EP0099489A1 - Procédé et appareil de nettoyage d'un bassin - Google Patents

Procédé et appareil de nettoyage d'un bassin Download PDF

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Publication number
EP0099489A1
EP0099489A1 EP83106211A EP83106211A EP0099489A1 EP 0099489 A1 EP0099489 A1 EP 0099489A1 EP 83106211 A EP83106211 A EP 83106211A EP 83106211 A EP83106211 A EP 83106211A EP 0099489 A1 EP0099489 A1 EP 0099489A1
Authority
EP
European Patent Office
Prior art keywords
course
cleaning device
travel
cleaning
compass
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP83106211A
Other languages
German (de)
English (en)
Other versions
EP0099489B1 (fr
Inventor
Peter Sommer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sommer Schenk AG
Original Assignee
Sommer Schenk AG
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 Sommer Schenk AG filed Critical Sommer Schenk AG
Priority to AT83106211T priority Critical patent/ATE23899T1/de
Publication of EP0099489A1 publication Critical patent/EP0099489A1/fr
Application granted granted Critical
Publication of EP0099489B1 publication Critical patent/EP0099489B1/fr
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners

Definitions

  • the invention relates to a method for cleaning a water basin by means of a cleaning device which can be used under water, the travel drive of which is controlled to maintain a certain roadway and change it, and a cleaning device for carrying out this method.
  • a cleaning device For cleaning water pools, in particular swimming pools, it is known to use cleaning devices with which the pool floor and possibly the pool walls can be cleaned, the device being operated outside the pool. In principle, it is possible to continuously control such a cleaning device in such a way that lane-by-lane is covered until the entire surface of the pool floor has been run over and cleaned.
  • Devices are known with which such cleaning devices can be used automatically.
  • a known cleaning device has a sensor rod which reverses the direction of travel of the device when it comes into contact with the pool wall or an obstacle and at the same time takes a new course. The device then moves on its new course until the next reversal and change of direction follows.
  • the disadvantage here is that there is no systematic movement of the pelvic floor with this device. The device runs crisscross across the pelvic floor and it is possible that one part of the pelvic floor is used several times and the other parts of the surface are not used at all.
  • the sensor rod or the sensor rods must be set at a certain angle depending on the size of the water basin for automatic operation, so that after driving back a lane, the vehicle travels backwards and then the next parallel run to the first lane is driven.
  • the inclined travel is not controlled and therefore due to bumps or the like. can be influenced, certain surface parts are run over twice at the beginning and at the end of the road. In order to ensure that the pool floor is completely cleaned, this device must be monitored despite the automatic reversing and inclined travel.
  • the sequence of the individual, partial operations to be carried out automatically when changing the direction of travel and when changing direction is determined by a microprocessor, but compliance with a course is not guaranteed in this case either and the device can therefore be prevented from the course by obstacles to be brought.
  • This object is achieved according to the invention in that the course of the road is maintained by a control device acting on the travel drive, a first course is continuously set by the respective command variable and a compass is used as a sensor for measuring the course, and that when the Cleaning device with a wall or another obstacle, a reversal of the direction of travel is carried out, a second course changed by a set angle compared to the first course being maintained for a set first period of time.
  • a cleaning device which has a caterpillar undercarriage as the drive, in which, according to the invention, a course controller with a compass as a course measuring value transmitter, a setting device for the course target value, a comparator for determining errors between course measured value and course target value and one on the chassis of the cleaning device Actuator for actuating a respective steering clutch assigned to the drive of a caterpillar of the crawler chassis are arranged, with the setting device being assigned a timer and / or a manual actuation.
  • 1 denotes a chassis shown in broken lines, which is built on a crawler chassis, from which the two caterpillars 2, 3 mounted on the side are visible.
  • the caterpillars 2, 3 are driven by a drive 4 via schematically illustrated drive shafts 5.
  • the drive 4 can be a reversible electric motor, for example, which is connected to the drive shafts 5 via gears.
  • the cleaning device is steered by actuating steering clutches 6, 7, for example electromagnetic clutches, which can be actuated by a switching device, which represents the actuator 8 of a control device dealt with below, via schematically illustrated linkages 9, 10.
  • steering clutches 6, 7, for example electromagnetic clutches which can be actuated by a switching device, which represents the actuator 8 of a control device dealt with below, via schematically illustrated linkages 9, 10.
  • Cleaning devices of this type are described in detail in U.S. Patent Nos. 4,304,022 and 4,154,680.
  • the control device with which the cleaning device according to FIG. 1 is equipped comprises various parts, all of which are accommodated on the chassis 1, even if they are shown in FIG. 1 for a better overview outside the chassis 1 are shown.
  • the cleaning device is to automatically drive over the entire floor area of a water basin in side-by-side trips, the change of direction and the transition to an adjacent train also taking place automatically.
  • the cleaning device has a sensor rod 11, 12 on its front and rear sides.
  • the feeler rods 11, 12 protrude from the chassis 1 and come as the first part of the device into contact with a pool wall or another obstacle, e.g. a ladder or the like
  • the signal triggered by the sensor rods in contact with a wall or an obstacle is transmitted via connections 13, e.g. electrical signal lines, passed to a controller 14, where a signal for reversing the direction of travel goes to the drive 4, through which the reversal of the direction of rotation of the drive 4 takes place.
  • the cleaning device Since the cleaning device has to follow certain paths, it has a device for measuring the course.
  • a compass 15 for example a magnetic or gyro compass, is used, which directs the measured actual course value via a connection 16 to the controller 14.
  • controller 14 this value is compared with the reference variable, i.e. the course setpoint, which is set on a setting device 17 and entered into the controller 14 via a connection 18.
  • a timer 19 is connected to the setting device 17 for setting the reference variable via a connection 20.
  • the setting device 17 has a manual actuation 21, with which the course setpoint can be selected in the setting device 17 on the one hand and the cleaning device can be controlled by hand on the other hand.
  • the controller 14 has a connection 22 to the actuator 8, via which the signals for course correction and for inclined travel are transmitted.
  • FIG. 2 shows a plan view of the part of a water basin 23 which is delimited by walls 24, 25.
  • Lines I, II schematically show two adjacent lanes which the cleaning device traverses one after the other.
  • the cleaning device first travels on lane I on its preselected course, which is continuously regulated by controller 14. If the cleaning device comes into contact with the pool wall 25 with one of its sensors 11, 12, a signal is triggered by which the direction of travel is switched to the opposite course. Now the cleaning device travels a distance A-B on the same course, the distance A-B being defined by measuring a time set on the timer 19. This return journey on the same course on route A-B serves to prevent the cleaning device from becoming stuck to columns, ladders or channels when initiating an inclined travel.
  • the cleaning device thus comes out of the area of the reinforcement of the pool wall 25 which, if necessary, ie when using a magnetic compass as an actual course value transmitter, can cause disturbances in the earth's magnetic field. By adhering to a return trip on the same course, you can easily avoid these interference options.
  • the setting device 17 is adjusted in such a way that the course setpoint is changed by a certain angle a.
  • the controller 14 now brings the cleaning device in the direction given by the new course setpoint by appropriately actuating the steering clutches 6, 7 by the actuator 8 in such a way that the inclined course is taken at point B. Now the cleaning device moves for a time set on the timer 19 on this inclined course to position B.
  • the course setpoint is changed in the opposite direction to the transition to the inclined course by the same amount, whereby the cleaning device moves in position C onto the lane II aligns. Then the return journey on lane II begins, the return journey taking place on the same course with subsequent inclined travel and transition into the next lane whenever an edge contact occurs with sensors 11, 12.
  • the distance between two lanes I, II can be determined, the size of the water basin to be used being without influence.
  • the distance between the lanes I, II is expediently determined in such a way that the lanes overlap by a certain amount, for example 20-40% of the width of the cleaning device.
  • the cleaning device shown in Fig. 3 has a crawler track, of which a caterpillar 2 is visible.
  • Rotating cleaning rollers, for example brushes 36, are arranged on both end faces of the chassis 1, in front of which the sensors 11, 12 lie.
  • a housing 27 surrounds parts, for example the filter or the like, of the cleaning device.
  • a carrier 28 is supported on the chassis 1 and carries the compass 15.
  • the carrier 28 can be designed as a telescopic mast 29 with which the compass 15 can be adjusted in height. A further possibility is thus available to avoid disturbances of the earth's magnetic field resulting from the reinforcement, in particular the pool floor.
  • a wheel chassis can also be used, which is controlled with the aid of steering clutches.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Filtration Of Liquid (AREA)
EP83106211A 1982-07-05 1983-06-25 Procédé et appareil de nettoyage d'un bassin Expired EP0099489B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83106211T ATE23899T1 (de) 1982-07-05 1983-06-25 Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4085/82A CH656665A5 (de) 1982-07-05 1982-07-05 Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens.
CH4085/82 1982-07-05

Publications (2)

Publication Number Publication Date
EP0099489A1 true EP0099489A1 (fr) 1984-02-01
EP0099489B1 EP0099489B1 (fr) 1986-11-26

Family

ID=4269543

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83106211A Expired EP0099489B1 (fr) 1982-07-05 1983-06-25 Procédé et appareil de nettoyage d'un bassin

Country Status (6)

Country Link
US (1) US4518437A (fr)
EP (1) EP0099489B1 (fr)
JP (1) JPS5924037A (fr)
AT (1) ATE23899T1 (fr)
CH (1) CH656665A5 (fr)
DE (1) DE3367949D1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0257006A3 (en) * 1986-08-20 1988-09-21 Mikael Nystrom A method of cleaning the bottom of a pool
EP0483677A3 (en) * 1990-10-31 1992-09-23 3S Systemtechnik Ag Functioning method and cleaning device for swimming pools
FR2781243A1 (fr) * 1998-07-20 2000-01-21 Jean Pierre Pappalardo Dispositif de nettoyage automatique d'un bassin a deplacements controles
EP0989256A1 (fr) * 1998-09-23 2000-03-29 3S Systemtechnik Ag Procédé de travail et appareil de nettoyage pour nettoyer une piscine
CN104863213A (zh) * 2015-06-01 2015-08-26 卢云飞 一种自动清洗蓄水池
EP3026200A1 (fr) * 2011-10-27 2016-06-01 Zodiac Pool Care Europe Procédé de pilotage à distance d'un appareil automobile nettoyeur de surface immergée

Families Citing this family (49)

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US4770711A (en) * 1984-08-24 1988-09-13 Petroleum Fermentations N.V. Method for cleaning chemical sludge deposits of oil storage tanks
JPH0354531Y2 (fr) * 1987-03-02 1991-12-02
DK0483470T3 (da) * 1990-10-31 1996-09-23 3S Systemtechn Ag Selvkørende rengøringsapparat, især til svømmebassiner
SE9302874L (sv) * 1992-09-08 1994-03-09 Gold Star Co Anordning vid självgående dammsugare
US5337434A (en) * 1993-04-12 1994-08-16 Aqua Products, Inc. Directional control means for robotic swimming pool cleaners
IT1265381B1 (it) * 1993-12-03 1996-11-22 Ercole Frattini Apparecchio elettromeccanico semovente, immerso, per la pulitura del fondo e delle pareti di piscine.
US5454129A (en) * 1994-09-01 1995-10-03 Kell; Richard T. Self-powered pool vacuum with remote controlled capabilities
US6758226B2 (en) * 1999-04-01 2004-07-06 Aqua Products Inc. Motion detection and control for automated pool cleaner
US6691362B1 (en) * 1999-07-26 2004-02-17 Sebor Family Trust Device for dislodging a submersible pool cleaner
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US7429843B2 (en) * 2001-06-12 2008-09-30 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
DE60202117D1 (de) * 2001-10-15 2005-01-05 Aqua Products Inc Schwimmbeckenreinigungsverfahren und -gerät
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
IL156535A (en) * 2003-06-19 2006-12-10 Maytronics Ltd Pool cleaning apparatus
US8241430B2 (en) * 2003-11-04 2012-08-14 Aqua Products, Inc. Directional control method for dual brush robotic pool cleaners
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
WO2006002385A1 (fr) 2004-06-24 2006-01-05 Irobot Corporation Outil de programmation et de diagnostic pour robot mobile
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
KR101247933B1 (ko) 2005-02-18 2013-03-26 아이로보트 코퍼레이션 습식 및 건식 청소를 위한 자동 표면 청소 로봇
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
WO2007047827A1 (fr) * 2005-10-18 2007-04-26 Aquatron Inc. Procédé et appareil de nettoyage de piscine programmable sur mesure
US7690066B2 (en) * 2005-11-03 2010-04-06 Zodiac Pool Care, Inc. Automatic pool cleaner
US20070113188A1 (en) * 2005-11-17 2007-05-17 Bales Christopher E System and method for providing dynamic content in a communities framework
EP2251757B1 (fr) 2005-12-02 2011-11-23 iRobot Corporation Mobilité de robot de couverture
WO2007065034A1 (fr) 2005-12-02 2007-06-07 Irobot Corporation Robot modulaire
EP2816434A3 (fr) * 2005-12-02 2015-01-28 iRobot Corporation Robot à couverture autonome
ES2706729T3 (es) 2005-12-02 2019-04-01 Irobot Corp Sistema de robot
KR101099808B1 (ko) 2005-12-02 2011-12-27 아이로보트 코퍼레이션 로봇 시스템
ES2376594T3 (es) * 2006-02-24 2012-03-15 3S Systemtechnik Ag Procedimiento de trabajo y aparato de limpieza para limpiar una piscina.
ES2583374T3 (es) 2006-05-19 2016-09-20 Irobot Corporation Eliminación de residuos de robots de limpieza
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US7621014B2 (en) * 2006-09-29 2009-11-24 Aquatron Llc Method for controlling twisting of pool cleaner power cable
US20080099409A1 (en) * 2006-10-26 2008-05-01 Aquatron Robotic Systems Ltd. Swimming pool robot
EP2574265B1 (fr) 2007-05-09 2015-10-14 iRobot Corporation Robot autonome de couverture compact
JP5027735B2 (ja) * 2007-05-25 2012-09-19 サッポロビール株式会社 発泡性アルコール飲料の製造方法
US20090057238A1 (en) * 2007-09-04 2009-03-05 Efraim Garti Pool cleaning robot
US8800107B2 (en) 2010-02-16 2014-08-12 Irobot Corporation Vacuum brush
US10803724B2 (en) * 2011-04-19 2020-10-13 Innovation By Imagination LLC System, device, and method of detecting dangerous situations

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Publication number Priority date Publication date Assignee Title
US2923954A (en) * 1960-02-09 babcock
US2988762A (en) * 1960-02-08 1961-06-20 Hugh H Babcock Self-steering submarine suction cleaner
DE1297844B (de) * 1965-01-07 1969-06-19 Haack Walter Bodenreinigungs- und Behandlungsgeraet fuer Schwimmbecken
DE1920172B2 (de) * 1969-04-21 1980-07-31 Robert Roy Boca Raton Fla. Myers (V.St.A.) Selbstfahrende Maschine zum Absaugen des Bodens eines Schwimmbeckens
DE3110203A1 (de) * 1981-03-17 1982-09-30 Rolf 6450 Hanau Corvinus Verfahren und geraet zum reinigen eines schwimmbeckens

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US3381456A (en) * 1965-09-07 1968-05-07 Roger G. Taylor Untethered, self-propelled device operating in a predetermined pattern
US3753265A (en) * 1971-03-15 1973-08-21 S Wulc Translatable suction cleaning vehicle
JPS50157A (fr) * 1973-05-15 1975-01-06
US4038528A (en) * 1975-11-10 1977-07-26 The Laitram Corporation Automatic piloting system
DE2726577C3 (de) * 1976-06-28 1981-11-19 Sommer, Schenk AG, Schinznach-Dorf Reinigungsgerät für die Unterwasserreinigung von Schwimmbecken
CH638272A5 (de) * 1978-12-27 1983-09-15 Sommer Schenk Ag Geraet zur unterwasserreinigung.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2923954A (en) * 1960-02-09 babcock
US2988762A (en) * 1960-02-08 1961-06-20 Hugh H Babcock Self-steering submarine suction cleaner
DE1297844B (de) * 1965-01-07 1969-06-19 Haack Walter Bodenreinigungs- und Behandlungsgeraet fuer Schwimmbecken
DE1920172B2 (de) * 1969-04-21 1980-07-31 Robert Roy Boca Raton Fla. Myers (V.St.A.) Selbstfahrende Maschine zum Absaugen des Bodens eines Schwimmbeckens
DE3110203A1 (de) * 1981-03-17 1982-09-30 Rolf 6450 Hanau Corvinus Verfahren und geraet zum reinigen eines schwimmbeckens

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0257006A3 (en) * 1986-08-20 1988-09-21 Mikael Nystrom A method of cleaning the bottom of a pool
US4786334A (en) * 1986-08-20 1988-11-22 Nystroem Mikael Method of cleaning the bottom of a pool
EP0483677A3 (en) * 1990-10-31 1992-09-23 3S Systemtechnik Ag Functioning method and cleaning device for swimming pools
FR2781243A1 (fr) * 1998-07-20 2000-01-21 Jean Pierre Pappalardo Dispositif de nettoyage automatique d'un bassin a deplacements controles
EP0989256A1 (fr) * 1998-09-23 2000-03-29 3S Systemtechnik Ag Procédé de travail et appareil de nettoyage pour nettoyer une piscine
US6309468B1 (en) 1998-09-23 2001-10-30 3S Systemtechnik Ag Working method and cleaning device for cleaning a swimming pool
EP3026200A1 (fr) * 2011-10-27 2016-06-01 Zodiac Pool Care Europe Procédé de pilotage à distance d'un appareil automobile nettoyeur de surface immergée
US9740199B2 (en) 2011-10-27 2017-08-22 Zodiac Pool Care Europe Device for the remote control of a motorized underwater surface cleaning apparatus and apparatus thus controlled
CN104863213A (zh) * 2015-06-01 2015-08-26 卢云飞 一种自动清洗蓄水池
CN104863213B (zh) * 2015-06-01 2016-07-06 卢云飞 一种自动清洗蓄水池

Also Published As

Publication number Publication date
CH656665A5 (de) 1986-07-15
EP0099489B1 (fr) 1986-11-26
ATE23899T1 (de) 1986-12-15
JPH0358028B2 (fr) 1991-09-04
JPS5924037A (ja) 1984-02-07
US4518437A (en) 1985-05-21
DE3367949D1 (en) 1987-01-15

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