EP0483677B1 - Méthode de fonctionnement et appareil de nettoyage d'un bassin de natation - Google Patents

Méthode de fonctionnement et appareil de nettoyage d'un bassin de natation Download PDF

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Publication number
EP0483677B1
EP0483677B1 EP91118211A EP91118211A EP0483677B1 EP 0483677 B1 EP0483677 B1 EP 0483677B1 EP 91118211 A EP91118211 A EP 91118211A EP 91118211 A EP91118211 A EP 91118211A EP 0483677 B1 EP0483677 B1 EP 0483677B1
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EP
European Patent Office
Prior art keywords
cleaning device
travel
signals
obstacle
movement
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.)
Expired - Lifetime
Application number
EP91118211A
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German (de)
English (en)
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EP0483677A3 (en
EP0483677A2 (fr
Inventor
Peter Sommer
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3S Systemtechnik AG
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3S Systemtechnik AG
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Publication date
Application filed by 3S Systemtechnik AG filed Critical 3S Systemtechnik AG
Publication of EP0483677A2 publication Critical patent/EP0483677A2/fr
Publication of EP0483677A3 publication Critical patent/EP0483677A3/de
Application granted granted Critical
Publication of EP0483677B1 publication Critical patent/EP0483677B1/fr
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    • 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 working method for a cleaning device which can be moved back and forth in a swimming pool according to the preamble of patent claim 1 and to a cleaning device for carrying out the method.
  • a method for operating a reciprocating device for cleaning a swimming pool is known, which device is provided with contact elements oriented approximately in the direction of travel, by means of which the drive motor assigned to the first contact element stopped when contacting the pool wall becomes. Then the device is aligned with the not yet stopped drive motor on the pool wall, after which this drive motor is also switched off. By switching on the first stopped drive motor in the opposite direction of travel, the device is pivoted through an angle, after which the other drive motor is also switched on in the opposite direction of travel. With this device, the swimming pool with a essentially cleaned zigzag-like driving patterns, so that corresponding wedge-shaped strips are not cleaned. In addition, two suction fronts are required because the device is not turned over. This means that a pump with a high pumping speed is required.
  • EP-A-0 099 489 relates to a method for cleaning a water basin by means of a cleaning device which can be used under water and which reverses the direction of travel when it comes into contact with a wall or another obstacle. This means that the device is not turned and two extraction fronts are required.
  • the device is controlled by a course controller to maintain a certain direction of travel, using a relatively imprecise, interference-sensitive compass.
  • the device is moved along a straight travel pattern path, the device performing a turning maneuver when it comes into contact with a wall and being displaced transversely to the direction of travel, after which it is fed to the opposite wall.
  • This device works with parallel driving pattern paths and is moved from one wall to the other until a desired floor section or the entire floor area is cleaned.
  • the movement of the device is monitored by a single pulse sensor.
  • the turning maneuver is carried out with the aid of a time switch, which leads to considerable deviations from the target values, especially in the case of irregularly shaped swimming pools, where alignment on the pool wall is not possible, so that the desired driving pattern cannot be achieved.
  • the device is additionally aligned on the pool wall by means of a bumper, which, however, has no sensors.
  • the present invention deals with the problem of automatic, systematic cleaning of swimming pools, the object of the invention being to specify a method and a device for carrying out the method, by means of which any changes in direction of the device are recorded and values determined therefrom for determining a directional correction be used.
  • the method is characterized in that after executing the rotary movement, the cleaning device for alignment with the switching bar strikes the obstacle, with switching elements pivotally mounted in the switching bar being actuated as a function of the relative position of the cleaning device with respect to the obstacle .
  • FIG. 1 shows a schematic plan view of a pool cleaning device, designated as a whole by 100, with the essential functional elements for a fully automatic and systematic drive and control process.
  • the cleaning device 100 has a schematically represented housing 1, which is provided with a suction front which is designed to suck in the liquid and to take up impurities and is designated 101 in its entirety.
  • a suction front which is designed to suck in the liquid and to take up impurities and is designated 101 in its entirety.
  • At the oriented in the direction of travel Y and essentially the End face 1 'of the housing 1 forming the suction front 101 at least one correspondingly mounted, not shown cleaning brush and an associated filter device are provided.
  • a contact strip 18 fastened to the end face 1 'of the housing 1 in a manner not shown in detail, and a changeover strip 20 correspondingly fastened to the rear side 1''of the housing 1.
  • the function of the contact strip 18 and the changeover strip 20 becomes described later in detail.
  • a drive shaft 8 For driving the cleaning device 100 in the direction of the arrow Y, a drive shaft 8 is provided, which is mounted in the housing 1 in a manner not shown.
  • the drive shaft 8 is operatively connected, with the interposition of clutches 11 and 12 arranged in the housing 1, to a transmission 10 arranged in the housing 1.
  • the two clutches 11, 12 are designed as known electric or magnetic clutches.
  • a shaft 7 which is operatively connected to impellers 4, 4 'is arranged and is mounted in the housing 1.
  • the impellers 3, 3 'and 4, 4' arranged on the drive shaft 8 and on the shaft 7 are each operatively connected to one another via an endless, for example caterpillar-like conveyor belt 2, 2 '.
  • an endless, for example caterpillar-like conveyor belt 2, 2 ' Between the drive wheels 3, 3 'and running wheels 4, 4', further deflection or drive wheels, not shown, can be arranged which are operatively connected to the travel belt 2, 2 '.
  • the drive 10 which is preferably provided with a reduction gear stage, is assigned a drive unit 9, which is designed, for example, as a three-phase asynchronous motor and is fed with modulated three-phase current.
  • a constant speed is transmitted to the drive shaft 8.
  • the drive unit 9 is preceded by a converter 13, in which the single-phase voltage supplied via a cable 15 to control logic 14 is rectified and subsequently a three-phase AC voltage by means of an electronic circuit (not shown) provided with power transistors is generated with a stable output frequency.
  • control logic 14 which is connected to the two clutches 11, 12 via lines 43, 43 ', a corresponding switchover of the drive unit 9 from forward to reverse travel can be achieved.
  • the electrical supply to the cleaning device 100 takes place essentially via the cable 15 connected to the control logic 14, which is connected to a socket (not shown) arranged outside the swimming pool.
  • the cable 15 is also detachably connected to the housing 1 via a correspondingly watertight service connector (not shown).
  • An isolating transformer (not shown) is arranged between the mains connection (socket) and the cable 15, by means of which the present mains voltage is transformed from over 50 volts to a corresponding value, so that the cleaning device 100 can also be used during bathing can be done.
  • the transformed value of the one-phase voltage is of the order of 42 volts.
  • the cleaning device 100 normally works in automatic mode by means of an appropriately designed and arranged autopilot control.
  • the cleaning device 100 can also be controlled remotely via a corresponding control box 16.
  • the cable 15 is preferably provided with a conductor, not shown, as a receiving antenna.
  • Optical / electronic sensors 25 and 26 and an evaluation unit 27 connected thereto are also arranged in the housing 1 of the cleaning device 100. Corresponding signals of the control logic 14 are supplied by the evaluation unit 27.
  • an electronic direction sensor system (not shown in more detail) can also be used and installed in the housing 1 of the cleaning device 100.
  • the first sensor 25 detects the relative position of the cleaning device 100 with respect to a fictitious driving line F or with respect to a fictitious driving lane F oriented in the direction of the arrow Y during the travel movement of the cleaning device 100 oriented in the direction of the arrow Y 'measured.
  • the relative position of the housing axis of symmetry S is preferably measured with respect to the driving line F or with respect to the driving lane F '.
  • the width b of the lane F ' essentially corresponds to the permissible path deviation within which the cleaning device 100 may move. However, the width b of the lane F 'can also correspond to the effective range of the sensor beam 25' or the beam 25 ' the width b can be designed accordingly.
  • a deviation from the predetermined direction which arises during the movement of the cleaning device 100 from one wall W to the other wall W '(FIG. 3) is determined in the form of an offset in the horizontal plane at an angle ⁇ or ⁇ ' in the side and supplied as a corresponding signal from the first sensor 25 to the evaluation unit 27.
  • the evaluation unit 27 a comparison of the specified direction of movement with the current direction of movement (TARGET-ACTUAL VALUE comparison) is carried out.
  • a signal, which is dependent on the comparison, is sent by the evaluation unit 27 to the control logic 14 for a necessary correction of the direction of travel, as a result of which one or the other clutch 11 or 12 and thus the associated drive wheel 3 or 3 'is actuated accordingly.
  • the correction of the direction of travel based on the horizontal offset is preferably carried out with inclusion and thus as a function of the predetermined driving speed of the cleaning device 100.
  • a possible upward or downward gradient in the swimming pool can be detected with the second sensor 26 during the driving movement and a corresponding reversing signal can be supplied to the evaluation unit 27.
  • This signal essentially causes a "STOP" or a change in direction (turning process) of the cleaning device 100. This change in direction can prevent the cleaning device 100 from falling into a lower part of the swimming pool or from standing still on an insurmountable slope.
  • the contact strip 18 is arranged on the end face 101 of the housing 1 and fastened by means which are not shown in detail.
  • a corresponding signal is sent to the control logic 14 via a line 41, from which the corresponding coupling 11 or 12 is actuated and the associated drive wheel 3 or 3 'is braked, for example, to initiate a turning or evasive operation.
  • the switch bar 20 is arranged on the rear side 1 ′′ of the housing 1 and is mounted accordingly.
  • appropriately designed switching elements 60 and 60' are actuated.
  • FIG. 2 shows a section of the changeover strip, designated in its entirety by 20, partially in section and on a larger scale, and the housing 1 designed for receiving the changeover strip 20 with the rear wall 30 and the side wall 31 can be seen.
  • the switching bar 20 comprises a carrier element 50, which is partially designed as a hollow body and is arranged in a manner not shown on a support plate 55 and is provided with a bumper bar 51 and with a molded-on side part 52.
  • This has a main chamber 53 and a side chamber 54 for the switching element 60 stored therein provided support element 50 is supported with a wall part 56 on the rear wall 30 of the housing 1.
  • the carrier element 50 is fastened with a holding piece 35 arranged on the support plate 55 to an angle piece 32 by means of screws 33, 33 '.
  • the on the side wall 31 of the housing 1 arranged angle piece 32 is attached to the side wall 31 in a manner not shown.
  • the switching element 60 arranged in the main chamber 53 of the carrier element 50 comprises a lever piece 61 which is pivotably mounted about a bolt 59 and which is essentially supported on the inside 51 'of the bumper strip 51.
  • a first head piece 62 is formed on one end of the lever piece 61 and a second head piece 65 is formed on the other end.
  • a recess 63 is provided in the first head piece 62 and is designed to receive a permanent magnet 64.
  • the second head piece 65 is arranged in a recess 57 of the carrier element side part 52 which limits the pivoting movement of the switching element 60.
  • the lever piece 61 is further provided with a recess 66 in which a spring element 67 which is supported on the holding piece 35 is arranged.
  • the cleaning device 100 is placed on the floor of the swimming pool to be cleaned and the drive is actuated by means of which the cleaning device is moved in the direction of arrow Y, as shown schematically in FIG. 1 or FIG. During this movement, the cleaning device can be remote-controlled accordingly via the control box 16. As soon as the cleaning device with the contact strip 18 comes into contact with the pool wall, a signal is sent to the control logic 14, which actuates the clutch 11 or 12 and the drive wheel 3 'or 3, which is operatively connected thereto, to the travel belt 2 'or 2 brakes and stops.
  • the control logic 14 switches the drive 9 to reverse travel via the converter 13, as a result of which the cleaning device 100 is rotated about a fictitious device axis until the switching bar 20 strikes the pool wall and thereby actuates the corresponding switching element 60 or 60 '.
  • the drive unit 9 is in turn switched over so that the cleaning device 100 can now drive off and clean an adjacent roadway.
  • a fictitious driving line F or a lane F ' is measured during the journey by means of the optical / electronic sensor 25 and the instantaneous direction of movement is compared with the predetermined direction of movement and corrected accordingly if necessary.
  • the clutches 11 and 12 are switched over until the corresponding signals from the switching elements 60, 60 'simultaneously arrive at the control logic 14 and thereby the parallelism to the pool wall is indicated.
  • the alignment of the cleaning device 100 is further optimized by the lateral signals determined in the direction of the arrows 74, 74 'and 75.75'.
  • the angle of rotation is preferably measured during the displacement process. After a rotational movement of 180 ° has been reached, the clutch that is at rest is activated. The cleaning device 100 is thereby reset until the switching bar 20 signals the wall contact.
  • the turning process of the cleaning device 100 can also be achieved by forward rotation through 180 ° when driving forward and when an obstacle is detected by means of the sensor 26.
  • the corresponding angle of rotation is measured by means of the sensor.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Detergent Compositions (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Claims (14)

  1. Mode opératoire pour un appareil de nettoyage apte à effectuer un mouvement alternatif dans un bassin de natation, comprenant un mécanisme de déplacement apte à passer par commutation à un déplacement vers l'avant et à un déplacement vers l'arrière, et relié en entraînement à des roues de commande ou à des courroies mobiles, une réglette de contacts (18) disposée côté frontal, ainsi qu'une réglette de commutation (20) disposée côté dorsal d'un boîtier (1) de l'appareil de nettoyage (100), des signaux respectifs de correction provenant desdites réglettes (18, 20) lorsque l'appareil heurte un obstacle étant acheminés au mécanisme de déplacement via un logiciel de commande (14), caractérisé en ce que, au cours du déplacement de l'appareil de nettoyage (100), la direction de mouvement momentanée par rapport à une ligne de déplacement (F) ou par rapport à une courroie de déplacement (F') est enregistrée par au moins un premier capteur optique/électronique (25), l'appareil de nettoyage (100) opère un mouvement rotatif en formant un angle de consigne de 180°, lors de la détection d'un obstacle, l'angle de rotation momentané étant mesuré par un système correspondant (26) de détection de direction, et les déviations déterminées de cette manière sont transformées en signaux et utilisées pour une correction de direction, et dans lequel le mouvement de rotation est négocié de telle sorte que, lors de la mise en action de la réglette de contacts (18) côté frontal, une des roues de commande ou une des courroies mobiles est freinée et mise à l'arrêt jusqu'à ce que l'autre roue de commande ou l'autre courroie mobile maintenant entraînée vers l'arrière opère la rotation planaire de l'appareil de nettoyage (100) jusqu'à la mise en action de la réglette de commutation (20) côté dorsal, et en ce que, en l'occurrence, on utilise des signaux émis par la réglette de commutation (20) pour la mise hors-circuit du mécanisme de déplacement lors de son déplacement vers l'arrière et pour l'alignement de l'appareil de nettoyage (100) par rapport à l'obstacle, et des signaux dépendant de l'alignement pour faire passer par commutation ultérieure le mécanisme de déplacement à un déplacement vers l'avant parallèle à la trajectoire existante ou orientée en direction de la paroi latérale du bassin.
  2. Mode opératoire selon la revendication 1, caractérisé en ce que, après avoir réalisé son mouvement de rotation, l'appareil de nettoyage (100) heurte l'obstacle à des fins d'alignement avec la réglette de commutation (20), des éléments de commutation (60, 60') montés en pivotement dans la réglette de commutation (20) étant actionnés en fonction de la position relative de l'appareil de nettoyage (100) par rapport à l'obstacle.
  3. Mode opératoire selon la revendication 2, caractérisé en ce que les autres contacts qui s'établissent en ayant un effet sur la réglette de commutation (20), côté frontal et/ou dans une orientation transversale à cette dernière, sont enregistrés par les éléments de commutation (60, 60'), et des signaux émis en fonction de ces derniers sont acheminés à un logiciel de commande (14).
  4. Mode opératoire selon la revendication 1, caractérisé en ce que le passage par commutation du mécanisme de déplacement au déplacement vers l'avant ne se réalise que lorsque la réglette de commutation (20) est disposée parallèlement à l'obstacle.
  5. Mode opératoire selon la revendication 1, caractérisé en ce que, dans le cas d'un mouvement de rotation de l'appareil de nettoyage (100) qui n'a pas été réalisé complètement, la différence mesurée par rapport à l'angle de consigne prédéfini est complétée comme déviation.
  6. Mode opératoire selon l'une quelconque des revendications 1 et 5, caractérisé en ce que la différence mesurée par rapport à l'angle de consigne lors du mouvement de rotation de l'appareil de nettoyage (100) est complétée via la commutation du mécanisme de déplacement.
  7. Mode opératoire selon la revendication 1, caractérisé en ce que l'appareil de nettoyage (100), lors de la détection d'un obstacle au cours de son déplacement vers l'avant, effectue une rotation de 180° et l'angle du mouvement de rotation qui se forme en l'occurrence est mesuré par le système (26) de détection de direction.
  8. Mode opératoire selon la revendication 1, caractérisé en ce que les déviations dépendant de la direction de mouvement momentanée sont déterminées en prenant en compte la vitesse de déplacement momentanée et sont utilisées, par comparaison avec la vitesse de déplacement prédéfinie, sous forme de signaux transformés pour la correction de direction.
  9. Mode opératoire selon l'une quelconque des revendications 1 à 8, caractérisé en ce que, au cours du mouvement de déplacement de l'appareil de nettoyage (100), la direction de mouvement momentanée, orientée par rapport à la ligne de déplacement (F) ou par rapport à la courroie de déplacement (F') est enregistrée par le capteur optique/électronique (25), des déviations déterminées en l'occurrence étant transformées en signaux et utilisées pour la correction du mouvement directionnel, et en ce que, lors de la mise en action de la réglette de contacts (18) côté frontal, l'appareil de nettoyage (100) opère une rotation planaire en marche arrière, et on utilise les signaux émis en l'occurrence pour la mise hors-circuit du mécanisme de déplacement lors de son déplacement vers l'arrière et pour l'alignement de l'appareil de nettoyage (100) par rapport à l'obstacle et les signaux dépendant de l'alignement pour faire passer par commutation le mécanisme de déplacement à un déplacement vers l'avant.
  10. Appareil de nettoyage pour la mise en oeuvre du procédé selon les revendications 1 à 9, comprenant un mécanisme de déplacement apte à passer par commutation à un déplacement vers l'avant et à un déplacement vers l'arrière, et relié en entraînement à des roues de commande ou à des courroies mobiles, une réglette de contacts (18) disposée côté frontal, ainsi qu'une réglette de commutation (20) disposée côté dorsal d'un boîtier (1) de l'appareil de nettoyage (100), des signaux respectifs de correction provenant desdites réglettes (18, 20) lorsque l'appareil heurte un obstacle étant acheminés au mécanisme de déplacement via un logiciel de commande (14), et dans lequel les roues de commande (3, 3') disposées sur un arbre de commande (8), en intercalant au moins un accouplement (11, 12) sont reliées, via un engrenage (10), à un agrégat de commande (9), l'accouplement (11, 12) étant relié au logiciel de commande (14), caractérisé en ce que l'appareil de nettoyage (100) est muni d'au moins un premier capteur optique/électronique (25) pour enregistrer la direction de mouvement momentanée, ainsi qu'un système de détection de direction (26) pour mesurer l'angle de rotation momentané.
  11. Appareil de nettoyage pour la mise en oeuvre du procédé selon la revendication 10, caractérisé en ce que la réglette de commutation (20) reliée en entraînement au logiciel de commande (14) est réalisée sous forme d'éléments de support (50) du type d'un corps creux, dans lequel sont disposés deux éléments de commutation (60, 60') disposés à l'écart l'un de l'autre et montés respectivement en pivotement autour d'un boulon (59).
  12. Appareil de nettoyage pour la mise en oeuvre du procédé selon la revendication 11, caractérisé en ce que les éléments de commutation (60, 60') sont disposés et montés en pivotement dans l'élément de support (50) de telle sorte que les autres contacts qui s'établissent en ayant un effet sur l'élément de support (50), côté frontal et/ou dans une orientation transversale par rapport à ce dernier, sont enregistrés par les premiers cités et des signaux émis de manière correspondante peuvent être acheminés au logiciel de commande (14).
  13. Appareil de nettoyage pour la mise en oeuvre du procédé selon la revendication 10, caractérisé en ce qu'un changeur de fréquence (13) muni d'un commutateur électrique est monté en amont de l'agrégat de commande (9), au moyen duquel on peut transformer une tension monophasique en une tension alternative triphasique possédant une fréquence de départ stable.
  14. Appareil de nettoyage pour la mise en oeuvre du procédé selon la revendication 10, caractérisé en ce que les deux accouplements (11, 12) reliés en entraînement à l'arbre de commande (8) sont réalisés sous forme d'accouplements électriques ou magnétiques, et l'engrenage (10) disposé entre eux est réalisé sous la forme d'un engrenage à vis sans fin muni d'un réducteur mécanique.
EP91118211A 1990-10-31 1991-10-25 Méthode de fonctionnement et appareil de nettoyage d'un bassin de natation Expired - Lifetime EP0483677B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CH347090 1990-10-31
CH3470/90 1990-10-31
CH303291 1991-10-16
CH3032/91 1991-10-16

Publications (3)

Publication Number Publication Date
EP0483677A2 EP0483677A2 (fr) 1992-05-06
EP0483677A3 EP0483677A3 (en) 1992-09-23
EP0483677B1 true EP0483677B1 (fr) 1997-04-09

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP91118211A Expired - Lifetime EP0483677B1 (fr) 1990-10-31 1991-10-25 Méthode de fonctionnement et appareil de nettoyage d'un bassin de natation

Country Status (8)

Country Link
US (1) US5256207A (fr)
EP (1) EP0483677B1 (fr)
JP (1) JP3222509B2 (fr)
AT (1) ATE151490T1 (fr)
DE (1) DE59108653D1 (fr)
DK (1) DK0483677T3 (fr)
ES (1) ES2101709T3 (fr)
GR (1) GR3023656T3 (fr)

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CN115961810A (zh) * 2022-08-02 2023-04-14 天津望圆智能科技股份有限公司 一种泳池清洁机的机械换向结构及泳池清洁机
US20240254796A1 (en) * 2023-01-27 2024-08-01 Zodiac Pool Systems Llc Automatic swimming pool cleaners especially adept at climbing and cleaning pool stairs
CN118617396A (zh) * 2023-03-09 2024-09-10 天津望圆智能科技股份有限公司 水池清洁机器人的换向装置控制方法及装置

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CN110777922A (zh) * 2019-11-10 2020-02-11 宁波润爵科技有限公司 一种方型景观水池的清洁方法
CN110777922B (zh) * 2019-11-10 2020-11-03 合肥蓝川生态科技有限公司 一种方型景观水池的清洁方法

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EP0483677A3 (en) 1992-09-23
ES2101709T3 (es) 1997-07-16
DE59108653D1 (de) 1997-05-15
GR3023656T3 (en) 1997-09-30
US5256207A (en) 1993-10-26
DK0483677T3 (da) 1997-10-27
JPH04281967A (ja) 1992-10-07
ATE151490T1 (de) 1997-04-15
JP3222509B2 (ja) 2001-10-29
EP0483677A2 (fr) 1992-05-06

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