WO2019179772A1 - Robot for cleaning a glass surface and cleaning device comprising such a cleaning robot - Google Patents

Robot for cleaning a glass surface and cleaning device comprising such a cleaning robot Download PDF

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Publication number
WO2019179772A1
WO2019179772A1 PCT/EP2019/055644 EP2019055644W WO2019179772A1 WO 2019179772 A1 WO2019179772 A1 WO 2019179772A1 EP 2019055644 W EP2019055644 W EP 2019055644W WO 2019179772 A1 WO2019179772 A1 WO 2019179772A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
robot
cleaning robot
glass surface
holding
Prior art date
Application number
PCT/EP2019/055644
Other languages
French (fr)
Inventor
Christophe Chassaing
Patrick ASSUID
Denis Thebault
David Peschard
Vincent Gaucher
Aurélie FRAYSSE
Franck DARSES
Original Assignee
Valeo Systèmes d'Essuyage
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 Valeo Systèmes d'Essuyage filed Critical Valeo Systèmes d'Essuyage
Publication of WO2019179772A1 publication Critical patent/WO2019179772A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously

Definitions

  • the present invention relates to the field of cleaning robots for glazed surfaces. It relates more particularly cleaning robots for cleaning glass surfaces of a motor vehicle, and for example curved glass surfaces such as a windshield of a motor vehicle.
  • cleaning robots are motorized to move along these glazed surfaces and they comprise a holding system able to maintain them on vertical flat or inclined glazed surfaces and a cleaning system of these glazed surfaces.
  • Known holding systems can implement a suction force creating a suction effect or a magnetic force.
  • the cleaning system of such robots may include cleaning pads or rotating cleaning discs that may be associated with a cleaning fluid reservoir to allow humidification of the glass surface.
  • the application of such robots on large glass surfaces allows the implementation of large robots, in which it is easy to implement engines, holding systems and appropriate cleaning systems.
  • These robots are powered electrically and fluidly by a network of cables or pipes connecting the robot to a fixed base remote from the glass to be cleaned.
  • the robots of the prior art have the disadvantage of not being suitable for cleaning smaller glass surfaces such as glazed surfaces of a motor vehicle, particularly curved glazed surfaces such as a windshield.
  • it is essential to clean the glass surface of these windshields.
  • it is known to clean the outer surface of the windshields by means of wiper blades in particular, it is desirable to also clean the inner surface of the windshields often covered with fine particles and traces that may result from deposits of dust, cigarette smoke, fogging, exudation of plastics or postilions.
  • the integration of touch screens with motor vehicles will require the ability to quickly and easily wipe off fingerprints to ensure optimal visibility for the driver.
  • the object of the invention is to remedy the aforementioned problems by proposing a stand-alone, space-saving cleaning robot capable of effectively cleaning a glazed surface, in particular a curved surface, such as an inner glazed face of a windshield. of a motor vehicle.
  • the constituent elements of the cleaning robot according to the invention are defined with respect to the main axis of elongation of the cleaning robot, in particular the chassis of the cleaning robot.
  • the transverse direction will be in relation to the longitudinal direction defined by the main axis of elongation.
  • the "front” and “rear” orientation denominations refer to the two main directions of operation of the cleaning robot defined by the longitudinal direction of the robot chassis.
  • the “lower” and “upper” orientation denominations refer to the vertical direction perpendicular to those defined by the longitudinal and transverse directions of the frame.
  • the invention firstly relates to a cleaning robot of a glazed surface.
  • the cleaning robot comprises at least one electrical storage device and associated electrical connection means for recharging the electrical storage device by direct electrical connection or by induction, means for holding the robot against the glass surface, means for moving this robot along the glass surface, means for cleaning the glass surface, and a frame forming a support for at least the holding, moving and cleaning means, said robot further comprising at least a part of a control system which is configured to control at least the holding means and / or the robot moving means and / or the surface cleaning means glass.
  • the robot is in particular configured to clean a curved glazed face, in particular an inner face of a windshield, whose curve varies from a radius of 1000 millimeters to 1000 millimeters.
  • the displacement means and the cleaning means are arranged around the robot holding means against the glazed surface, in particular curved. This ensures, by the central position of the holding device of the robot against the glass surface, that the means on the one hand the movement of the robot and on the other hand the cleaning of the glass are properly pressed against the glass surface .
  • the holding means are arranged in a central zone of the frame. This optimizes the arrangement of the various means carried by the support frame, especially when the cleaning means and displacement are arranged around the holding means, to reduce the overall size of the robot and allow its miniaturization.
  • the longitudinal dimensions of the cleaning robot can in particular be between too much and 150 millimeters and the transverse dimensions of this robot can be between 50 and 100 millimeters.
  • the holding means are in particular configured to allow the cleaning of a curved glass surface of a windshield with a minimum radius of curvature of 500 millimeters.
  • the holding means may comprise at least one motor, a turbine and a suction mouth, the turbine being actuated by the motor so as to suck the air through the suction mouth and generate a Venturi effect able to maintain the cleaning robot pressed against the glass surface.
  • the suction mouth may in particular be trumpet-shaped, the flare being turned towards the glass surface to be cleaned.
  • the holding means may comprise at least one magnetic or electromagnetic element so as to generate a phenomenon magnetization or electromagnetization adapted to keep the cleaning robot pressed against the glazed surface, in particular curved.
  • it is necessary to provide a second magnetic or electromagnetic element to carry out the magnetization and this second element can be arranged on a follower module disposed on the other side of the glass surface, or be arranged in the thickness of the glass surface.
  • the lower face of the base of the cleaning robot frame and the lower face of the follower module of the holding means may each comprise at least one sliding element capable of allowing the cleaning of the glazed surface, in particular curved, and to promote the simultaneous movement of the Cleaning robot and follower module sliding on the glass surface.
  • a lower face of the frame comprises at least one housing configured to receive a sliding element forming cleaning means.
  • these cleaning means may comprise at least one spring element disposed in the housing formed in the frame for receiving the sliding element, said spring element being configured to exert a pressing force on the sliding element in order to press against the glazed surface, in particular curved.
  • the displacement means may comprise at least one pair of motorized elements arranged on either side of the holding means.
  • These motorized elements forming displacement means may in particular comprise wheels arranged in the vicinity of longitudinal walls bordering the frame and driven in rotation so as to allow, according to their direction of rotation relative to each other, a bidirectional translation. front / back of the cleaning robot along the axis of extension of the robot or a rotation of the robot around a central point.
  • the displacement means further comprise a plate common to the motorized elements, the common plate being pivotable relative to the frame in the center of which it is arranged so as to modify the direction of movement of the cleaning robot when the wheels are controlled to generate a rotation of the robot, while maintaining the orientation of the fixed frame.
  • the cleaning robot according to the invention comprises means for detecting the environment able to communicate with the control system, said control system being configured to define an instruction for moving the cleaning robot according to the information received from the means of detecting the environment.
  • the environment detection means comprise at least one proximity sensor able to detect the edges of the glass surface and enable the control system to generate and transmit a pseudo-random trajectory instruction by modification of the direction of movement of the cleaning robot.
  • the means for detecting the environment comprise at least one contact detection sensor capable of detecting an obstacle present on the glass surface and transmitting to the control system information enabling the latter to calculate and transmit a trajectory instruction of avoidance;
  • the means for detecting the environment comprise at least one distance sensor able to determine the dimensions of the glass surface and / or to determine the position of the cleaning robot on the glass surface and / or to map the glass surface in order to to determine the regulatory and / or peripheral fields of view;
  • the distance sensors are preferably ultrasonic and / or IR sensors or LIDAR type lasers or sonar, or other non-contact detection technologies ...
  • the means for detecting the environment comprise at least four distance sensors mounted symmetrically and perpendicularly to the longitudinal and transverse walls of the chassis, and able to determine the dimensions of the glass surface and / or the position of the cleaning robot on the glazed surface.
  • the subject of the invention is a device for cleaning a glazed surface, in particular a curved surface, comprising at least one cleaning robot such as previously defined, and a housing formed at the periphery of the glass surface or fixed on the glass surface (V) for charging the cleaning robot.
  • the control system is adapted to control the return of the cleaning robot to a charging terminal in the housing after a cleaning cycle and / or after detecting a low level of loading of the power source of the robot;
  • control system is able to communicate with a user interface in order to program and / or control at least one cycle of operation of the cleaning robot;
  • the user interface comprises programming, activation and control means capable of programming, activating, controlling cycles of operation of the cleaning robot in automatic or manual control mode, the user interface possibly being a board computer; and / or a smartphone application.
  • the robot may be equipped with means of detection of the environment arranged on the chassis so as to be able to detect a plurality of reflective or luminous patterns aligned in two rows respectively on opposite edges of the frame.
  • the glazed surface so as to define a plurality of virtual corridors and allow the control system to generate and transmit a rectilinear trajectory instruction for moving the cleaning robot.
  • the transverse edges of the glass surface are held by a pair of bays which each comprise a plurality of fingers projecting from the glass surface so as to come into contact with the cleaning robot and to bend its trajectory.
  • the cleaning robot of the cleaning device according to the invention is adapted to clean a glass surface of motor vehicle, preferably a windshield of said vehicle, said housing being formed at the periphery of the windshield or attached to the windshield.
  • a glass surface cleaning robot of a motor vehicle preferably the curved glazed interior surface of a windshield and among which:
  • FIG. 5 is an exploded perspective view of a cleaning robot according to a first embodiment of the invention, making visible various components of the cleaning robot, including a support frame, holding means forming a cleaning system. held on the glass surface, moving means and a dressing body;
  • FIG. 2 is a bottom view of the cleaning robot of Figure t, assembled, making visible a lower face of the support frame intended to be in contact with the glass surface to be cleaned and associated cleaning means, and at least a portion of the holding means and moving means;
  • FIG. 3 is a schematic representation of a cleaning robot according to the invention and a glazed surface, the cleaning robot comprising according to the robot according to the first embodiment of the holding means operating by Venturi effect;
  • FIG. 4 is a schematic representation similar to that of Figure 3 with a cleaning robot and a glazed surface, the cleaning robot comprising according to a first embodiment of holding means operating by magnetization;
  • FIG. 5 is an illustration of the movement of the cleaning robot along a glass surface, the robot being viewed from below through the glazed surface to illustrate an alternative embodiment of the robot's moving means;
  • FIGS. 6 and 7 are diagrammatic perspective views of the cleaning robot and a glass surface that can be cleaned by means of the robot, FIG. 6 illustrating a working position of the robot moving on the glass surface. according to a first mode of operation and Figure 7 illustrating a rest position of the robot in a peripheral housing of the glass surface;
  • Figure 8 is a view similar to that of Figure 6, illustrating a working position of the robot moving on the glass surface in a second mode of operation;
  • FIG. 9 is a detail view of an edge of the glazed surface according to a particular embodiment of the invention.
  • FIG. 1 illustrates a cleaning robot 10 as a whole according to a first embodiment, with holding means 2 forming a windshield-holding system, displacement means 3 and cleaning means 4, these various means being intended for be assembled and arranged on a support frame 5 of the robot.
  • the frame 5 consists of a flat base 6 of principal axis of elongation X and delimited by two longitudinal walls 7 and 7 ', respectively said left and right, connected at their ends by two transverse walls 8 and 8', respectively say front and back.
  • the base 6 has two flat faces 9 and 9 ', respectively said lower and upper in the direction defined by the vertical axis Y.
  • the lower face g of the base 6 is intended to be oriented towards the glazed surface, in particular curved, V to be cleaned when the robot is in the working position on the glass surface.
  • the upper face g 'of the base 6 is configured to carry at least one electrical storage device 11, electrically connected to the holding means 2 and the displacement means 3 so as to ensure their power supply.
  • a cover body 12 having in addition to its aesthetic function a protective function of the holding means 2, moving means 3, and electrical storage devices 11, covers the upper part of the chassis 5 of the cleaning robot 10.
  • the trim body 12 to ensure its aesthetic function, can take various forms so as to represent, for example, a miniature vehicle or any other miniature model.
  • the cleaning robot 10 further comprises electrical connection means 13 of the electrical storage device or 11 described above. It will be described hereinafter the interaction of the cleaning robot with a charging station appropriate to allow via these electrical connection means 13 the recharge of the electrical storage devices 11 onboard the robot cleaning 10 and allow a self-relocation of the robot along the glazed surface during operation of this robot.
  • the holding means 2 operate by Venturi effect, so as to press the lower face 9 of the base 6 of the frame 5 against the glass surface V to be cleaned.
  • the holding means 2 are intended to be assembled inside and in line with a central orifice 60 of the base 6.
  • the holding means 2 comprise in particular a motor 20 actuating a turbine 22 adapted to suck the air through a suction mouth 24 formed in the central orifice 60.
  • the motor 20 and the turbine 22 are fixed relative to the base 6 via a motor support part 21 secured by mounting lugs 23.
  • the motor 20 of these holding means is electrically powered by the electrical storage device disposed in proximity to this motor, via power cables here not shown.
  • the holding means 2 can be controlled by a control system not shown here and which will be described below, it being understood that in a simplified version, the motor of these holding means can be actuated as soon as the cleaning robot leaves his rest position.
  • the displacement means 3 consist of a pair of motorized rolling elements 16 respectively arranged along the longitudinal walls 7, 7 'of the base 6, and which each have a wheel 160, part of which is inserted into a perforated zone 17 the base 6 in the vicinity of the longitudinal walls, so as to exceed beyond the lower face 9 of the chassis base. More particularly, the perforated zones 17 are arranged symmetrically with respect to the longitudinal axis X, on either side of the central orifice 60 intended to receive the holding means 2 forming the holding device on the glass surface, in particular curved.
  • the displacement means 3 allow a translation of the cleaning robot 10 in the direction defined by the longitudinal axis of elongation X, this translation can be performed in both directions, that is to say in front and back, depending on the direction of rotation of the wheel 160 generated by the onboard motor of the motorized roller assembly.
  • the motor of these motorized rolling elements 16 is electrically powered by the electrical storage device disposed near this motor, via power cables here not shown. The motor is also controlled by a control system not shown here and which will be described below.
  • the cleaning means 4 here comprise a pair of sliding elements 14 respectively arranged along a transverse wall 8, 8 ', in a housing 15 (visible in FIG. 2) formed in the lower face 9 of the base 6 of the frame 5.
  • These sliding elements have a vertical dimension, substantially perpendicular to the plane defined by the underside of the frame base, greater than the equivalent vertical dimension of the housing, that is to say its depth, so that the sliding elements may come into contact with the glazed surface, in particular curved, V and allow it to be cleaned.
  • the sliding elements 14, here of oblong shape are arranged symmetrically in these housings on either side of the central orifice 6o for receiving the holding means 2 forming the holding device on the glass surface.
  • the sliding elements 14 have the function of cleaning the glass surface and facilitating the movement of the cleaning robot 10 by sliding on the glass surface V. These sliding elements 14 form a cleaning pad able to remove by dry friction any fine particles, dust traces, for example of fingers, said cleaning pad may comprise attachment means adapted to fix a microfiber cleaning cloth manually positioned by a user.
  • the cleaning means may comprise spring elements 141, here three and of helical type, advantageously arranged between the bottom of the housing 15 and the sliding elements to exert an appropriate pressure force towards the glass surface, it being understood that abutment means here not shown are provided to prevent the sliding elements from escaping from their housing.
  • the cleaning robot 10 is of reduced size: preferably its longitudinal dimensions are between 100 and 150 millimeters and its transverse dimensions are between 50 and 100 millimeters.
  • Figure 2 makes more particularly visible the lower face 9 of the frame 5 intended to be in contact with the glazed surface, in particular curved, V to clean. It should be noted that in this example, the transverse walls 8, 8 'have a curved profile, without this being limiting of the invention.
  • the holding means 2 operate by Venturi effect, and there is the central orifice 60 of the base 6 connected to the suction mouth 24 Venturi holding means.
  • This FIG. 2 makes more particularly visible the symmetrical distribution, around these Venturi effect means, on the one hand of the displacement means 3 and the part of the wheel 160 which protrudes from the corresponding perforated zone 17 and on the other hand cleaning means 4 and elements sliding 14 protruding from the base 6 of the frame 5.
  • the robot is in this configuration adapted to move along the longitudinal axis X when the wheels 160 are driven to rotate in the same direction.
  • a first direction of rotation of the wheels 160 about an axis parallel to the transverse axis of the robot T the robot is moved in a first direction, for example back and forth, along the longitudinal axis, while that when the wheels 160 both turn in a second direction of rotation opposite the first direction of rotation, the robot is moved in a second direction opposite to the first direction along the longitudinal axis.
  • the cleaning robot 10 may be caused to deviate from its longitudinal trajectory as soon as the motorized rolling elements 16 are driven independently of one another, for example by blocking one of the wheels 160 or by rotating it in the opposite direction the direction of rotation of the other wheel.
  • FIG. 3 illustrates in more detail the holding means 2 of the cleaning robot 10 according to the first embodiment of the invention according to FIGS. 1 and 2.
  • the Venturi effect holding means 2 extend vertically in the defined direction by the vertical axis Y.
  • the motor 20 actuates the turbine 22 sucking air through the suction mouth 24, preferably trumpet-shaped.
  • the suction mouth 24 is in contact with the glass surface V and the vacuum created at this contact zone generates a suction effect which clings the cleaning robot against the glazed surface, in particular curved.
  • the motor 20 is actuated, the cleaning robot is pressed against the glass surface to be cleaned.
  • the central arrangement of the holding device formed by these holding means 2 with Venturi effect makes it possible to ensure contact with the glazed surface V both of the displacement means 3 and the cleaning means 4 distributed around the holding device.
  • the dimensioning of the holding means 2 makes it possible to press the cleaning robot against the glazed surface with more or less force and thus makes it possible to ensure with greater or lesser force the contact between the holding and cleaning means and the glazed surface, in particular curved.
  • the holding means are configured to ensure the contact of the moving and cleaning means with a curved glazed surface V of a windshield with a minimum radius of curvature of 500 millimeters.
  • FIG. 4 illustrates an alternative embodiment of the holding device of the cleaning robot 10 in which the holding means 2 operate by magnetization, with a design of the cleaning robot here in two parts, namely the main body arranged on the side of the inner surface of the glazed surface, in particular curved, to be cleaned (it should be noted that the curve of the glass surface has been exaggerated in Figure 3 to facilitate the understanding of the reader) and a follower module 10 'disposed of the other side of the curved glass surface, outside the vehicle when the curved glass surface is a windshield for example.
  • the holding means 2 comprise, for magnetization-holding purposes, a first magnetic or electromagnetic element arranged on the main body and a second magnetic element arranged on the follower module.
  • the first and second magnetic elements 32, 30 are able to cooperate by mutual magnetic attraction on either side of the glass surface V to form a unitary assembly.
  • cleaning means 4 for example sliding elements 14, and moving means 3, for example motorized rolling elements, are arranged around this holding device operating here by magnetization, so that the cleaning robot can easily move and clean a curved glass surface.
  • FIG. 5 illustrates an alternative embodiment of the displacement means 3 of the cleaning robot 10 according to the invention.
  • the displacement means 3 also comprise two motorized rolling elements 16, of which two wheels 160 are here visible, and which are this time mounted on a common plate 18 arranged in the center of the base 6 of the chassis 5.
  • the plate 18 is pivotable relative to the frame 5, about an axis parallel to the vertical axis Y of the cleaning robot.
  • the rolling elements 16 are controlled so that the wheels rotate in the same direction of rotation when it is desired to advance the cleaning robot in a straight line or in opposite directions when the it is desired to rotate the robot.
  • Figures 6 and 7 illustrate a first mode of operation of the cleaning robot 10 according to the invention. More particularly, Figure 6 illustrates a working position of the robot moving on the glass surface, in particular curved, according to this first mode of operation, the cleaning robot being driven in a cleaning cycle according to a predefined movement sequence. At the end of each cleaning cycle, the cleaning robot takes a rest position, illustrated in Figure 7, wherein the robot 10 is disposed in a housing 102 formed on the periphery of the glass surface V.
  • This rest position allows on the one hand not to penalize the driver's vision through the glass surface when no cleaning action is necessary. It also allows to electrically recharge the electrical storage device 11 embedded on the robot.
  • the housing 102 is thus configured to allow a particular interaction between the cleaning robot 10 and a charging terminal 104 formed inside the housing 102 adapted to receive the cleaning robot 10 and connected to a power supply network of the vehicle (represented by the arrow in FIGS. 6 and 7).
  • the cleaning robot is positioned in the housing 102 so that the electrical connection means 13 are arranged against the charging terminal 104 to allow charging, by direct electrical connection or by induction for example, the electrical storage device or devices, previously unloaded by the autonomous power of the moving means and holding means embedded on the robot.
  • control system at least partly embedded in the cleaning robot, is configured to generate an operating instruction of the robot according to a cleaning cycle with a predefined movement sequence to follow.
  • control system in which it is intended to operate the robot without encountering any obstacle, it is possible to program the robot to move to the output of its housing a maximum of the glass surface before to resume his resting position.
  • the cleaning robot comprises means for detecting the environment capable of detecting an obstacle present on the glazed surface V, such as, for example, a rearview mirror, a suction cup of a GPS device or a electronic toll badge holder.
  • the data collected by the detection means is transmitted to the control system in order to calculate and transmit to the moving means an avoidance trajectory instruction of the detected obstacle.
  • the environmental detection means comprise at least one distance sensor 50, of ultrasonic sensor and / or IR type, or a lidar type laser or other detection technologies without detection. contact, the distance sensor being able to determine the dimensions of the glass surface V and / or to determine the position of the cleaning robot 10 with respect to the edges of the glass surface V and / or to map the glass surface V of the windshield after that the cleaning robot 10 has performed a first recognition phase in order to determine and recognize the regulatory and / or peripheral fields of view of the glass surface of the windshield.
  • the navigation means comprise four distance sensors 50 arranged on each side of the cleaning robot 10, for example on the longitudinal walls 7, 7 'and transverse 8, 8' of the chassis 5 of the cleaning robot 10.
  • the detection means of the environment comprise a pair of proximity sensors 42 respectively arranged on the opposite transverse walls 8, 8 'of the frame 5. These proximity sensors 42 are able to detect and align with a plurality of aligned reflective or luminous patterns 40 at regular intervals on opposite edges of the curved glass surface V of the windshield so as to materialize, on this glazed surface, a plurality of virtual corridors.
  • the data collected by the proximity sensors 42 are transmitted to the control system in order to define and transmit a rectilinear trajectory instruction for the bidirectional forward / backward movement of the cleaning robot 10 in the direction defined by its axis of extension X. understands that at the end of the virtual corridor, the wheels of the displacement means are controlled to perform a perpendicular movement in order to pass on the neighboring virtual corridor.
  • the environment detection means may consist of at least one proximity sensor capable of detecting the longitudinal and transverse edges of the glazed surface V, and the data collected by these proximity sensors are transmitted. to the control system for controlling a pseudo-random trajectory instruction for the multidirectional movement of the cleaning robot 10 on the glass surface V.
  • the cleaning robot 10 can thus make crossings of the glass surface V of the windshield in a first direction, detect its arrival at the edge of the windshield and start in a second direction different from the first.
  • the glazed surface V is held laterally by a pair of windshield bolsters which each comprise a plurality of fingers 70 projecting from the glass surface V.
  • the placing in contact of the robot 10 with a finger 70 has the effect of bending the trajectory of the cleaning robot 10.
  • the second object of the invention is a device 100 for cleaning a glazed surface, in particular a curved surface, V, advantageously a windshield, comprising at least one cleaning robot 10 as previously defined, a housing 102 forming a charging terminal for the robot. cleaning 10 and a user interface.
  • the control system of the cleaning robot is able to control, via the activation and control means, the return of the cleaning robot to the housing 102 attached to the windshield after a cleaning cycle and / or after detecting a low level of loading of the robot's power source.
  • the user interface of the cleaning device 100 comprises programming, activation and control means able to program, activate, control cycles of operation of the cleaning robot 10 in automatic or manual control mode.
  • the user interface is advantageously integrated with the on-board computer of the vehicle and / or with a smartphone in the form of an application dedicated to the programming of the operating cycles of the robot and / or for manually controlling the cleaning robot 10 in Game mode.
  • a miniature and autonomous cleaning robot 10 of a glazed surface, in particular a curved surface, V of a windshield comprising at least holding means 2, moving means 3, cleaning means 4 and a control system capable of cooperating and communicating with each other to program and perform cycles of operation of the cleaning robot in to eliminate any particles or traces of the glass surface and to offer the driver of the vehicle an optimal visibility.
  • the cleaning device can be adapted to clean any other glass surface of the vehicle, such as a side window.
  • the cleaning device according to the invention is not limited to use in the automotive field, it can be adapted to clean any other surface glazed surface, for example, the glazed surface of a building.

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  • Cleaning In General (AREA)

Abstract

The invention relates to a cleaning robot (10) for cleaning a particularly curved (V) glass surface, said robot comprising at least one electrical storage device (11) and associated electrical connection means (13) for charging the electrical storage device by direct electrical connection or by induction, means (2) for holding the robot against the glass surface, means (3) for moving said robot along the glass surface, means (4) for cleaning the glass surface, and a frame (5) forming a support for at least the holding, moving and cleaning means, said robot also comprising at least one part of a control system which is designed to control at least the holding means (2) and/or the means (3) for moving the robot and/or the means for cleaning the glass surface.

Description

ROBOT DE NETTOYAGE D'UNE SURFACE VITREE ET DISPOSITIF DE NETTOYAGE CLEANING ROBOT OF GLAZED SURFACE AND CLEANING DEVICE
COMPORTANT UN TEL ROBOT DE NETTOYAGE COMPRISING SUCH A CLEANING ROBOT
La présente invention se rapporte au domaine des robots de nettoyage de surfaces vitrées. Elle concerne plus particulièrement les robots de nettoyage destinés à nettoyer des surfaces vitrées de véhicule automobile, et par exemple des surfaces vitrées galbées telles qu’un parebrise d’un véhicule automobile. The present invention relates to the field of cleaning robots for glazed surfaces. It relates more particularly cleaning robots for cleaning glass surfaces of a motor vehicle, and for example curved glass surfaces such as a windshield of a motor vehicle.
L’utilisation de robots de nettoyage est fréquente dans les applications domestiques de nettoyage de surfaces vitrées planes, notamment pour le nettoyage des faces externes et/ou interne de vitrages de grandes dimensions dont l’accès peut être difficile ou dangereux. Pour répondre à ces besoins, les robots de nettoyage connus sont motorisés pour pouvoir se déplacer le long de ces surfaces vitrées et ils comportent un système de tenue apte à les maintenir sur des surfaces vitrées planes verticales ou inclinées ainsi qu’un système de nettoyage de ces surfaces vitrées. Les systèmes de tenue connus peuvent mettre en œuvre une force d’aspiration créant un effet ventouse ou bien une force magnétique. Le système de nettoyage de tels robots peut comporter des tampons de nettoyage ou des disques de nettoyage rotatifs pouvant être associés à un réservoir de fluide de nettoyage en vue de permettre l’humidification de la surface vitrée. Dans tous les cas, l’application de tels robots sur de grandes surfaces vitrées permet la mise en œuvre de robots de dimensions importantes, dans lesquels il est aisé de mettre en œuvre les motorisations, systèmes de tenue et systèmes de nettoyage appropriés. Ces robots sont alimentés électriquement et fluidiquement par un réseau de câbles ou tuyaux reliant le robot à une base fixe à distance de la vitre à nettoyer. The use of cleaning robots is common in domestic applications for cleaning flat glazed surfaces, especially for cleaning the external faces and / or internal large glazing, access to which can be difficult or dangerous. To meet these needs, the known cleaning robots are motorized to move along these glazed surfaces and they comprise a holding system able to maintain them on vertical flat or inclined glazed surfaces and a cleaning system of these glazed surfaces. Known holding systems can implement a suction force creating a suction effect or a magnetic force. The cleaning system of such robots may include cleaning pads or rotating cleaning discs that may be associated with a cleaning fluid reservoir to allow humidification of the glass surface. In any case, the application of such robots on large glass surfaces allows the implementation of large robots, in which it is easy to implement engines, holding systems and appropriate cleaning systems. These robots are powered electrically and fluidly by a network of cables or pipes connecting the robot to a fixed base remote from the glass to be cleaned.
Les robots de l’art antérieur présentent l’inconvénient de ne pas être adaptés pour le nettoyage de surfaces vitrées de moindres dimensions telles que des surfaces vitrées d’un véhicule automobile, en particulier des surfaces vitrées galbées telles qu’un parebrise. Or, pour des questions d’hygiène et de sécurité, il est essentiel de nettoyer la surface vitrée de ces parebrises. Or, s’il est connu de procéder au nettoyage de la surface extérieure des parebrises par l’intermédiaire de balais d’essuyage notamment, il est souhaitable de nettoyer également la surface intérieure des parebrises souvent couverte de particules fines et de traces pouvant résulter de dépôts de poussières, de fumées de cigarette, de buée, d’exsudation des plastiques ou encore de postillons. Par ailleurs, dans l’avenir, l’intégration aux véhicules automobiles de parebrises tactiles nécessitera de pouvoir effacer rapidement et facilement toute trace de doigts afin d’assurer au conducteur une visibilité optimale. The robots of the prior art have the disadvantage of not being suitable for cleaning smaller glass surfaces such as glazed surfaces of a motor vehicle, particularly curved glazed surfaces such as a windshield. However, for questions of hygiene and safety, it is essential to clean the glass surface of these windshields. However, if it is known to clean the outer surface of the windshields by means of wiper blades in particular, it is desirable to also clean the inner surface of the windshields often covered with fine particles and traces that may result from deposits of dust, cigarette smoke, fogging, exudation of plastics or postilions. In the future, the integration of touch screens with motor vehicles will require the ability to quickly and easily wipe off fingerprints to ensure optimal visibility for the driver.
Dans ce contexte, l’invention a pour but de remédier aux problèmes précités en proposant un robot de nettoyage autonome et à encombrement réduit apte à nettoyer de manière efficace une surface vitrée, notamment galbée, telle qu’une face vitrée intérieure d’un parebrise de véhicule automobile. In this context, the object of the invention is to remedy the aforementioned problems by proposing a stand-alone, space-saving cleaning robot capable of effectively cleaning a glazed surface, in particular a curved surface, such as an inner glazed face of a windshield. of a motor vehicle.
Dans la description qui suit, les éléments constitutifs du robot de nettoyage selon l’invention sont définis par rapport à l’axe principal d’allongement du robot de nettoyage, en particulier du châssis du robot de nettoyage. La direction transversale sera comprise par rapport à la direction longitudinale définie par l’axe principal d’allongement. Les dénominations d’orientation « avant » et « arrière » se réfèrent aux deux principaux sens de marche du robot de nettoyage définis par la direction longitudinale du châssis de celui-ci. Les dénominations d’orientation « inférieure » et « supérieure » se réfèrent à la direction verticale, perpendiculaire à celles définies par les directions longitudinale et transversale du châssis. In the following description, the constituent elements of the cleaning robot according to the invention are defined with respect to the main axis of elongation of the cleaning robot, in particular the chassis of the cleaning robot. The transverse direction will be in relation to the longitudinal direction defined by the main axis of elongation. The "front" and "rear" orientation denominations refer to the two main directions of operation of the cleaning robot defined by the longitudinal direction of the robot chassis. The "lower" and "upper" orientation denominations refer to the vertical direction perpendicular to those defined by the longitudinal and transverse directions of the frame.
L’invention a pour premier objet un robot de nettoyage d’une surface vitrée. The invention firstly relates to a cleaning robot of a glazed surface.
Selon une caractéristique de l’invention, le robot de nettoyage comporte au moins un dispositif de stockage électrique et des moyens de raccordement électrique associés pour le rechargement du dispositif de stockage électrique par connexion électrique directe ou par induction, des moyens de maintien du robot contre la surface vitrée, des moyens de déplacement de ce robot le long de la surface vitrée, des moyens de nettoyage de la surface vitrée, ainsi qu’un châssis formant support d’au moins les moyens de maintien, de déplacement et de nettoyage, ledit robot comportant en outre au moins une partie d’un système de commande qui est configuré pour piloter au moins les moyens de maintien et/ou les moyens de déplacement du robot et/ou les moyens de nettoyage de la surface vitrée. According to one characteristic of the invention, the cleaning robot comprises at least one electrical storage device and associated electrical connection means for recharging the electrical storage device by direct electrical connection or by induction, means for holding the robot against the glass surface, means for moving this robot along the glass surface, means for cleaning the glass surface, and a frame forming a support for at least the holding, moving and cleaning means, said robot further comprising at least a part of a control system which is configured to control at least the holding means and / or the robot moving means and / or the surface cleaning means glass.
Le robot est notamment configuré pour nettoyer une face vitrée galbée, notamment une face intérieure d’un parebrise, dont le galbe varie d’un rayon de îooo millimètres à îoooo millimètres. The robot is in particular configured to clean a curved glazed face, in particular an inner face of a windshield, whose curve varies from a radius of 1000 millimeters to 1000 millimeters.
Selon une caractéristique de l’invention, les moyens de déplacement et les moyens de nettoyage sont agencés autour des moyens de maintien du robot contre la surface vitrée, notamment galbée. On s’assure ainsi, par la position centrale du dispositif de tenue du robot contre la surface vitrée, que les moyens permettant d’une part le déplacement du robot et d’autre part le nettoyage de la vitre sont correctement plaqués contre la surface vitrée. According to a feature of the invention, the displacement means and the cleaning means are arranged around the robot holding means against the glazed surface, in particular curved. This ensures, by the central position of the holding device of the robot against the glass surface, that the means on the one hand the movement of the robot and on the other hand the cleaning of the glass are properly pressed against the glass surface .
Selon une autre caractéristique de l’invention, les moyens de maintien sont agencés dans une zone centrale du châssis. On optimise ainsi la disposition des différents moyens portés par le châssis support, notamment lorsque les moyens de nettoyage et de déplacement sont agencés autour des moyens de maintien, pour réduire l’encombrement global du robot et permettre sa miniaturisation. According to another characteristic of the invention, the holding means are arranged in a central zone of the frame. This optimizes the arrangement of the various means carried by the support frame, especially when the cleaning means and displacement are arranged around the holding means, to reduce the overall size of the robot and allow its miniaturization.
Les dimensions longitudinales du robot de nettoyage peuvent notamment être comprises entre too et 150 millimètres et les dimensions transversales de ce robot peuvent être comprises entre 50 et 100 millimètres. The longitudinal dimensions of the cleaning robot can in particular be between too much and 150 millimeters and the transverse dimensions of this robot can be between 50 and 100 millimeters.
Les moyens de maintien sont notamment configurés pour permettre le nettoyage d’une surface vitrée galbée d’un parebrise d’un rayon de courbure minimal de 500 millimètres. The holding means are in particular configured to allow the cleaning of a curved glass surface of a windshield with a minimum radius of curvature of 500 millimeters.
Les moyens de maintien peuvent comporter au moins un moteur, une turbine et une bouche d’aspiration, la turbine étant actionnée par le moteur de manière à aspirer l’air au travers de la bouche d’aspiration et générer un effet Venturi apte à maintenir le robot de nettoyage plaqué contre la surface vitrée. La bouche d’aspiration peut notamment être en forme de trompette, l’évasement étant tournée en direction de la surface vitrée à nettoyer. The holding means may comprise at least one motor, a turbine and a suction mouth, the turbine being actuated by the motor so as to suck the air through the suction mouth and generate a Venturi effect able to maintain the cleaning robot pressed against the glass surface. The suction mouth may in particular be trumpet-shaped, the flare being turned towards the glass surface to be cleaned.
En variante, les moyens de maintien peuvent comporter au moins un élément magnétique ou électromagnétique de manière à générer un phénomène d’aimantation ou d’électro aimantation apte à maintenir le robot de nettoyage plaqué contre la surface vitrée, notamment galbée. Dans cette variante, il convient de prévoir un deuxième élément magnétique ou électromagnétique pour réaliser l’aimantation, et ce deuxième élément peut être agencé sur un module suiveur disposé de l’autre côté de la surface vitrée, ou bien être agencée dans l’épaisseur de la surface vitrée. La face inférieure de la base du châssis du robot de nettoyage et la face inférieure du module suiveur des moyens de maintien peuvent comporter chacune au moins un élément glissant apte à permettre le nettoyage de la surface vitrée, notamment galbée, et favoriser le déplacement simultané du robot de nettoyage et du module suiveur par glissement sur la surface vitrée. As a variant, the holding means may comprise at least one magnetic or electromagnetic element so as to generate a phenomenon magnetization or electromagnetization adapted to keep the cleaning robot pressed against the glazed surface, in particular curved. In this variant, it is necessary to provide a second magnetic or electromagnetic element to carry out the magnetization, and this second element can be arranged on a follower module disposed on the other side of the glass surface, or be arranged in the thickness of the glass surface. The lower face of the base of the cleaning robot frame and the lower face of the follower module of the holding means may each comprise at least one sliding element capable of allowing the cleaning of the glazed surface, in particular curved, and to promote the simultaneous movement of the Cleaning robot and follower module sliding on the glass surface.
Selon des caractéristiques du robot de nettoyage selon l’invention, on peut prévoir qu’une face inférieure du châssis comporte au moins un logement configuré pour recevoir un élément glissant formant moyens de nettoyage. Et ces moyens de nettoyage peuvent comporter au moins un élément ressort disposé dans le logement ménagé dans le châssis pour recevoir l’élément glissant, ledit élément ressort étant configuré pour exercer une force de pression sur l’élément glissant en vue de le plaquer sur la surface vitrée, notamment galbée. According to characteristics of the cleaning robot according to the invention, it can be provided that a lower face of the frame comprises at least one housing configured to receive a sliding element forming cleaning means. And these cleaning means may comprise at least one spring element disposed in the housing formed in the frame for receiving the sliding element, said spring element being configured to exert a pressing force on the sliding element in order to press against the glazed surface, in particular curved.
Les moyens de déplacement peuvent comporter au moins une paire d’éléments motorisés agencés de part et d’autre des moyens de maintien. Ces éléments motorisés formant moyens de déplacement peuvent notamment comporter des roues agencées au voisinage de parois longitudinales bordant le châssis et entraînées en rotation de manière à permettre, en fonction de leur sens de rotation l’une par rapport à l’autre, une translation bidirectionnelle avant /arrière du robot de nettoyage suivant l’axe d’allongement du robot ou une rotation du robot autour d’un point central. The displacement means may comprise at least one pair of motorized elements arranged on either side of the holding means. These motorized elements forming displacement means may in particular comprise wheels arranged in the vicinity of longitudinal walls bordering the frame and driven in rotation so as to allow, according to their direction of rotation relative to each other, a bidirectional translation. front / back of the cleaning robot along the axis of extension of the robot or a rotation of the robot around a central point.
On peut prévoir que les moyens de déplacement comportent en outre une platine commune aux éléments motorisés, la platine commune étant apte à pivoter par rapport au châssis au centre duquel elle est agencée de manière à modifier la direction de déplacement du robot de nettoyage lorsque les roues sont commandées pour générer une rotation du robot, tout en maintenant l’orientation du châssis fixe. Le robot de nettoyage selon l’invention comporte des moyens de détection de l’environnement apte à communiquer avec le système de commande, ledit système de commande étant configuré pour définir une instruction de déplacement du robot de nettoyage en fonction des informations reçues en provenance des moyens de détection de l’environnement. It can be provided that the displacement means further comprise a plate common to the motorized elements, the common plate being pivotable relative to the frame in the center of which it is arranged so as to modify the direction of movement of the cleaning robot when the wheels are controlled to generate a rotation of the robot, while maintaining the orientation of the fixed frame. The cleaning robot according to the invention comprises means for detecting the environment able to communicate with the control system, said control system being configured to define an instruction for moving the cleaning robot according to the information received from the means of detecting the environment.
Notamment, on peut prévoir que les moyens de détection de l’environnement comportent au moins un capteur de proximité apte à détecter les bords de la surface vitrée et permettre au système de commande de générer et transmettre une instruction de trajectoire pseudo-aléatoire par modification de la direction de déplacement du robot de nettoyage. In particular, it can be provided that the environment detection means comprise at least one proximity sensor able to detect the edges of the glass surface and enable the control system to generate and transmit a pseudo-random trajectory instruction by modification of the direction of movement of the cleaning robot.
Selon différentes caractéristiques de l’invention, prises seules ou en combinaison avec d’autres caractéristiques décrites, on peut prévoir que : According to various features of the invention, taken alone or in combination with other characteristics described, it can be provided that:
- les moyens de détection de l’environnement comportent au moins un capteur de détection de contact apte à détecter un obstacle présent sur la surface vitrée et transmettre au système de commande une information permettant à ce dernier de calculer et transmettre une instruction de trajectoire d’évitement ; the means for detecting the environment comprise at least one contact detection sensor capable of detecting an obstacle present on the glass surface and transmitting to the control system information enabling the latter to calculate and transmit a trajectory instruction of avoidance;
- les moyens de détection de l’environnement comportent au moins un capteur de distance apte à déterminer les dimensions de la surface vitrée et/ou à déterminer la position du robot de nettoyage sur la surface vitrée et/ou à cartographier la surface vitrée en vue de déterminer les champs de vision réglementaires et/ou périphériques ; les capteurs de distance sont, de préférence, des capteurs ultrasons et/ou IR ou bien des laser de type LIDAR ou des sonar, ou encore d’autre technologies de détection sans contact... the means for detecting the environment comprise at least one distance sensor able to determine the dimensions of the glass surface and / or to determine the position of the cleaning robot on the glass surface and / or to map the glass surface in order to to determine the regulatory and / or peripheral fields of view; the distance sensors are preferably ultrasonic and / or IR sensors or LIDAR type lasers or sonar, or other non-contact detection technologies ...
- les moyens de détection de l’environnement comportent au moins quatre capteurs de distance montés symétriquement et perpendiculairement sur les parois longitudinales et transversales du châssis, et aptes à déterminer les dimensions de la surface vitrée et/ou la position du robot de nettoyage sur la surface vitrée. the means for detecting the environment comprise at least four distance sensors mounted symmetrically and perpendicularly to the longitudinal and transverse walls of the chassis, and able to determine the dimensions of the glass surface and / or the position of the cleaning robot on the glazed surface.
L’invention a pour second objet un dispositif de nettoyage d’une surface vitrée, notamment galbée, comprenant au moins un robot de nettoyage tel que précédemment défini, et un logement ménagé en périphérie de la surface vitrée ou fixé sur la surface vitrée (V) pour la recharge du robot de nettoyage. The subject of the invention is a device for cleaning a glazed surface, in particular a curved surface, comprising at least one cleaning robot such as previously defined, and a housing formed at the periphery of the glass surface or fixed on the glass surface (V) for charging the cleaning robot.
Dans un tel dispositif de nettoyage, on peut prévoir que : In such a cleaning device, it can be provided that:
- le système de commande est apte à commander le retour du robot de nettoyage vers une borne de recharge ménagée dans le logement après un cycle de nettoyage et/ou après avoir détecté un faible niveau de chargement de la source d’alimentation du robot ; - The control system is adapted to control the return of the cleaning robot to a charging terminal in the housing after a cleaning cycle and / or after detecting a low level of loading of the power source of the robot;
- le système de commande est apte à communiquer avec une interface utilisateur en vue de programmer et/ou commander au moins un cycle de fonctionnement du robot de nettoyage ; the control system is able to communicate with a user interface in order to program and / or control at least one cycle of operation of the cleaning robot;
- l’interface utilisateur comporte des moyens de programmation, d’activation et de contrôle aptes à programmer, activer, contrôler des cycles de fonctionnement du robot de nettoyage en mode de commande automatique ou manuelle, l’interface utilisateur pouvant être un ordinateur de bord et/ou une application smartphone. the user interface comprises programming, activation and control means capable of programming, activating, controlling cycles of operation of the cleaning robot in automatic or manual control mode, the user interface possibly being a board computer; and / or a smartphone application.
Selon une caractéristique de l’invention, on peut prévoir que le robot est équipé de moyens de détection de l’environnement agencés sur le châssis de manière à pouvoir détecter une pluralité de mires réflectrices ou lumineuses alignées en deux rangées respectivement sur des bords opposés de la surface vitrée de manière à définir une pluralité de couloirs virtuels et permettre au système de commande de générer et transmettre une instruction de trajectoire rectiligne pour le déplacement du robot de nettoyage. According to one characteristic of the invention, provision may be made for the robot to be equipped with means of detection of the environment arranged on the chassis so as to be able to detect a plurality of reflective or luminous patterns aligned in two rows respectively on opposite edges of the frame. the glazed surface so as to define a plurality of virtual corridors and allow the control system to generate and transmit a rectilinear trajectory instruction for moving the cleaning robot.
Selon une caractéristique de l’invention, propre à la trajectoire du robot de nettoyage, on peut prévoir que les bords transversaux de la surface vitrée sont maintenus par une paire de montants de baie qui comportent chacun une pluralité de doigts s’étendant en saillie de la surface vitrée de manière à pouvoir entrer en contact avec le robot de nettoyage et à infléchir sa trajectoire. According to a characteristic of the invention, specific to the path of the cleaning robot, it can be provided that the transverse edges of the glass surface are held by a pair of bays which each comprise a plurality of fingers projecting from the glass surface so as to come into contact with the cleaning robot and to bend its trajectory.
Dans un mode de réalisation particulier, le robot de nettoyage du dispositif de nettoyage selon l’invention est adapté pour nettoyer une surface vitrée de véhicule automobile, de préférence un pare-brise dudit véhicule, ledit logement étant ménagé en périphérie du pare-brise ou fixé sur le pare-brise. In a particular embodiment, the cleaning robot of the cleaning device according to the invention is adapted to clean a glass surface of motor vehicle, preferably a windshield of said vehicle, said housing being formed at the periphery of the windshield or attached to the windshield.
D'autres caractéristiques et avantages de l'invention apparaîtront plus clairement à la lecture de la description détaillée des modes de réalisation de l’invention, donnée ci-après à titre d’exemples illustratifs et non limitatifs et s’appuyant sur les figures annexées, dans lesquelles on a illustré un robot de nettoyage de surface vitrée d’un véhicule automobile, de préférence la surface intérieure vitrée galbée d’un parebrise et parmi lesquelles : Other features and advantages of the invention will emerge more clearly on reading the detailed description of the embodiments of the invention given hereinafter by way of illustrative and non-limiting examples and based on the appended figures. , in which there is illustrated a glass surface cleaning robot of a motor vehicle, preferably the curved glazed interior surface of a windshield and among which:
- la figure t est une vue en perspective éclatée d’un robot de nettoyage selon un premier mode de réalisation de l’invention, rendant visible différents éléments constitutifs du robot de nettoyage parmi lesquels un châssis de support, des moyens de maintien formant système de tenue sur la surface vitrée, des moyens de déplacement et un corps d’habillage ; FIG. 5 is an exploded perspective view of a cleaning robot according to a first embodiment of the invention, making visible various components of the cleaning robot, including a support frame, holding means forming a cleaning system. held on the glass surface, moving means and a dressing body;
- la figure 2 est une vue de dessous du robot de nettoyage de la figure t, assemblé, rendant visible une face inférieure du châssis de support destinée à être en contact avec la surface vitrée à nettoyer et des moyens de nettoyage associés, ainsi qu’au moins une partie des moyens de maintien et des moyens de déplacement ; - Figure 2 is a bottom view of the cleaning robot of Figure t, assembled, making visible a lower face of the support frame intended to be in contact with the glass surface to be cleaned and associated cleaning means, and at least a portion of the holding means and moving means;
- la figure 3 est une représentation schématique d’un robot de nettoyage selon l’invention et d’une surface vitrée, le robot de nettoyage comprenant conformément au robot selon le premier mode de réalisation des moyens de maintien fonctionnant par effet Venturi ; - Figure 3 is a schematic representation of a cleaning robot according to the invention and a glazed surface, the cleaning robot comprising according to the robot according to the first embodiment of the holding means operating by Venturi effect;
- la figure 4 est une représentation schématique similaire à celle de la figure 3 avec un robot de nettoyage et une surface vitrée, le robot de nettoyage comprenant selon une première variante de réalisation des moyens de maintien fonctionnant par aimantation ; - Figure 4 is a schematic representation similar to that of Figure 3 with a cleaning robot and a glazed surface, the cleaning robot comprising according to a first embodiment of holding means operating by magnetization;
- la figure 5 est une illustration du déplacement du robot de nettoyage le long d’une surface vitrée, le robot étant vu de dessous à travers la surface vitrée pour illustrer une variante de réalisation des moyens de déplacement du robot ; - les figures 6 et 7 sont des vues schématiques en perspective du robot de nettoyage et d’une surface vitrée susceptible d’être nettoyée par l’intermédiaire du robot, la figure 6 illustrant une position de travail du robot en déplacement sur la surface vitre selon un premier mode de fonctionnement et la figure 7 illustrant une position de repos du robot dans un logement périphérique de la surface vitrée ; FIG. 5 is an illustration of the movement of the cleaning robot along a glass surface, the robot being viewed from below through the glazed surface to illustrate an alternative embodiment of the robot's moving means; FIGS. 6 and 7 are diagrammatic perspective views of the cleaning robot and a glass surface that can be cleaned by means of the robot, FIG. 6 illustrating a working position of the robot moving on the glass surface. according to a first mode of operation and Figure 7 illustrating a rest position of the robot in a peripheral housing of the glass surface;
- la figure 8 est une vue similaire à celle de la figure 6, illustrant une position de travail du robot en déplacement sur la surface vitrée selon un deuxième mode de fonctionnement ; - Figure 8 is a view similar to that of Figure 6, illustrating a working position of the robot moving on the glass surface in a second mode of operation;
- la figure 9 est une vue de détail d’un bord de la surface vitrée selon un mode de réalisation particulier de l’invention. - Figure 9 is a detail view of an edge of the glazed surface according to a particular embodiment of the invention.
Dans la description qui va suivre, on se référera à une orientation en fonction des axes longitudinaux X, verticaux Y et transversaux Z, tels qu’ils sont représentés sur la figure 1 et tels que l’axe longitudinal X correspond à la direction d’allongement principale du robot de nettoyage, l’axe vertical Y, perpendiculaire à l’axe longitudinal X, définit les orientations dites inférieure ou supérieure du robot, perpendiculairement à la surface vitrée, notamment galbée, que le robot est destiné à nettoyer, et l’axe transversal Z est perpendiculaire à la fois à l’axe longitudinal X et à l’axe vertical Y. In the following description, reference will be made to an orientation as a function of the longitudinal axes X, vertical Y and transverse Z, as shown in FIG. 1 and such that the longitudinal axis X corresponds to the direction of main extension of the cleaning robot, the vertical axis Y, perpendicular to the longitudinal axis X, defines the so-called lower or upper directions of the robot, perpendicular to the glazed surface, in particular curved, that the robot is intended to clean, and transverse axis Z is perpendicular to both the longitudinal axis X and the vertical axis Y.
La figure 1 illustre un robot de nettoyage 10 dans son ensemble selon un premier mode de réalisation, avec des moyens de maintien 2 formant un système de tenue au parebrise, des moyens de déplacement 3 et des moyens de nettoyage 4, ces différents moyens étant destinés être assemblés et agencés sur un châssis de support 5 du robot. FIG. 1 illustrates a cleaning robot 10 as a whole according to a first embodiment, with holding means 2 forming a windshield-holding system, displacement means 3 and cleaning means 4, these various means being intended for be assembled and arranged on a support frame 5 of the robot.
Le châssis 5 est constitué d’une base plane 6 d’axe principal d’allongement X et délimitée par deux parois longitudinales 7 et 7’, respectivement dites gauche et droite, reliées à leurs extrémités par deux parois transversales 8 et 8’, respectivement dites avant et arrière. La base 6 présente deux faces planes 9 et 9’, respectivement dites inférieure et supérieure suivant la direction définie par l’axe vertical Y. La face inférieure g de la base 6 est destinée à être orientée en direction de la surface vitrée, notamment galbée, V à nettoyer lorsque le robot est en position de travail sur la surface vitrée. La face supérieure g’ de la base 6 est configurée pour porter au moins un dispositif de stockage électrique il, relié électriquement aux moyens de maintien 2 et aux moyens de déplacement 3 de manière à assurer leur alimentation électrique. The frame 5 consists of a flat base 6 of principal axis of elongation X and delimited by two longitudinal walls 7 and 7 ', respectively said left and right, connected at their ends by two transverse walls 8 and 8', respectively say front and back. The base 6 has two flat faces 9 and 9 ', respectively said lower and upper in the direction defined by the vertical axis Y. The lower face g of the base 6 is intended to be oriented towards the glazed surface, in particular curved, V to be cleaned when the robot is in the working position on the glass surface. The upper face g 'of the base 6 is configured to carry at least one electrical storage device 11, electrically connected to the holding means 2 and the displacement means 3 so as to ensure their power supply.
Un corps d’habillage 12, ayant outre sa fonction esthétique une fonction de protection des moyens de maintien 2, des moyens de déplacement 3, et des dispositifs de stockage électrique 11, recouvre la partie supérieure du châssis 5 du robot de nettoyage 10. On comprend que le corps d’habillage 12, pour assurer sa fonction esthétique, peut prendre des formes diverses de manière à représenter, par exemple, un véhicule miniature ou tout autre modèle miniature. A cover body 12, having in addition to its aesthetic function a protective function of the holding means 2, moving means 3, and electrical storage devices 11, covers the upper part of the chassis 5 of the cleaning robot 10. On understands that the trim body 12, to ensure its aesthetic function, can take various forms so as to represent, for example, a miniature vehicle or any other miniature model.
Tel qu’illustré, le robot de nettoyage 10 comporte par ailleurs des moyens de raccordement électrique 13 du ou des dispositifs de stockage électrique 11 précédemment décrits. Il sera décrit ci-après l’interaction du robot de nettoyage avec une borne de recharge appropriée pour permettre via ces moyens de raccordement électrique 13 la recharge des dispositifs de stockage électrique 11 embarqués sur le robot de nettoyage 10 et permettre une autonomie de déplacement du robot le long de la surface vitrée lors du fonctionnement de ce robot. As illustrated, the cleaning robot 10 further comprises electrical connection means 13 of the electrical storage device or 11 described above. It will be described hereinafter the interaction of the cleaning robot with a charging station appropriate to allow via these electrical connection means 13 the recharge of the electrical storage devices 11 onboard the robot cleaning 10 and allow a self-relocation of the robot along the glazed surface during operation of this robot.
Selon le premier mode de réalisation illustré notamment sur les figures 1 à 3, les moyens de maintien 2 fonctionnent par effet Venturi, de manière à plaquer la face inférieure 9 de la base 6 du châssis 5 contre la surface vitrée V à nettoyer. Les moyens de maintien 2 sont destinés à être assemblés à l’intérieur et à l’aplomb d’un orifice central 60 de la base 6. Les moyens de maintien 2 comportent notamment un moteur 20 actionnant une turbine 22 apte à aspirer l’air au travers d’une bouche d’aspiration 24 ménagée dans l’orifice central 60. Le moteur 20 et la turbine 22 sont fixés par rapport à la base 6 via une pièce de support moteur 21 solidarisée par des pattes de montage 23. According to the first embodiment illustrated in particular in Figures 1 to 3, the holding means 2 operate by Venturi effect, so as to press the lower face 9 of the base 6 of the frame 5 against the glass surface V to be cleaned. The holding means 2 are intended to be assembled inside and in line with a central orifice 60 of the base 6. The holding means 2 comprise in particular a motor 20 actuating a turbine 22 adapted to suck the air through a suction mouth 24 formed in the central orifice 60. The motor 20 and the turbine 22 are fixed relative to the base 6 via a motor support part 21 secured by mounting lugs 23.
On comprend que le moteur 20 de ces moyens de maintien est alimenté électriquement par le dispositif de stockage électrique disposé à proximité de ce moteur, via des câbles d’alimentation ici non représentés. Les moyens de maintien 2 peuvent être pilotés par un système de commande ici non représenté et qui sera décrit ci-après, étant entendu que dans une version simplifiée, le moteur de ces moyens de maintien peut être actionné dès lors que le robot de nettoyage quitte sa position de repos. It will be understood that the motor 20 of these holding means is electrically powered by the electrical storage device disposed in proximity to this motor, via power cables here not shown. The holding means 2 can be controlled by a control system not shown here and which will be described below, it being understood that in a simplified version, the motor of these holding means can be actuated as soon as the cleaning robot leaves his rest position.
Les moyens de déplacement 3 sont constitués d’une paire d’éléments roulants motorisés 16 agencés respectivement le long des parois longitudinales 7, 7’ de la base 6, et qui présentent chacun une roue 160 dont une partie est insérée dans une zone ajourée 17 de la base 6 au voisinage des parois longitudinales, de manière à dépasser au-delà de la face inférieure 9 de la base du châssis. Plus particulièrement, les zones ajourées 17 sont disposées symétriquement par rapport à l’axe longitudinal X, de part et d’autre de l’orifice central 60 destiné à recevoir les moyens de maintien 2 formant le dispositif de tenue sur la surface vitrée, notamment galbée. The displacement means 3 consist of a pair of motorized rolling elements 16 respectively arranged along the longitudinal walls 7, 7 'of the base 6, and which each have a wheel 160, part of which is inserted into a perforated zone 17 the base 6 in the vicinity of the longitudinal walls, so as to exceed beyond the lower face 9 of the chassis base. More particularly, the perforated zones 17 are arranged symmetrically with respect to the longitudinal axis X, on either side of the central orifice 60 intended to receive the holding means 2 forming the holding device on the glass surface, in particular curved.
Les moyens de déplacement 3 permettent une translation du robot de nettoyage 10 suivant la direction définie par l’axe longitudinal d’allongement X, cette translation pouvant être réalisée dans les deux sens, c’est-à-dire en avant et en arrière, en fonction du sens de rotation de la roue 160 générée par le moteur embarqué de l’ensemble roulant motorisé. On comprend que le moteur de ces éléments roulants motorisés 16 est alimenté électriquement par le dispositif de stockage électrique disposé à proximité de ce moteur, via des câbles d’alimentation ici non représentés. Le moteur est par ailleurs piloté par un système de commande ici non représenté et qui sera décrit ci-après. The displacement means 3 allow a translation of the cleaning robot 10 in the direction defined by the longitudinal axis of elongation X, this translation can be performed in both directions, that is to say in front and back, depending on the direction of rotation of the wheel 160 generated by the onboard motor of the motorized roller assembly. It is understood that the motor of these motorized rolling elements 16 is electrically powered by the electrical storage device disposed near this motor, via power cables here not shown. The motor is also controlled by a control system not shown here and which will be described below.
Les moyens de nettoyage 4 comportent ici une paire d’éléments glissants 14 agencés respectivement le long d’une paroi transversale 8, 8’, dans un logement 15 (visible sur la figure 2) ménagé dans la face inférieure 9 de la base 6 du châssis 5. Ces éléments glissants présentent une dimension verticale, sensiblement perpendiculaire au plan défini par la face inférieure de la base du châssis, supérieure à la dimension verticale équivalente du logement, c’est-à-dire sa profondeur, de manière à ce que les éléments glissants puissent entrer en contact avec la surface vitrée, notamment galbée, V et permettre son nettoyage. Les éléments glissants 14, ici de forme oblongue, sont agencés symétriquement dans ces logements de part et d’autre de l’orifice central 6o destiné à recevoir les moyens de maintien 2 formant le dispositif de tenue sur la surface vitrée. Les éléments glissants 14 ont pour fonction de nettoyer la surface vitrée et de faciliter le déplacement du robot de nettoyage 10 par glissement sur la surface vitrée V. Ces éléments glissants 14 forment un tampon de nettoyage apte à enlever par frottement sec toutes particules fine, poussières, traces, par exemple de doigts, ledit tampon de nettoyage pouvant comprendre des moyens d’attache aptes à fixer un tissu de nettoyage de type microfibre positionné manuellement par un utilisateur. The cleaning means 4 here comprise a pair of sliding elements 14 respectively arranged along a transverse wall 8, 8 ', in a housing 15 (visible in FIG. 2) formed in the lower face 9 of the base 6 of the frame 5. These sliding elements have a vertical dimension, substantially perpendicular to the plane defined by the underside of the frame base, greater than the equivalent vertical dimension of the housing, that is to say its depth, so that the sliding elements may come into contact with the glazed surface, in particular curved, V and allow it to be cleaned. The sliding elements 14, here of oblong shape, are arranged symmetrically in these housings on either side of the central orifice 6o for receiving the holding means 2 forming the holding device on the glass surface. The sliding elements 14 have the function of cleaning the glass surface and facilitating the movement of the cleaning robot 10 by sliding on the glass surface V. These sliding elements 14 form a cleaning pad able to remove by dry friction any fine particles, dust traces, for example of fingers, said cleaning pad may comprise attachment means adapted to fix a microfiber cleaning cloth manually positioned by a user.
Afin d’assurer le contact permanent de ces éléments glissants 14 contre la surface vitrée, notamment galbée, à nettoyer, les moyens de nettoyage peuvent comporter des éléments ressort 141, ici trois et de type hélicoïdal, avantageusement ménagés entre le fond du logement 15 et les éléments glissants pour exercer une force de pression appropriée en direction de la surface vitrée, étant entendu que des moyens de butée ici non représentés sont prévus pour empêcher à contrario les éléments glissants de s’échapper de leur logement. In order to ensure the permanent contact of these sliding elements 14 against the glass surface, in particular curved, to be cleaned, the cleaning means may comprise spring elements 141, here three and of helical type, advantageously arranged between the bottom of the housing 15 and the sliding elements to exert an appropriate pressure force towards the glass surface, it being understood that abutment means here not shown are provided to prevent the sliding elements from escaping from their housing.
Il convient de noter qu’une fois assemblé, le robot de nettoyage 10 est d’encombrement réduit : de préférence ses dimensions longitudinales sont comprises entre 100 et 150 millimètres et ses dimensions transversales sont comprises entre 50 et 100 millimètres. It should be noted that once assembled, the cleaning robot 10 is of reduced size: preferably its longitudinal dimensions are between 100 and 150 millimeters and its transverse dimensions are between 50 and 100 millimeters.
La figure 2 rend plus particulièrement visible la face inférieure 9 du châssis 5 destinée à être en contact avec la surface vitrée, notamment galbée, V à nettoyer. Il convient de noter que dans cet exemple, les parois transversales 8, 8’ présentent un profil cintré, sans que cela soit limitatif de l’invention. Figure 2 makes more particularly visible the lower face 9 of the frame 5 intended to be in contact with the glazed surface, in particular curved, V to clean. It should be noted that in this example, the transverse walls 8, 8 'have a curved profile, without this being limiting of the invention.
Les moyens de maintien 2, conformément à ce qui a été décrit précédemment, fonctionnent par effet Venturi, et on distingue l’orifice central 60 de la base 6 relié à la bouche d’aspiration 24 des moyens de maintien à effet Venturi. Cette figure 2 rend plus particulièrement visible la répartition symétrique, autour de ces moyens à effet Venturi, d’une part des moyens de déplacement 3 et de la partie de la roue 160 qui dépasse de la zone ajourée 17 correspondante et d’autre part des moyens de nettoyage 4 et des éléments glissants 14 qui dépassent de la base 6 du châssis 5. The holding means 2, in accordance with what has been described above, operate by Venturi effect, and there is the central orifice 60 of the base 6 connected to the suction mouth 24 Venturi holding means. This FIG. 2 makes more particularly visible the symmetrical distribution, around these Venturi effect means, on the one hand of the displacement means 3 and the part of the wheel 160 which protrudes from the corresponding perforated zone 17 and on the other hand cleaning means 4 and elements sliding 14 protruding from the base 6 of the frame 5.
On comprend que le robot est dans cette configuration apte à se déplacer le long de l’axe longitudinal X dès lors que les roues 160 sont pilotées pour tourner dans le même sens. Dans un premier sens de rotation des roues 160 autour d’un axe parallèle à l’axe transversal du robot T, le robot est mu dans un premier sens, par exemple d’avant en arrière, le long de l’axe longitudinal, tandis que lorsque les roues 160 tournent toutes les deux dans un deuxième sens de rotation opposé au premier sens de rotation, le robot est mu dans un deuxième sens opposé au premier sens le long de l’axe longitudinal. Le robot de nettoyage 10 peut être amené à dévier de sa trajectoire longitudinale dès lors que les éléments roulants motorisés 16 sont pilotés indépendamment l’un de l’autre, par exemple en bloquant une des roues 160 ou bien en la faisant tourner en sens opposé du sens de rotation de l’autre roue. It is understood that the robot is in this configuration adapted to move along the longitudinal axis X when the wheels 160 are driven to rotate in the same direction. In a first direction of rotation of the wheels 160 about an axis parallel to the transverse axis of the robot T, the robot is moved in a first direction, for example back and forth, along the longitudinal axis, while that when the wheels 160 both turn in a second direction of rotation opposite the first direction of rotation, the robot is moved in a second direction opposite to the first direction along the longitudinal axis. The cleaning robot 10 may be caused to deviate from its longitudinal trajectory as soon as the motorized rolling elements 16 are driven independently of one another, for example by blocking one of the wheels 160 or by rotating it in the opposite direction the direction of rotation of the other wheel.
La figure 3 illustre plus en détail les moyens de maintien 2 du robot de nettoyage 10 selon le premier mode de réalisation de l’invention conforme aux figures 1 et 2. Les moyens de maintien 2 à effet Venturi s’étendent verticalement suivant la direction définie par l’axe vertical Y. Dans cette configuration, le moteur 20 actionne la turbine 22 aspirant l’air au travers de la bouche d’aspiration 24, de préférence en forme de trompette. La bouche d’aspiration 24 est en contact avec la surface vitrée V et le vide créé au niveau de cette zone de contact génère un effet de succion qui plaque le robot de nettoyage contre la surface vitrée, notamment galbée. Ainsi, dès lors que le moteur 20 est actionné, le robot de nettoyage est plaqué contre la surface vitrée à nettoyer. La disposition centrale du dispositif de tenue formé par ces moyens de maintien 2 à effet Venturi permet d’assurer un contact avec la surface vitrée V à la fois des moyens de déplacement 3 et des moyens de nettoyage 4 répartis autour du dispositif de tenue. On comprend que le dimensionnement des moyens de maintien 2 permet de plaquer le robot de nettoyage contre la surface vitrée avec plus ou moins de force et permet donc d’assurer avec plus ou moins de force le contact entre les moyens de maintien et de nettoyage et la surface vitrée, notamment galbée. Notamment, les moyens de maintien sont configurés pour assurer le contact des moyens de déplacement et de nettoyage avec une surface vitrée galbée V d’un parebrise d’un rayon de courbure minimal de 500 millimètres. FIG. 3 illustrates in more detail the holding means 2 of the cleaning robot 10 according to the first embodiment of the invention according to FIGS. 1 and 2. The Venturi effect holding means 2 extend vertically in the defined direction by the vertical axis Y. In this configuration, the motor 20 actuates the turbine 22 sucking air through the suction mouth 24, preferably trumpet-shaped. The suction mouth 24 is in contact with the glass surface V and the vacuum created at this contact zone generates a suction effect which clings the cleaning robot against the glazed surface, in particular curved. Thus, when the motor 20 is actuated, the cleaning robot is pressed against the glass surface to be cleaned. The central arrangement of the holding device formed by these holding means 2 with Venturi effect makes it possible to ensure contact with the glazed surface V both of the displacement means 3 and the cleaning means 4 distributed around the holding device. It will be understood that the dimensioning of the holding means 2 makes it possible to press the cleaning robot against the glazed surface with more or less force and thus makes it possible to ensure with greater or lesser force the contact between the holding and cleaning means and the glazed surface, in particular curved. In particular, the holding means are configured to ensure the contact of the moving and cleaning means with a curved glazed surface V of a windshield with a minimum radius of curvature of 500 millimeters.
La figure 4 illustre une variante de réalisation du dispositif de tenue du robot de nettoyage 10 dans laquelle les moyens de maintien 2 fonctionnent par aimantation, avec une conception du robot de nettoyage ici en deux parties, à savoir le corps principal agencé du côté de la surface intérieure de la surface vitrée, notamment galbée, à nettoyer (il convient de noter que le galbe de la surface vitrée a été exagérée sur la figure 3 afin de faciliter la compréhension du lecteur) et un module suiveur 10’ disposé de l’autre côté de la surface vitrée galbée, à l’extérieur du véhicule lorsque la surface vitrée galbée est un parebrise par exemple. Les moyens de maintien 2 comportent, à des fins de tenue par aimantation, un premier élément 30 magnétique ou électromagnétique agencé sur le corps principal et un second élément 32 magnétique agencé sur le module suiveur 10’. Les premier et second éléments 32, 30 magnétiques sont aptes à coopérer par attraction magnétique mutuelle de part et d’autre de la surface vitrée V pour constituer un ensemble solidaire. FIG. 4 illustrates an alternative embodiment of the holding device of the cleaning robot 10 in which the holding means 2 operate by magnetization, with a design of the cleaning robot here in two parts, namely the main body arranged on the side of the inner surface of the glazed surface, in particular curved, to be cleaned (it should be noted that the curve of the glass surface has been exaggerated in Figure 3 to facilitate the understanding of the reader) and a follower module 10 'disposed of the other side of the curved glass surface, outside the vehicle when the curved glass surface is a windshield for example. The holding means 2 comprise, for magnetization-holding purposes, a first magnetic or electromagnetic element arranged on the main body and a second magnetic element arranged on the follower module. The first and second magnetic elements 32, 30 are able to cooperate by mutual magnetic attraction on either side of the glass surface V to form a unitary assembly.
Conformément à ce qui a été précédemment décrit, des moyens de nettoyage 4, par exemple des éléments glissants 14, et des moyens de déplacement 3, par exemple des éléments roulants motorisés, sont agencés autour de ce dispositif de tenue fonctionnant ici par aimantation, de sorte que le robot de nettoyage peut aisément se déplacer et nettoyer une surface vitrée galbée. According to what has been previously described, cleaning means 4, for example sliding elements 14, and moving means 3, for example motorized rolling elements, are arranged around this holding device operating here by magnetization, so that the cleaning robot can easily move and clean a curved glass surface.
La figure 5 illustre une variante de réalisation des moyens de déplacement 3 du robot de nettoyage 10 selon l’invention. Dans cette configuration, les moyens de déplacement 3 comportent également deux éléments roulants motorisés 16, dont deux roues 160 sont ici visibles, et qui sont cette fois montés sur une platine commune 18 agencée au centre de la base 6 du châssis 5. La platine 18 est apte à pivoter par rapport au châssis 5, autour d’un axe parallèle à l’axe vertical Y du robot de nettoyage. Conformément à ce qui a été décrit précédemment, les éléments roulants 16 sont pilotés de manière à ce que les roues tournent dans le même sens de rotation lorsque l’on souhaite faire avancer le robot de nettoyage en ligne droite ou dans des sens opposés lorsque l’on souhaite faire tourner le robot. Dans cette variante, le fait de faire tourner les roues dans un sens opposé génère l’entrainement en rotation non pas du robot de nettoyage dans son ensemble mais uniquement de la platine commune 18, ce qui génère un déplacement à 90° des roues dans l’exemple illustré sans déplacement simultané de la base du châssis. De la sorte, il est possible de réaliser un déplacement perpendiculaire à la direction longitudinale d’origine sans modifier l’orientation générale du robot de nettoyage par rapport à la surface vitrée galbée à nettoyer. FIG. 5 illustrates an alternative embodiment of the displacement means 3 of the cleaning robot 10 according to the invention. In this configuration, the displacement means 3 also comprise two motorized rolling elements 16, of which two wheels 160 are here visible, and which are this time mounted on a common plate 18 arranged in the center of the base 6 of the chassis 5. The plate 18 is pivotable relative to the frame 5, about an axis parallel to the vertical axis Y of the cleaning robot. In accordance with what has been described above, the rolling elements 16 are controlled so that the wheels rotate in the same direction of rotation when it is desired to advance the cleaning robot in a straight line or in opposite directions when the it is desired to rotate the robot. In this variant, turning the wheels in the opposite direction generates the rotational drive not of the cleaning robot as a whole but only of the common plate 18, which generates a 90 ° displacement of the wheels in the illustrated example without simultaneous movement of the chassis base. In this way, it is possible to make a displacement perpendicular to the original longitudinal direction without modifying the general orientation of the cleaning robot with respect to the curved glazed surface to be cleaned.
On va maintenant décrire différents modes de fonctionnement du robot de nettoyage selon l’invention, et décrire le système de commande particulier du robot de nettoyage fonctionnant selon chacun de ces modes de fonctionnement, ledit système de commande permettant de définir une instruction de cycle de nettoyage du robot. Various modes of operation of the cleaning robot according to the invention will now be described, and the particular control system of the cleaning robot operating according to each of these modes of operation, and the control system making it possible to define a cleaning cycle instruction, to be described. of the robot.
Les figures 6 et 7 illustrent un premier mode de fonctionnement du robot de nettoyage 10 selon l’invention. Plus particulièrement, la figure 6 illustre une position de travail du robot en déplacement sur la surface vitre, notamment galbée, selon ce premier mode de fonctionnement, le robot de nettoyage étant piloté dans un cycle de nettoyage selon une séquence de déplacement prédéfinie. A la fin de chaque cycle de nettoyage, le robot de nettoyage vient prendre une position de repos, illustrée sur la figure 7, dans laquelle le robot 10 est disposé dans un logement 102 ménagé en périphérie de la surface vitrée V. Figures 6 and 7 illustrate a first mode of operation of the cleaning robot 10 according to the invention. More particularly, Figure 6 illustrates a working position of the robot moving on the glass surface, in particular curved, according to this first mode of operation, the cleaning robot being driven in a cleaning cycle according to a predefined movement sequence. At the end of each cleaning cycle, the cleaning robot takes a rest position, illustrated in Figure 7, wherein the robot 10 is disposed in a housing 102 formed on the periphery of the glass surface V.
Cette position de repos permet d’une part de ne pas pénaliser la vision du conducteur à travers la surface vitrée lorsqu’aucune action de nettoyage n’est nécessaire. Elle permet d’autre part de recharger électriquement le ou les dispositifs de stockage électrique 11 embarqués sur le robot. This rest position allows on the one hand not to penalize the driver's vision through the glass surface when no cleaning action is necessary. It also allows to electrically recharge the electrical storage device 11 embedded on the robot.
Le logement 102 est ainsi configuré pour permettre une interaction particulière entre le robot de nettoyage 10 et une borne de recharge 104 ménagée à l’intérieur du logement 102 apte à accueillir le robot de nettoyage 10 et relié à un réseau d’alimentation en électricité du véhicule (matérialisé par la flèche sur les figures 6 et 7). Le robot de nettoyage est positionné dans le logement 102 de sorte que les moyens de raccordement électrique 13 soient disposés contre la borne de recharge 104 pour permettre la recharge, par connexion électrique directe ou par induction par exemple, du ou des dispositifs de stockage électrique, précédemment déchargés par l’alimentation autonome des moyens de déplacement et des moyens de maintien embarqués sur le robot. The housing 102 is thus configured to allow a particular interaction between the cleaning robot 10 and a charging terminal 104 formed inside the housing 102 adapted to receive the cleaning robot 10 and connected to a power supply network of the vehicle (represented by the arrow in FIGS. 6 and 7). The cleaning robot is positioned in the housing 102 so that the electrical connection means 13 are arranged against the charging terminal 104 to allow charging, by direct electrical connection or by induction for example, the electrical storage device or devices, previously unloaded by the autonomous power of the moving means and holding means embedded on the robot.
De manière générale, le système de commande, embarqué au moins en partie sur le robot de nettoyage, est configuré pour générer une instruction de fonctionnement du robot selon un cycle de nettoyage avec une séquence de déplacement prédéfinie à suivre. Dans une version simplifiée, dans laquelle il est prévu de faire fonctionner le robot sans qu’il rencontre d’obstacle, il est envisageable de programmer le déplacement du robot pour qu’il couvre en sortie de son logement un maximum de la surface vitrée avant de reprendre sa position de repos. In general, the control system, at least partly embedded in the cleaning robot, is configured to generate an operating instruction of the robot according to a cleaning cycle with a predefined movement sequence to follow. In a simplified version, in which it is intended to operate the robot without encountering any obstacle, it is possible to program the robot to move to the output of its housing a maximum of the glass surface before to resume his resting position.
Dans une variante, on peut envisager que le robot de nettoyage comporte des moyens de détection de l’environnement aptes à détecter un obstacle présent sur la surface vitrée V tel que, par exemple, un rétroviseur, une ventouse d’un dispositif GPS ou un support de badge de type télépéage. Les données collectées par les moyens de détection sont transmises au système de commande afin de calculer et transmettre aux moyens de déplacement une instruction de trajectoire d’évitement de l’obstacle détecté. In a variant, it can be envisaged that the cleaning robot comprises means for detecting the environment capable of detecting an obstacle present on the glazed surface V, such as, for example, a rearview mirror, a suction cup of a GPS device or a electronic toll badge holder. The data collected by the detection means is transmitted to the control system in order to calculate and transmit to the moving means an avoidance trajectory instruction of the detected obstacle.
Dans la configuration illustrée par la figure 6, les moyens de détection de l’environnement comportent au moins un capteur de distance 50, de type capteur ultrasons et/ou IR, ou bien laser de type lidar ou encore d’autres technologies de détection sans contact, le capteur de distance étant apte à déterminer les dimensions de la surface vitrée V et/ou à déterminer la position du robot de nettoyage 10 par rapport aux bords de la surface vitrée V et/ou à cartographier la surface vitrée V du parebrise après que le robot de nettoyage 10 ait effectué une première phase de reconnaissance en vue de déterminer et de reconnaître les champs de vision réglementaires et/ou périphériques de la surface vitrée du pare- brise. Dans un agencement préféré, les moyens de navigation comportent quatre capteurs de distance 50 disposés sur chaque côté du robot de nettoyage 10, par exemple sur les parois longitudinales 7, 7’ et transversales 8, 8’ du châssis 5 du robot de nettoyage 10. In the configuration illustrated in FIG. 6, the environmental detection means comprise at least one distance sensor 50, of ultrasonic sensor and / or IR type, or a lidar type laser or other detection technologies without detection. contact, the distance sensor being able to determine the dimensions of the glass surface V and / or to determine the position of the cleaning robot 10 with respect to the edges of the glass surface V and / or to map the glass surface V of the windshield after that the cleaning robot 10 has performed a first recognition phase in order to determine and recognize the regulatory and / or peripheral fields of view of the glass surface of the windshield. In a preferred arrangement, the navigation means comprise four distance sensors 50 arranged on each side of the cleaning robot 10, for example on the longitudinal walls 7, 7 'and transverse 8, 8' of the chassis 5 of the cleaning robot 10.
Dans la configuration illustrée par la figure 8, les moyens de détection de l'environnement comportent une paire de capteurs de proximité 42 agencés respectivement sur les parois opposées transversales 8, 8’ du châssis 5. Ces capteurs de proximité 42 sont aptes à détecter et à s’aligner avec une pluralité de mires 40 réflectrices ou lumineuses alignées à intervalles réguliers sur des bords opposés de la surface vitrée galbée V du parebrise de manière à matérialiser, sur cette surface vitrée, une pluralité de couloirs virtuels. Les données collectées par les capteurs de proximité 42 sont transmises au système de commande afin de définir et transmettre une instruction de trajectoire rectiligne pour le déplacement bidirectionnel avant/arrière du robot de nettoyage 10 suivant la direction définie par son axe d’allongement X. On comprend qu’en bout du couloir virtuel, les roues des moyens de déplacement sont commandées pour réaliser un déplacement perpendiculaire afin de passer sur le couloir virtuel voisin. In the configuration illustrated in FIG. 8, the detection means of the environment comprise a pair of proximity sensors 42 respectively arranged on the opposite transverse walls 8, 8 'of the frame 5. These proximity sensors 42 are able to detect and align with a plurality of aligned reflective or luminous patterns 40 at regular intervals on opposite edges of the curved glass surface V of the windshield so as to materialize, on this glazed surface, a plurality of virtual corridors. The data collected by the proximity sensors 42 are transmitted to the control system in order to define and transmit a rectilinear trajectory instruction for the bidirectional forward / backward movement of the cleaning robot 10 in the direction defined by its axis of extension X. understands that at the end of the virtual corridor, the wheels of the displacement means are controlled to perform a perpendicular movement in order to pass on the neighboring virtual corridor.
Dans une autre configuration (non illustrée), les moyens de détection d’environnement peuvent consister en au moins un capteur de proximité apte à détecter les bords longitudinaux et transversaux de la surface vitrée V, et les données collectées par ces capteurs de proximité sont transmises au système de commande afin de commander une instruction de trajectoire pseudo-aléatoire pour le déplacement multidirectionnel du robot de nettoyage 10 sur la surface vitrée V. Dans cette configuration, le robot de nettoyage 10 peut ainsi effectuer des traversées de la surface vitrée V du parebrise dans une première direction donnée, détecter son arrivée en bordure de parebrise et repartir dans une deuxième direction différente de la première. In another configuration (not shown), the environment detection means may consist of at least one proximity sensor capable of detecting the longitudinal and transverse edges of the glazed surface V, and the data collected by these proximity sensors are transmitted. to the control system for controlling a pseudo-random trajectory instruction for the multidirectional movement of the cleaning robot 10 on the glass surface V. In this configuration, the cleaning robot 10 can thus make crossings of the glass surface V of the windshield in a first direction, detect its arrival at the edge of the windshield and start in a second direction different from the first.
Dans la configuration illustrée par la figure 9, la surface vitrée V est maintenue latéralement par une paire de montants de baie de parebrise qui comportent chacun une pluralité de doigts 70 s’étendant en saillie de la surface vitrée V. La mise en contact du robot de nettoyage 10 avec un doigt 70 a pour effet d’infléchir la trajectoire du robot de nettoyage 10. In the configuration illustrated in FIG. 9, the glazed surface V is held laterally by a pair of windshield bolsters which each comprise a plurality of fingers 70 projecting from the glass surface V. The placing in contact of the robot 10 with a finger 70 has the effect of bending the trajectory of the cleaning robot 10.
L’invention a pour second objet un dispositif de nettoyage 100 d’une surface vitrée, notamment galbée, V, avantageusement un parebrise, comprenant au moins un robot de nettoyage 10 tel que précédemment défini, un logement 102 formant borne de recharge du robot de nettoyage 10 et une interface utilisateur. On comprend que, dans l’ensemble des modes de réalisation précédemment décrits, le système de commande du robot de nettoyage est apte à commander, par l’intermédiaire des moyens d’activation et de contrôle, le retour du robot de nettoyage îo vers le logement 102 fixé sur le parebrise après un cycle de nettoyage et/ou après avoir détecté un faible niveau de chargement de la source d’alimentation du robot. En outre, l’interface utilisateur du dispositif de nettoyage 100 comporte des moyens de programmation, d’activation et de contrôle aptes à programmer, activer, contrôler des cycles de fonctionnement du robot de nettoyage 10 en mode de commande automatique ou manuelle. L’interface utilisateur est avantageusement intégrée à l’ordinateur de bord du véhicule et/ou à un smartphone sous la forme d’une application dédiée à la programmation des cycles de fonctionnement du robot et/ou permettant de piloter manuellement le robot de nettoyage 10 en mode Jeu. The second object of the invention is a device 100 for cleaning a glazed surface, in particular a curved surface, V, advantageously a windshield, comprising at least one cleaning robot 10 as previously defined, a housing 102 forming a charging terminal for the robot. cleaning 10 and a user interface. It will be understood that, in all the embodiments described above, the control system of the cleaning robot is able to control, via the activation and control means, the return of the cleaning robot to the housing 102 attached to the windshield after a cleaning cycle and / or after detecting a low level of loading of the robot's power source. In addition, the user interface of the cleaning device 100 comprises programming, activation and control means able to program, activate, control cycles of operation of the cleaning robot 10 in automatic or manual control mode. The user interface is advantageously integrated with the on-board computer of the vehicle and / or with a smartphone in the form of an application dedicated to the programming of the operating cycles of the robot and / or for manually controlling the cleaning robot 10 in Game mode.
La description qui précède explique clairement comment l’invention permet d’atteindre les objectifs qu’elle s’est fixée et notamment de proposer un robot de nettoyage 10 miniature et autonome d’une surface vitrée, notamment galbée, V d’un parebrise d’un véhicule automobile comportant au moins des moyens de maintien 2, des moyens de déplacement 3, des moyens de nettoyage 4 et un système de commande aptes à coopérer et à communiquer entre eux pour programmer et accomplir des cycles de fonctionnement du robot de nettoyage en vue d’éliminer toutes particules ou traces de la surface vitrée et offrir au conducteur du véhicule une visibilité optimale. The foregoing description clearly explains how the invention makes it possible to achieve the objectives it has set for itself, and in particular to propose a miniature and autonomous cleaning robot 10 of a glazed surface, in particular a curved surface, V of a windshield. a motor vehicle comprising at least holding means 2, moving means 3, cleaning means 4 and a control system capable of cooperating and communicating with each other to program and perform cycles of operation of the cleaning robot in to eliminate any particles or traces of the glass surface and to offer the driver of the vehicle an optimal visibility.
L’invention telle qu’elle vient d’être décrite ne saurait se limiter aux moyens et configurations exclusivement décrits et illustrés, et s’applique également à tous moyens ou configurations équivalents et à toute combinaison techniquement opérante de tels moyens ou configurations. The invention as just described can not be limited to the means and configurations exclusively described and illustrated, and also applies to any equivalent means or configurations and any technically operating combination of such means or configurations.
Bien sûr, le dispositif de nettoyage peut être adapté pour nettoyer toute autre surface vitrée du véhicule, telle qu’une vitre latérale. Of course, the cleaning device can be adapted to clean any other glass surface of the vehicle, such as a side window.
Le dispositif de nettoyage selon l’invention n’est pas limité à une utilisation dans le domaine automobile, il peut être adapté pour nettoyer toute autre surface vitrée surface, par exemple, la surface vitrée d’un bâtiment. The cleaning device according to the invention is not limited to use in the automotive field, it can be adapted to clean any other surface glazed surface, for example, the glazed surface of a building.

Claims

REVENDICATIONS
1. Robot de nettoyage (îo) d’une surface vitrée, notamment galbée (V)comportant au moins un dispositif de stockage électrique et des moyens de raccordement électrique associés pour le rechargement du dispositif de stockage électrique par connexion électrique directe ou par induction, des moyens de maintien (2) du robot contre la surface vitrée, des moyens de déplacement (3) de ce robot le long de la surface vitrée, des moyens de nettoyage (4) de la surface vitrée, ainsi qu’un châssis (5) formant support d’au moins les moyens de maintien, de déplacement et de nettoyage, ledit robot comportant en outre au moins une partie d’un système de commande qui est configuré pour piloter au moins les moyens de maintien (2) et/ou les moyens de déplacement (3) du robot et/ou les moyens de nettoyage (4)de la surface vitrée. 1. Cleaning robot (Io) of a glazed surface, in particular curved (V) having at least one electrical storage device and associated electrical connection means for recharging the electrical storage device by direct electrical connection or by induction, means for holding (2) the robot against the glass surface, means for moving (3) this robot along the glass surface, cleaning means (4) for the glass surface, and a frame (5). ) supporting at least the holding, moving and cleaning means, said robot further comprising at least a part of a control system which is configured to drive at least the holding means (2) and / or the moving means (3) of the robot and / or the cleaning means (4) of the glass surface.
2. Robot de nettoyage (10) selon la revendication 1, caractérisé en ce que les moyens de maintien (2) comportent au moins un moteur (20), une turbine (22) et une bouche d’aspiration (24), la turbine (22) étant actionnée par le moteur (20) de manière à aspirer l’air au travers de la bouche d’aspiration (24) et générer un effet Venturi apte à maintenir le robot de nettoyage (10) plaqué contre la surface vitrée (V). 2. cleaning robot (10) according to claim 1, characterized in that the holding means (2) comprise at least one motor (20), a turbine (22) and a suction mouth (24), the turbine (22) being actuated by the motor (20) so as to suck the air through the suction mouth (24) and generate a Venturi effect adapted to keep the cleaning robot (10) pressed against the glass surface ( V).
3. Robot de nettoyage (10) selon la revendication 1 ou 2, caractérisé en ce que les moyens de maintien (2) comportent au moins un élément (30, 32) magnétique ou électromagnétique de manière à générer un phénomène d’aimantation ou d’électro aimantation apte à maintenir le robot de nettoyage (10) plaqué contre la surface vitrée (V). 3. cleaning robot (10) according to claim 1 or 2, characterized in that the holding means (2) comprise at least one element (30, 32) magnetic or electromagnetic so as to generate a magnetization phenomenon or electromagnetization adapted to keep the cleaning robot (10) pressed against the glass surface (V).
4. Robot de nettoyage (10) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’une face (9) du châssis (5) comporte au moins un logement (15) configuré pour recevoir un élément glissant (14) formant moyens de nettoyage (4). 4. cleaning robot (10) according to any one of the preceding claims, characterized in that a face (9) of the frame (5) comprises at least one housing (15) configured to receive a sliding element (14) forming cleaning means (4).
5. Robot de nettoyage (10) selon la revendication précédente, caractérisé en ce que les moyens de nettoyage (4) comportent au moins un élément ressort (141) disposé dans le logement (15) ménagé dans le châssis (5) pour recevoir l’élément glissant (14), ledit élément ressort étant configuré pour exercer une force de pression sur l’élément glissant (14) en vue de le plaquer sur la surface vitrée (V). Cleaning robot (10) according to the preceding claim, characterized in that the cleaning means (4) comprise at least one spring element (141) disposed in the housing (15) in the frame (5) for receiving the sliding element (14), said spring element being configured to exert a pressing force on the sliding element (14) in order to to press it on the glass surface (V).
6. Robot de nettoyage (10) selon l’une quelconque des revendications précédentes, caractérisé en ce que les moyens de déplacement (3) comportent au moins une paire d’éléments motorisés (16) agencés de part et d’autre des moyens de maintien (2). 6. cleaning robot (10) according to any one of the preceding claims, characterized in that the displacement means (3) comprise at least one pair of motorized elements (16) arranged on either side of the means of maintenance (2).
7. Robot de nettoyage (10) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’il comporte des moyens de détection de l’environnement (42, 50) aptes à communiquer avec le système de commande, ledit système de commande étant configuré pour définir une instruction de déplacement du robot de nettoyage en fonction des informations reçues en provenance des moyens de détection de l’environnement. 7. cleaning robot (10) according to any one of the preceding claims, characterized in that it comprises means for detecting the environment (42, 50) adapted to communicate with the control system, said control system being configured to define a move instruction of the cleaning robot based on information received from the environment detection means.
8. Robot de nettoyage (10) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’il présente des dimensions longitudinales comprises entre 100 et 150 millimètres et des dimensions transversales comprises entre 50 et 100 millimètres. 8. Cleaning robot (10) according to any one of the preceding claims, characterized in that it has longitudinal dimensions of between 100 and 150 millimeters and transverse dimensions of between 50 and 100 millimeters.
9. Dispositif de nettoyage (100) d’une surface vitrée comprenant au moins un robot de nettoyage (10) selon l’une quelconque des revendications 1 à 10 et un logement (102) ménagé en périphérie de la surface vitrée (V) ou fixé sur la surface vitrée (V) pour la recharge du robot de nettoyage (10). 9. Device for cleaning (100) a glass surface comprising at least one cleaning robot (10) according to any one of claims 1 to 10 and a housing (102) formed at the periphery of the glazed surface (V) or fixed on the glass surface (V) for charging the cleaning robot (10).
10. Dispositif de nettoyage selon la revendication précédente, caractérisé en ce le système de commande est apte à communiquer avec une interface utilisateur en vue de programmer et/ou commander au moins un cycle de fonctionnement du robot de nettoyage. 10. Cleaning device according to the preceding claim, characterized in that the control system is adapted to communicate with a user interface for programming and / or control at least one operating cycle of the cleaning robot.
11. Dispositif de nettoyage selon l’une quelconque des revendications 9 à 10, caractérisé en ce que le robot de nettoyage (10) est adapté pour nettoyer une surface vitrée de véhicule automobile, de préférence un pare-brise dudit véhicule, ledit logement 102 étant ménagé en périphérie du pare-brise ou fixé sur le pare- brise. 11. Cleaning device according to any one of claims 9 to 10, characterized in that the cleaning robot (10) is adapted to clean a glass surface of a motor vehicle, preferably a windshield of said vehicle, said housing 102 being formed at the periphery of the windshield or fixed on the windshield.
PCT/EP2019/055644 2018-03-22 2019-03-07 Robot for cleaning a glass surface and cleaning device comprising such a cleaning robot WO2019179772A1 (en)

Applications Claiming Priority (2)

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FR1852470 2018-03-22
FR1852470A FR3079159B1 (en) 2018-03-22 2018-03-22 ROBOT FOR CLEANING A GLASS SURFACE AND CLEANING DEVICE COMPRISING SUCH A CLEANING ROBOT

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FR3079159B1 (en) 2020-05-01

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