in a flexible mesh or knitted material of a type known per se.
- the casing 4 contains, on the one hand, an electric pump motor 6 disposed in a central zone thereof, on the other hand, an electric motor 7 reversible direct current drive disposed in the transversely eccentric position relative to this central area.
- an electric pump motor 6 disposed in a central zone thereof
- an electric motor 7 reversible direct current drive disposed in the transversely eccentric position relative to this central area.
- the pump motor 6 drives by a shaft 8 a propeller or wheel 9 for axial pumping, which is disposed in a sleeve 10 for guiding the flow, inserted in the outlet 3.
- This pump motor 6 therefore circulates the liquid withdrawn at the level entrances 2a through the chamber. filtration to outlet 3 where the filtered liquid is discharged.
- the DC drive motor 7 drives by a shaft 11 a transmission wheel 12 which is connected by rubberized belts 13 to two wheels such as 14, arranged at the two longitudinal ends of the body. Each of these wheels drives a transverse cylindrical roller 15 covered by a flexible sleeve of cellular polyurethane foam 16.
- the two sleeves 16 are arranged to come into contact with the immersed surface and fulfill the double function of generating a progression of the device in one direction or the other depending on the direction of rotation of the motor 7, and in ensuring a brushing of the surface tending to detach the impurities or deposits therefrom, which are then sucked into the filtration chamber 4a.
- a float 17 formed by a hollow cylinder is articulated above the body 1 on the sides of the latter in a transverse plane.
- This float which can contain a mobile weight such as a lead ball, cooperates with the off-center of the motor 7 to unbalance the device when it is at the level of the water line; it thus conditions a lateral movement of the device along this line.
- the float 17 also serves to grip the apparatus during handling.
- the cleaning device according to the invention finally comprises an electronic card 18 with microprocessor (s) programmed, firstly, in a conventional manner, to manage the operation of this device, and for example, as described in the patent.
- this electronic card 18 is in additionally programmed to ensure the management of possible situations of blockage of the cleaning device, and for this purpose, - periodically generate, with a frequency for example of the order of 50 Hz, micro-cuts in the supply of each motor d 'drive 7 with direct current, - measure, during each micro-break, the electromotive force generated by this motor 7, that is to say the electric voltage E at the terminals of electric supply of this motor 7, - calculating a value representative of the resistive torque of this motor 7 by comparison between the mean voltage U av supply of the motor 7 and the electromotive force measured, - and comparing the calculated value representative of the resistive torque with a predetermined threshold value.
- the motor means comprise several electric drive motors 7, an electric quantity can be measured as mentioned above in order to obtain a value representative of the resistive torque of only one of these motors, or on the contrary of all the motors 7. In the latter case, during the backup procedure, it is possible to reverse either only the motor 7 whose value obtained has exceeded the threshold value, or on the contrary all the motors 7. If the motors 7 are identical, the same threshold value can be in general used. If they are different, different threshold values will be provided for the different motors 7. It should be noted that the measurement of the electromotive force generated by the motor 7 during each micro-cutoff is preferably carried out only after an initial duration has elapsed.
- a magnitude electric representative of the resistive torque is for example the intensity I of the current flowing in the motor, which is given: where R is in practice a constant of the circuit (corresponding to the electrical resistance).
- this intensity is represented by a digital variable G, the value of which is proportional to the value of the difference between the average supply voltage U avg and the measured electromotive force E, it even proportional to the value of the intensity and therefore to that of the resistive torque of the motor 7.
- the electronic card 18 is programmed to initiate a saving procedure.
- the threshold value Gmax is a digital value determined by test from the motor 7 used, and previously recorded for example in the program code of the microprocessor of the electronic card 18. Gmax represents said predetermined threshold value.
- the backup procedure consists of: - controlling the reversal of the motor 7 so as to cause the device to move in a direction opposite to its previous direction of movement, - stopping the motor 7 after a period of time of the order 15 s, - And order a new reversal of the motor 7, and a rotation of the device, for example according to the method described in FR-2,567,552, so as to cause it to deviate from its initial trajectory.
- the deviation of the device from its initial trajectory can be obtained other than by the method of FR-2,567,552.
- these motors can be controlled to rotate the device.
- the electronic card 18 is programmed to continue to measure periodically (for at least part of the duration of the backup procedure, for example of the order of 5 s) the resisting torque of the motor 7, by controlling the power supply to this motor 7, with a frequency, however - for example of the order of 100 Hz - which is higher than the aforementioned current frequency - the latter being for example of the order from 50Hz-. If the results of these measurements reveal that the said threshold value has been exceeded for a few moments (for example 1 to 3 s) after the start of the backup procedure, the electronic card 18 is programmed to then order an interruption of the supply to the motor 7. Indeed, such an overshoot means an irreversible blockage of the motor 7 which must be immediately stopped.
- the electronic card 18 is also programmed to periodically calculate the speed of rotation of the motor 7, proportional to the electromotive force generated by this motor 7, compare the calculated value with a stored reference value, and finally possibly adjust the average voltage d supply U m0 y so as to minimize the difference between the actual speed of rotation and the set value.
- the cleaning device according to the invention is therefore designed, by means of only a modification of the operating logic of the electronic card 18, by programming, to ensure, on the one hand, the management of possible situations of blockage of the device, and on the other hand, maintaining a setpoint rotation value of the motor 7.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2548734A CA2548734C (fr) | 2003-12-19 | 2004-12-17 | Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant |
EP04816426A EP1709265A1 (fr) | 2003-12-19 | 2004-12-17 | Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant |
US10/582,755 US7723934B2 (en) | 2003-12-19 | 2004-12-17 | Method for controlling an automatic device for cleaning a surface immersed in liquid and corresponding cleaning device |
AU2004303564A AU2004303564A1 (en) | 2003-12-19 | 2004-12-17 | Method for controlling an automatic device for cleaning a surface immersed in liquid and corresponding cleaning device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0315070 | 2003-12-19 | ||
FR0315070A FR2864129B1 (fr) | 2003-12-19 | 2003-12-19 | Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant. |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2005061822A1 true WO2005061822A1 (fr) | 2005-07-07 |
WO2005061822A8 WO2005061822A8 (fr) | 2005-09-22 |
Family
ID=34630393
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/003292 WO2005061822A1 (fr) | 2003-12-19 | 2004-12-17 | Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant |
Country Status (6)
Country | Link |
---|---|
US (1) | US7723934B2 (fr) |
EP (1) | EP1709265A1 (fr) |
AU (1) | AU2004303564A1 (fr) |
CA (1) | CA2548734C (fr) |
FR (1) | FR2864129B1 (fr) |
WO (1) | WO2005061822A1 (fr) |
Cited By (1)
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CN101008291B (zh) * | 2006-01-26 | 2010-05-12 | 金海产品有限公司 | 用于水池清洁机的密封盒装置 |
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WO2007136831A2 (fr) * | 2006-05-17 | 2007-11-29 | Aquatron Inc. | Robot de nettoyage de piscine avec système interne de stérilisation d'eau par ultraviolets |
FR2929311A1 (fr) | 2008-03-27 | 2009-10-02 | Zodiac Pool Care Europ Soc Par | Appareil roulant nettoyeur de surface immergee a entrainement mixte hydraulique et electrique et procede correspondant |
US8141191B2 (en) * | 2008-04-10 | 2012-03-27 | Techno Spa Limited | Pool cleaning vehicle having algorithm for moving |
US8343339B2 (en) | 2008-09-16 | 2013-01-01 | Hayward Industries, Inc. | Apparatus for facilitating maintenance of a pool cleaning device |
USD630809S1 (en) | 2009-07-01 | 2011-01-11 | Hayward Industries, Inc. | Pool cleaner |
USD630808S1 (en) | 2009-07-01 | 2011-01-11 | Hayward Industries, Inc. | Pool cleaner |
BRPI0902349A2 (pt) * | 2009-07-22 | 2011-08-23 | Whirlpool Sa | método de controle para motores elétricos aplicados a cargas cìclicas |
US9593502B2 (en) | 2009-10-19 | 2017-03-14 | Hayward Industries, Inc. | Swimming pool cleaner |
FR2954381B1 (fr) * | 2009-12-22 | 2013-05-31 | Zodiac Pool Care Europe | Appareil nettoyeur de surface immergee muni d'un dispositif accelerometrique detectant l'acceleration gravitationnelle |
CN102985847B (zh) * | 2010-06-01 | 2016-03-02 | 圣戈本陶瓷及塑料股份有限公司 | 检测不同定向辐射的辐射传感器以及包含该辐射传感器的辐射检测系统 |
US8784652B2 (en) | 2010-09-24 | 2014-07-22 | Poolvergnuegen | Swimming pool cleaner with a rigid debris canister |
US8869337B2 (en) | 2010-11-02 | 2014-10-28 | Hayward Industries, Inc. | Pool cleaning device with adjustable buoyant element |
US9259130B2 (en) | 2012-06-04 | 2016-02-16 | Pentair Water Prool and Spa, Inc. | Pool cleaner light module |
AU2013312793B2 (en) | 2012-09-04 | 2017-08-10 | Pentair Water Pool And Spa, Inc. | Pool cleaner generator module with magnetic coupling |
WO2014160393A1 (fr) | 2013-03-13 | 2014-10-02 | Pentair Water Pool And Spa, Inc. | Mécanisme à deux aubes pour appareil de nettoyage de piscine |
CA2906043A1 (fr) | 2013-03-14 | 2014-10-02 | Hayward Industries, Inc. | Systeme de nettoyage pour piscine avec des elements de nettoyage articules |
WO2014150506A1 (fr) | 2013-03-15 | 2014-09-25 | Hayward Industries, Inc. | Dispositif de nettoyage de piscine doté d'ensembles entraînement de roue |
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US9885196B2 (en) | 2015-01-26 | 2018-02-06 | Hayward Industries, Inc. | Pool cleaner power coupling |
AU2016211669C1 (en) | 2015-01-26 | 2020-05-07 | Hayward Industries, Inc. | Swimming pool cleaner with hydrocyclonic particle separator and/or six-roller drive system |
FR3053375A1 (fr) * | 2016-07-04 | 2018-01-05 | Amalis-Assainissement Maintenance Assistance Logistique Sur Installations Et Services | Outil de nettoyage d'une piscine, notamment en milieu radioactif, comprenant une cuve |
US10583878B2 (en) | 2016-12-08 | 2020-03-10 | Aqua Products, Inc. | Endless track for submersible, autonomous vehicle |
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 |
US10364905B2 (en) | 2017-05-11 | 2019-07-30 | Hayward Industries, Inc. | Pool cleaner check valve |
US10676950B2 (en) | 2017-05-11 | 2020-06-09 | Hayward Industries, Inc. | Pool cleaner roller latch |
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US9885195B1 (en) | 2017-05-11 | 2018-02-06 | Hayward Industries, Inc. | Pool cleaner roller assembly |
US9885194B1 (en) | 2017-05-11 | 2018-02-06 | Hayward Industries, Inc. | Pool cleaner impeller subassembly |
US10156083B2 (en) | 2017-05-11 | 2018-12-18 | Hayward Industries, Inc. | Pool cleaner power coupling |
US10294686B1 (en) | 2018-04-24 | 2019-05-21 | Water Tech, LLC | Rechargeable robotic pool cleaning apparatus |
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FR2864130B1 (fr) | 2003-12-19 | 2006-12-29 | Zodiac Pool Care Europe | Procede de pilotage d'un appareil de nettoyage automatique d'une surface immergee dans un liquide, et appareil de nettoyage correspondant. |
-
2003
- 2003-12-19 FR FR0315070A patent/FR2864129B1/fr not_active Expired - Lifetime
-
2004
- 2004-12-17 WO PCT/FR2004/003292 patent/WO2005061822A1/fr active Application Filing
- 2004-12-17 EP EP04816426A patent/EP1709265A1/fr not_active Withdrawn
- 2004-12-17 US US10/582,755 patent/US7723934B2/en active Active
- 2004-12-17 CA CA2548734A patent/CA2548734C/fr active Active
- 2004-12-17 AU AU2004303564A patent/AU2004303564A1/en not_active Abandoned
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US4162557A (en) | 1976-12-23 | 1979-07-31 | Union Carbide Corporation | Process for turning a coated casing inside out |
FR2567552A1 (fr) | 1984-07-11 | 1986-01-17 | Puech Frederic | Appareil de nettoyage automatique d'une surface immergee |
EP0905334A1 (fr) | 1997-09-26 | 1999-03-31 | Weda Poolcleaner AB | Dispositif de nettoyage automatique pour piscine |
FR2818680A1 (fr) | 2000-12-21 | 2002-06-28 | Zodiac Pool Care Europe | Appareil roulant automoteur nettoyeur de surface immergee |
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CN101008291B (zh) * | 2006-01-26 | 2010-05-12 | 金海产品有限公司 | 用于水池清洁机的密封盒装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2005061822A8 (fr) | 2005-09-22 |
EP1709265A1 (fr) | 2006-10-11 |
US20070272274A1 (en) | 2007-11-29 |
AU2004303564A1 (en) | 2005-07-07 |
CA2548734C (fr) | 2012-09-25 |
FR2864129B1 (fr) | 2006-12-29 |
US7723934B2 (en) | 2010-05-25 |
CA2548734A1 (fr) | 2005-07-07 |
FR2864129A1 (fr) | 2005-06-24 |
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