EP1826338A2 - Procédé de travail et appareil de nettoyage destiné au nettoyage d'une piscine - Google Patents

Procédé de travail et appareil de nettoyage destiné au nettoyage d'une piscine Download PDF

Info

Publication number: EP1826338A2
Authority: EP; European Patent Office
Prior art keywords: cleaning; cleaning device; distance; speed; path
Prior art date: 2006-02-24
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

EP07405051A

Other languages

German (de)

English (en)

Other versions

EP1826338A3 (fr

EP1826338B1 (fr

Inventor

Hans Rudolf Sommer

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.)

3S Systemtechnik AG

Original Assignee

3S Systemtechnik 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.)

2006-02-24

Filing date

2007-02-20

Publication date

2007-08-29

2007-02-20 Application filed by 3S Systemtechnik AG filed Critical 3S Systemtechnik AG

2007-08-29 Publication of EP1826338A2 publication Critical patent/EP1826338A2/fr

2008-07-09 Publication of EP1826338A3 publication Critical patent/EP1826338A3/fr

2011-11-16 Application granted granted Critical

2011-11-16 Publication of EP1826338B1 publication Critical patent/EP1826338B1/fr

Status Active legal-status Critical Current

2027-02-20 Anticipated expiration legal-status Critical

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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 working method for a reciprocating in a swimming pool cleaning device according to claim 1 and a cleaning device for performing the method according to claim. 9
the invention relates to a cleaning device reciprocating in a swimming pool, with a chassis which can be switched to forward or backward travel and is in operative connection with drive wheels or driving belts, each having a motor for a left and a right-hand chassis part.
a control device for controlling the landing gear as well as front and rear contact means arranged for generating control signals in the case of starting the cleaning device on a pool wall or an obstacle is present.
the control device for each chassis part or each of the two motors has a speed control device and means for a differential control of the speed of the two motors.
the cleaning device has on both chassis parts means for measuring the distances traveled during the journey.
An example of such a cleaning device is in the EP-0 989 256 disclosed. Cleaning devices of this type can be used in swimming pools of various shapes because they do not require a reference swimming pool wall for alignment due to their construction and the method of operation implemented.
the differential control of the speed is at EP-0 989 256 implemented so that the two engines are so controllable while driving that they at least be operated at different constant speeds, ie, during the direction changes to be made, in order to achieve controlled directional change angles.
the directional change angle to be achieved is determined on the basis of the speed difference because the distance traveled is measured on both chassis parts and the different arc lengths are thus known.
ramping speeds are provided for the starting phases, the directional changes are essentially at the speed of travel used to clean the pool.
the object of the invention is to provide a working method for a generic swimming pool cleaning device, with which the accuracy of compliance with the cleaning tracks (driving pattern stability) and thus the quality and reliability of swimming pool cleaning can be further improved.
the work process should be equally well suited for both large rectangular swimming pools as well as for swimming pools of irregular shape.
the cleaning device according to the invention for carrying out the above-mentioned working method includes that in a generic cleaning device the motors can be controlled by the control device with at least one low and at least one high speed.
non-contact sensors which can be used independently or in addition to mechanically acting contact means.
non-contact sensors In order to achieve a controlled stopping of the cleaning device here too, non-contact sensors must have a response distance A which is greater than the braking distance of the cleaning device at low speed. Since the response reliability and thus the response distance in non-contact sensors, especially in optical sensors, however, depends enormously on factors such as the water quality in the pool, the color or the color pattern of the pool walls and the relative orientation of the sensors to the pool wall, remains here in the Usually a relatively large response inaccuracy, which is why the sole use is often problematic. Non-contact sensors that work reliably with all water qualities, however, could ideally solve the problem of controlled stopping.
One of these sub-procedures may be that similar to the EP-0 989 256 in that the cleaning device is led into a cleaning path that runs obliquely to the preceding cleaning path. As a result, a fairly large overlap of the individual cleaning paths and thus also an increased cleaning effect can be achieved, but this also increases the total track length to be covered for cleaning the entire swimming pool.
Another possible partial method may be that the cleaning device is passed in a cleaning path substantially parallel to the preceding cleaning path.
overlap is substantially avoided and the total track length to be covered for cleaning the whole swimming pool and thus also the cleaning time can be kept to a minimum.
a referenzraumsenden Element such as a compass
the use of reliable referenz therapiessweder elements is experience, however, very expensive, which is why it is omitted if possible.
the working method according to the invention opens up the possibility of carrying out cleaning patterns with cleaning tracks running parallel, even with very large basins, with satisfactory pattern stability.
FIG. 1 schematically shows a first partial method for a working method according to the invention for cleaning a rectangular swimming pool 1 with sloping cleaning tracks.
a reciprocating in the pool 1 cleaning device 2 is initially in a corner on a pool wall 3 placed in a starting position.
the cleaning device 2 is thereby aligned so that it moves in a forward direction V in a first cleaning path 4 parallel to a swimming pool wall 3 when driving off.
the cleaning device 2 has a reversible forward or reverse drive and standing with drive wheels or belts operatively connected chassis, each with a motor for a left and a right-side chassis part, a control device for controlling the chassis and front and back arranged contact means for generating control signals in the case of raising the cleaning device on a pool wall 3 or an obstacle.
the control device has a speed control device for each chassis part and means for a differential control of the speed of the two motors in the respective chassis parts.
the cleaning device 2 has on both chassis parts means for measuring the distances traveled during the journey.
the control device controls the cleaning device 2 in such a manner as to travel straight on at a low speed in a first pass in the first cleaning track 4 from the starting position in the forward direction V until landing on an opposite swimming pool wall 3.
the distance traveled D1 is measured or determined on the first cleaning track 4.
the low driving speed is used because the control device during this phase is still no information on the expected distance to be covered distance to the opposite edge of the pool and in this way a too hard impact is avoided.
the cleaning device 2 is stopped and the direction of movement is reversed.
the cleaning device 2 is first passed at a low speed into a second, different from the first cleaning path 4 or offset second cleaning path 5.
the second cleaning path 5 extends obliquely to the previous first cleaning path 4.
the diversion into the second cleaning path 5 is effected by differential speed control of the motors of the two chassis parts.
the cornering for achieving a course deviation ⁇ can be controlled via different predetermined target speeds of the two motors and over different distances measured on the respective chassis parts and covered during the journey (arc lengths).
An example of such a control is in EP-0 989 256 described in detail.
the cleaning apparatus 2 then travels on the second cleaning path 5 at high speed in a backward direction until the distance Dz traveled by a distance A is smaller than the distance D1 traveled in the previous pass. It is therefore assumed that the distance to be covered on an adjacent cleaning track, even with irregularly shaped swimming pools can not be significantly different from an immediately previously traveled distance, and that it is sufficient only at the registration of one compared to the previous passage and to a distance A reduced distance to reduce the driving speed again.
the cleaning device 2 moves on at low speed in the second cleaning path 5 until it reaches the swimming pool wall 3.
a controlled acceleration at low speed takes place.
the distance covered D2 is measured or determined.
the cleaning device 2 is controlled as in the previous pass. Based on the distance traveled from the previous passage, a heading deviation angle is calculated which makes it possible to reach the opposite pool wall 3 at a point substantially at an offset width B adjacent to the previous turning point.
the course deviation angle here the calculated course deviation ⁇ , will always be approximately equal.
FIG. 2 schematically shows a second partial method for a working method according to the invention for cleaning a rectangular swimming pool 1 with parallel cleaning tracks.
the cleaning device 2 reciprocating in the swimming pool 1 is initially placed in a corner on a pool wall 3 in a starting position.
the cleaning device 2 is thereby aligned so that it moves in a forward direction V in a first cleaning path 4 parallel to the pool wall 3 when driving off.
the control device again controls the cleaning device 2 in such a way that, in a first pass in the first cleaning track 4, it travels straight ahead at a low speed from the starting position in the forward direction V until it reaches the opposite swimming pool wall 3. In this case, the distance traveled D1 is measured or determined on the first cleaning track 4.
the low driving speed is used because the control device during this phase is still no information on the expected distance to be covered distance to the opposite edge of the pool and in this way a too hard impact can be avoided.
the cleaning device 2 is stopped and the direction of movement is reversed.
the cleaning device 2 is first passed at a low speed into a second, different from the first cleaning path 4 or offset second cleaning path 5.
the second cleaning path 5 runs parallel to the preceding first cleaning path 4.
the diversion into the second cleaning path 5 is effected by a combination of movements, which also include a "turning in place", which is a special case or as an extension of the differential speed Control of the engines of the two chassis parts can be seen.
the cleaning device 2 initially moves away at low speed in the backward direction of the pool wall 3, usually just as much to allow a subsequent left turn in the place by 90 ° in the counterclockwise direction (seen from above) without hindrance.
the engines of the two chassis parts with opposite equal sized Operated speeds.
the cleaning device moves in the transverse direction R by the offset width B, in order finally to complete the diverting operation with a clockwise rotation in the place by 90 ° in a clockwise direction (viewed from above).
the two angles of rotation should be the same or the same length of rotation.
a readjustment process (not shown) can also be inserted before the start of the onward journey or the next swimming pool crossing.
the cleaner 2 then travels on the second cleaning path 5 at high speed in the reverse direction until the distance Dz traveled by a distance A is smaller than the distance D1 traveled in the previous pass. It is therefore again assumed that the distance to be covered on an adjacent cleaning track, even with irregularly shaped swimming pools can not be significantly different from an immediately previously traveled distance, and that it is sufficient only at the registration of one compared to the previous passage and to reduce the driving speed again by a distance A reduced distance.
the cleaning device 2 moves on at low speed in the second cleaning path 5 until it reaches the swimming pool wall 3.
a controlled acceleration at low speed takes place.
the distance covered D2 is measured or determined.
the cleaning device 2 is again controlled as in the previous passage.
the measure according to the invention that is always driven at a low speed in the edge area of swimming pools, allows increased cleaning speeds in the central areas F of the swimming pools with more stable driving patterns. This is because (because of this decoupling) the choice of cleaning speed in the central areas F no longer has to be a compromise, which still guarantees reasonably stable driving patterns even in the case of the 'predictable' driveways at the pool edges.
the cleaning speed for the central areas F of swimming pools can be further increased by suitable choice of the specific cleaning sub-method, or the cleaning process can be continued either with respect to the cleaning speed or with respect to cleaning efficiency be optimized.
the flexibility of the software used to control the cleaning device 2 of course also allows the cleaning device 2 can be used from the start position for the passage of the first cleaning path in both forward and reverse, since, as in the two partial methods described above by way of example 4, the control operations are symmetrical in both forward V and reverse directions.
the flexibility of the software also allows the cleaner to be started from any corner of a rectangular swimming pool.

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Engineering & Computer Science (AREA)
Architecture (AREA)
Civil Engineering (AREA)
Structural Engineering (AREA)
Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Cleaning In General (AREA)

EP07405051A 2006-02-24 2007-02-20 Procédé de travail et appareil de nettoyage destiné au nettoyage d'une piscine Active EP1826338B1 (fr)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
CH2952006		2006-02-24

Publications (3)

Publication Number	Publication Date
EP1826338A2 true EP1826338A2 (fr)	2007-08-29
EP1826338A3 EP1826338A3 (fr)	2008-07-09
EP1826338B1 EP1826338B1 (fr)	2011-11-16

Family

ID=37075283

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP07405051A Active EP1826338B1 (fr)	2006-02-24	2007-02-20	Procédé de travail et appareil de nettoyage destiné au nettoyage d'une piscine

Country Status (4)

Country	Link
US (2)	US7682461B2 (fr)
EP (1)	EP1826338B1 (fr)
AT (1)	ATE533906T1 (fr)
ES (1)	ES2376594T3 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN111940420A (zh) *	2020-07-17	2020-11-17	中科光绘（上海）科技有限公司	窗口渐进式的激光清洗方法
CN118498798A (zh) *	2024-06-13	2024-08-16	元鼎智能创新(国际)有限公司	一种泳池清洁设备的侧向移动方法及泳池清洁设备
EP4707498A1 (fr) *	2024-09-05	2026-03-11	Shenzhen Aiper Intelligent Co., Ltd.	Procédé de commande de trajet, robot de nettoyage de piscine et support d'informations lisible par ordinateur non transitoire

Families Citing this family (16)

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US8343339B2 (en)	2008-09-16	2013-01-01	Hayward Industries, Inc.	Apparatus for facilitating maintenance of a pool cleaning device
US9593502B2 (en)	2009-10-19	2017-03-14	Hayward Industries, Inc.	Swimming pool cleaner
US8784652B2 (en)	2010-09-24	2014-07-22	Poolvergnuegen	Swimming pool cleaner with a rigid debris canister
US8869337B2 (en)	2010-11-02	2014-10-28	Hayward Industries, Inc.	Pool cleaning device with adjustable buoyant element
CA2906043A1 (fr)	2013-03-14	2014-10-02	Hayward Industries, Inc.	Systeme de nettoyage pour piscine avec des elements de nettoyage articules
US9677294B2 (en)	2013-03-15	2017-06-13	Hayward Industries, Inc.	Pool cleaning device with wheel drive assemblies
USD787761S1 (en)	2014-11-07	2017-05-23	Hayward Industries, Inc.	Pool cleaner
USD789003S1 (en)	2014-11-07	2017-06-06	Hayward Industries, Inc.	Pool cleaner
USD789624S1 (en)	2014-11-07	2017-06-13	Hayward Industries, Inc.	Pool cleaner
USD787760S1 (en)	2014-11-07	2017-05-23	Hayward Industries, Inc.	Pool cleaner
US9399877B2 (en)	2014-11-21	2016-07-26	Water Tech, LLC	Robotic pool cleaning apparatus
US10214933B2 (en)	2017-05-11	2019-02-26	Hayward Industries, Inc.	Pool cleaner power supply
WO2024097155A1 (fr) *	2022-11-01	2024-05-10	Zodiac Pool Systems Llc	Systèmes et procédés de commande de dispositifs de nettoyage de piscine et d'autre équipement pour piscines ou spas
JP7863527B2 (ja) *	2023-03-23	2026-05-21	ヤンマーホールディングス株式会社	水中洗浄装置
CN119644707B (zh) *	2024-12-09	2025-11-25	深圳市元鼎智能创新有限公司	水池自动清洁装置及其控制方法、计算机存储介质
CN119882751A (zh) *	2025-01-16	2025-04-25	深圳市元鼎智能创新有限公司	水池自动清洁装置、控制方法以及计算机存储介质

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US2988762A (en) *	1960-02-08	1961-06-20	Hugh H Babcock	Self-steering submarine suction cleaner
CH656665A5 (de) *	1982-07-05	1986-07-15	Sommer Schenk Ag	Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens.
SE465629B (sv) *	1986-08-20	1991-10-07	Mikael Nystroem	Foerfarande foer rengoering av en bassaengbotten
EP0483677B1 (fr) *	1990-10-31	1997-04-09	3S Systemtechnik Ag	Méthode de fonctionnement et appareil de nettoyage d'un bassin de natation
EP0989256B1 (fr) *	1998-09-23	2003-11-19	3S Systemtechnik Ag	Procédé de travail et appareil de nettoyage pour nettoyer une piscine
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2007
- 2007-02-20 AT AT07405051T patent/ATE533906T1/de active
- 2007-02-20 ES ES07405051T patent/ES2376594T3/es active Active
- 2007-02-20 EP EP07405051A patent/EP1826338B1/fr active Active
- 2007-02-21 US US11/677,081 patent/US7682461B2/en active Active
2010
- 2010-02-02 US US12/698,230 patent/US7987543B2/en active Active

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CN111940420A (zh) *	2020-07-17	2020-11-17	中科光绘（上海）科技有限公司	窗口渐进式的激光清洗方法
CN118498798A (zh) *	2024-06-13	2024-08-16	元鼎智能创新(国际)有限公司	一种泳池清洁设备的侧向移动方法及泳池清洁设备
EP4707498A1 (fr) *	2024-09-05	2026-03-11	Shenzhen Aiper Intelligent Co., Ltd.	Procédé de commande de trajet, robot de nettoyage de piscine et support d'informations lisible par ordinateur non transitoire
US12680327B2 (en)	2024-09-05	2026-07-14	Shenzhen Aiper Intelligent Co., Ltd.	Path control method, pool cleaning robot, and non-transitory computer-readable storage medium

Also Published As

Publication number	Publication date
ES2376594T3 (es)	2012-03-15
US7987543B2 (en)	2011-08-02
ATE533906T1 (de)	2011-12-15
US7682461B2 (en)	2010-03-23
EP1826338A3 (fr)	2008-07-09
US20070199870A1 (en)	2007-08-30
US20100132136A1 (en)	2010-06-03
EP1826338B1 (fr)	2011-11-16

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