EP3394365B1 - Pool-cleaning robot and method for detecting halting of such a robot - Google Patents

Description

GENERAL TECHNICAL AREA AND PRIOR ART

The present invention relates to the field of cleaning a swimming pool by means of a robot. The invention more particularly aims to reduce the cleaning time of a swimming pool.

As a reminder, a swimming pool has a generally horizontal bottom and generally vertical walls. During the use of the pool, detritus (leaves, grass, soil, etc.) is deposited on the bottom of the pool, which penalizes its external appearance. A cleaning robot can remove the trash by moving over the entire surface of the bottom of the pool. In the prior art, an autonomous swimming pool robot is known which can change the direction of movement in order to clean the entire surface of the bottom of the swimming pool. Such a swimming pool robot includes a management module which makes it possible to issue movement commands successively. For example, the management module commands the robot to move three times from back to front for a period of 30 seconds during a first phase of movement, then to turn right during a second phase of displacement, then to move again three times from the rear to the front during a third phase of displacement, etc.

Thus, without user action, the cleaning robot autonomously performs various movements at the bottom of the pool. During a displacement phase, the cleaning robot can come into abutment with a vertical wall of the pool and remain immobilized for long seconds while waiting for a displacement phase which will command the cleaning robot to away from said vertical wall.

Several systems have been proposed for detecting when the cleaning robot abuts against a vertical wall. For example, a cleaning robot can include a mechanical contactor adapted to come into contact with the vertical wall. When the mechanical contactor is activated, it controls a modification of the movement phase. Such a mechanical contactor has the drawback of exerting mechanical support on the vertical wall of the swimming pool which is generally covered with a coating known to those skilled in the art under its English designation "liner". Repeated presses of the coating switch can damage the coating and thus affect its service life. Furthermore, the mechanical contactor must remain watertight, which increases the complexity and the cost of such a detection system.

In order to eliminate this drawback, it is known in the prior art, from the patent application US6758226 , a pool cleaning robot which includes a detection system comprising a idler wheel adapted to be in contact with the bottom of the pool when the cleaning robot is moving, a transmitter adapted to emit a light beam and a receiver adapted to receive said light ray. The veil of the detection wheel is pierced with an orifice through which the light ray can circulate when said orifice is aligned with the emitter and the receiver. Thus, during the rotation of the detection wheel, the receiver intermittently receives the light beam and can deduce therefrom that the detection wheel is in motion. Conversely, when the receiver does not detect any light variation, it can deduce that the cleaning robot is immobilized.

Such a detection system has many drawbacks. First, it has a very large footprint due to the presence of a idler dedicated to detection, the transmitter and the receiver which must be placed on either side of the idler. Due to its size, the detection system is complex to integrate into the cleaning robot which already includes a motorized displacement system and a system for removing litter. In practice, the idler wheel must be placed in the center of the robot to prevent it from disturbing the movement of the cleaning robot by "crutch effect". In addition, the idler must be pressed against the ground by means of an elastic spring, which also penalizes the space. Finally, the cost of such a detection system is very high.

Incidentally, an infrared detection system is also known which comprises a front infrared transmitter / receiver and a rear infrared transmitter / receiver in order to detect the vertical walls of the swimming pool during a forward or backward movement of the cleaning robot. Such a detection system is complex to implement since the presence of algae on the vertical walls of the pool disturbs the detection. Also, it is necessary to provide infrared transmitters / receivers of high power, which are expensive. For this reason, such a detection system is only mounted on large cleaning robots used, in particular, for public swimming pools.

The invention therefore aims to provide a swimming pool cleaning robot comprising a detection system having a small footprint and a limited cost.

GENERAL PRESENTATION OF THE INVENTION

To this end, the invention relates to a robot for cleaning a swimming pool comprising a displacement system comprising at least one train of displacement wheels mounted idly, a system for removing litter and a system for detecting an immobilization of said pool. cleaning robot, the detection system comprising at least one transceiver of a light ray along an emission axis and at least one target, integral with said train of moving wheels and aligned with said emission axis, adapted for reflecting said light ray in order to detect a rotation of said movement wheel train.

By train of displacement wheels is meant an integral rotational assembly comprising at least two wheels connected by at least one axle.

Thus, advantageously, the train of moving wheels participates in the movement of the cleaning robot. The detection system according to the invention does not require adding a wheel dedicated to detection as in the prior art, which limits the complexity, the size and the cost of such a cleaning robot. In addition, a transceiver also improves the bulk and reduces the constraints related to sealing compared to an assembly of a transmitter and a receiver. In addition, since the detection is performed at a short distance, a low-power transceiver of reduced cost can be used.

The displacement system can be hydraulically propelled in this case all of the displacement wheel assemblies are mounted idly. Alternatively, the displacement system can be motorized and include a motorized displacement wheel train and an idler mounted wheel train.

Preferably, the detection system comprises a sealed housing in which the transceiver is mounted. More preferably, said sealed housing has a transparent wall to allow the circulation of light rays along said emission axis. The transceiver can thus be mounted in the sealed housing in a practical manner by orienting its emission axis towards the transparent wall. The housing can then be mounted in the cleaning robot as a separate module. Such a detection system has a reduced manufacturing cost and is simple to integrate into a cleaning robot without impacting its size.

More preferably, the housing is entirely transparent. This avoids having to provide a dedicated transparent wall which is expensive and complex to mount in leaktight manner.

Preferably, the transceiver is of the infrared type so as to limit its electrical consumption and its cost, preferably, the infrared transceiver has a wavelength between 800nm and 1100 nm, in particular, around 940 nm.

Preferably, the detection system is connected to an electrical power supply unit adapted to be connected to an electrical cable. More preferably, the detection system and the displacement system are connected to the same power supply unit.

More preferably, the target comprises an alternation of reflective zones and non-reflective zones. Thus, the transceiver receives intermittently a light ray reflected during the rotation of the train of moving wheels. Such a target is advantageous because it can be mounted in a practical manner on any element of the train of moving wheels (wheel, axle, fin, etc.).

Preferably, the train of moving wheels comprising at least two wheels connected by an axle, said target is fixed to said axle. An attachment of the target to the axle rather than to one of the wheels makes it possible to benefit from a target of smaller dimensions since the axle has a smaller diameter than the wheel. In addition, an attachment to the axle makes it possible to benefit from a larger mounting space, the mounting space near a wheel being limited.

Preferably, the target is annular and fixed to the periphery of a longitudinal portion of the axle. More preferably, the target is positioned close to the center of the axle, the lateral space of the cleaning robot can thus be reserved for the movement system (wheels, lateral delivery openings, etc.).

Preferably, the cleaning robot comprising a front wheel train and a rear wheel train, each wheel train comprising an axle, said detection system is fixed close to the rear axle so as to remain close to the displacement, which facilitates their electrical supply and the sending of commands from the detection system to the displacement system.

Preferably, the emission axis extends orthogonally to the axis of rotation of the wheel, preferably, vertically so as not to limit the space of the refuse suction system. In addition, such an arrangement makes it possible to limit the length of the cleaning robot.

More preferably, the cleaning robot comprises a single transceiver and a single target in order to limit its size and its complexity.

According to another embodiment, the target is fixed to one of the wheels of the idler-mounted displacement train. Preferably, the emission axis extends parallel to the axis of rotation of said wheel.

Preferably, said target is secured by gluing. This advantageously makes it possible to practically adapt a detection system to a conventional cleaning robot.

Preferably, the displacement system further comprises a train of motorized displacement wheels. Thus, the cleaning robot can move independently.

According to another aspect, the displacement system is hydraulically propelled and comprises only idle mounted displacement wheel trains.

• une étape d'émission, par ledit émetteur-récepteur, d'un rayon lumineux selon l'axe d'émission vers ladite cible,
• une étape de réception intermittente, par ledit émetteur-récepteur, d'un rayon lumineux réfléchi par ladite cible, et
• une étape de modification de la phase de déplacement dudit robot de nettoyage lorsque ledit émetteur-récepteur ne reçoit aucun rayon lumineux pendant une période de temps prédéterminée ou lorsqu'il reçoit un rayon lumineux pendant une période de temps prédéterminée.

The invention also relates to a method for detecting an immobilization of a robot for cleaning a swimming pool as presented above, the cleaning robot moving according to a displacement phase, the method comprising:

• a step of emission, by said transceiver, of a light ray along the emission axis towards said target,
• a step of intermittent reception, by said transceiver, of a light ray reflected by said target, and
• a step of modifying the movement phase of said cleaning robot when said transceiver receives no light beam for a predetermined period of time or when it receives a light beam for a predetermined period of time.

Thus, when the reflected light ray is no longer received intermittently, an immobilization is detected. Such a method advantageously makes it possible to speed up the cleaning of a swimming pool by modifying the movement of the cleaning robot when the latter is immobilized.

PRESENTATION OF THE FIGURES

• la figure 1 est une représentation schématique en perspective d'un robot de nettoyage selon une forme de réalisation de l'invention ;
• la figure 2 est une vue de côté du robot de la figure 1 ;
• la figure 3 est une vue de l'arrière du robot de la figure 1 sans son corps principal ;
• la figure 4 est une vue rapprochée du robot de la figure 3 dont le système de détection est représenté en coupe ;
• la figure 5 est une vue rapprochée du système de détection de la figure 4 ;
• les figures 6 et 7 sont des représentations schématiques fonctionnelles du système de détection lorsqu'un rayon lumineux est ou n'est pas réfléchi ; et
• la figure 8 est une représentation d'un signal de détection lors d'une immobilisation du robot de nettoyage.

The invention will be better understood on reading the description which follows, given solely by way of example, and referring to the appended drawings in which:

• the figure 1 is a schematic perspective representation of a cleaning robot according to an embodiment of the invention;
• the figure 2 is a side view of the robot from the figure 1 ;
• the figure 3 is a view of the back of the robot from the figure 1 without its main body;
• the figure 4 is a close-up view of the robot from the figure 3 whose detection system is shown in section;
• the figure 5 is a close-up view of the detection system figure 4 ;
• the Figures 6 and 7 are functional schematic representations of the detection system when a light ray is or is not reflected; and
• the figure 8 is a representation of a detection signal during immobilization of the cleaning robot.

It should be noted that the figures show the invention in detail to implement the invention, said figures can of course be used to better define the invention if necessary.

DESCRIPTION OF ONE OR MORE MODES OF IMPLEMENTATION AND IMPLEMENTATION

With reference to Figures 1 to 3 , there is presented a swimming pool cleaning robot 1 according to an embodiment of the invention.

The cleaning robot 1 comprises a main body 10 extending longitudinally along an axis X oriented from back to front. As illustrated in figure 3 , the cleaning robot 1 has a front wheel train 11 and a rear wheel train 12. Each train 11, 12 has an axle 110, 120 terminated at its ends by displacement wheels 2. The wheels 2 are adapted to come in contact with the bottom of a swimming pool and maintain the main body 10 of the cleaning robot 1 at a predetermined distance from said bottom. There is shown a cleaning robot 1 comprising two sets of wheels 11, 12 but it goes without saying that it could include a different number. Likewise, it goes without saying that the invention applies to a cleaning robot 1 comprising a different number of wheels 2, for example three.

With reference to the figure 1 , the cleaning robot 1 has, on its front part, a handle 3 to allow a user to raise the cleaning robot in a vertical position.

With reference to the figure 3 , the cleaning robot 1 includes a refuse suction system 5 which is in the form of a pump which is housed in the body main 10. The refuse suction system 5 has a suction opening oriented vertically downwards and a discharge opening. The trash suction system 5 further includes a trash collection housing which is positioned near the suction opening to store the aspirated trash.

Preferably, the refuse suction system 5 is connected to an electrical power supply unit adapted to be connected to an electrical cable.

In this example, with reference to the figure 1 , the cleaning robot 1 comprises a hydraulic propulsion movement system 4 which comprises a plurality of water outlets, in particular, a front outlet 42a, a central rear outlet 42b and two lateral outlets 42c. Such a displacement system 4 is known to those skilled in the art, in particular, by the patent application FR1254892 . The wheels of displacement wheels 11, 12 are mounted idle, that is to say, they are not mechanically driven. Thus, the wheels 2 essentially provide guidance for the cleaning robot 1.

In this example, the displacement system 4 comprises a movable member (not shown) mounted between the discharge opening of the refuse suction system 5 and the water outlets 42a-c to direct the flow of water towards a predetermined water outlet 42a-c. It goes without saying that the displacement system 4 could include a different number of outputs. It also goes without saying that the positioning of said outputs could be different.

The displacement system 4 further comprises a management module (not shown) which defines the displacement phases of the cleaning robot 1 and, for this purpose, controls the orientation of the movable member. Preferably, the management module comprises a circuit, equipped with a microprocessor, and a memory in which the sequence of the displacement phases are stored, in particular, the duration and the type of displacement during a displacement phase (moving back and forth, moving to one side, etc.).

According to the invention, with reference to the figure 5 , the detection system 6 comprises a transceiver 7, adapted to transmit and receive a light ray L according to a emission axis, and a target 8, integral with a train of moving wheels 12 and aligned with said emission axis, adapted to reflect said light ray L in order to detect a rotation of said train of moving wheels 12. Thus , the detection system 6 makes it possible to follow in a practical manner a rotation of the wheels while retaining a limited space as will be presented below.

The detection system 6 is connected to the management module of the movement system 4 so as to allow the movement phase defined by the management module to be modified in the event of detection of an immobilization. As will be presented hereinafter, in the event of immobilization, the detection system 6 commands a movement in the opposite direction to the movement system 4 in order to release the cleaning robot 1.

In this example, with reference to figures 4 and 5 , the transceiver 7 comprises a sealed housing 70, preferably of cylindrical shape, in which is housed an electronic card 71 on which is mounted an electronic component 72 adapted to emit and receive a light ray L along an emission axis. Preferably, the electronic component 72 is a CMS component for “Surface Mounted Component”.

Preferably, the electronic component 72 is configured to emit a light beam L of the infrared type, in particular, at a short distance in order to have a limited cost. Preferably, the electronic component 72 is configured to emit an infrared ray having a wavelength between 800 nm and 1100 nm, in particular, of the order of 940 nm. For example, an electronic component known under the trade name AGILENT HSDL 9100 may be suitable.

With reference to Figures 6 and 7 , the sealed housing 70 has a transparent wall 73 so as to allow the light ray L to pass through said housing 60 along said emission axis. The transparent wall 73 extends opposite the target 8. In this example, the sealed housing 70 is entirely transparent.

Preferably, the transceiver 7 is connected to an electrical power supply, in particular, the same as that of the refuse suction system 5 and that of the displacement system 4.

With reference to the figure 3 , the transceiver 7 is fixed to the main body 10 of the cleaning robot 1 and positioned near the rear axle 120 of the cleaning robot 1. Positioning at the rear is advantageous since the front space is occupied by the trash suction system 5 and by the handle 3.

As illustrated in figure 5 , the transceiver 7 is positioned above the rear axle 120 so as to limit the overall length and provide maximum space for the refuse suction system 5 and the displacement system 4.

Advantageously, the transceiver 7 is in the form of a small independent module which can be easily disassembled and replaced. In addition, its tightness is simple to guarantee since it does not include any moving parts. Preferably, the cleaning robot 1 only has a single transceiver 7 in order to reduce the cost of the cleaning robot 1.

Target 8

With reference to the figure 5 , there is shown a target 8 fixed to the rear axle 120 in order to allow indirect detection of the rotation of the movement wheel set 12 by monitoring the rear axle 120. Such indirect monitoring is particularly advantageous in terms of the size and complexity given that it does not modify the general structure of the cleaning robot 1 by retaining two axles 110, 120 parallel simple design. To this end, the axis of emission of the light ray L extends orthogonally to the axis of rotation of the wheel 2.

It has been presented a detection of an immobilization of the wheels 2 of the rear axle 120 but it goes without saying that the invention also applies to a detection of an immobilization of the wheels 2 of the front axle 110. even, the invention also aims detection of a target 8 fixed directly to a displacement wheel 2. To this end, the axis of emission of the light ray L extends parallel to the axis of rotation of the wheel 2.

Preferably, the distance between the transceiver 7 and the target 8 is between 3 and 100 mm, preferably between 3 and 10 mm. Thus, a transceiver 7 of low power and of limited cost is sufficient.

In this example, as illustrated in Figures 5 to 7 , the target 8 is annular and extends around the periphery of a longitudinal portion of the rear axle 120 of the rear-wheel drive train 12. The target 8 includes an alternation of reflective zones 81 and non-reflective zones 82 In this example, the reflective areas 81 are made of a metallic reflective coating while the non-reflective areas 82 are made of a matt black coating. Alternatively, the target 8 may include a plurality of fins or blades, some of which are reflective and others of which are not reflective.

Preferably, the reflecting zones 81 and the non-reflecting zones 82 have similar dimensions so that the transceiver 7 measures a periodic signal when the cleaning robot 1 is moving at a constant speed.

An example of implementation of the invention will now be presented with reference to figures 6 to 8 .

The cleaning robot 1 is located at the bottom of the pool and connected to an electrical power cable (not shown) in order to allow, on the one hand, a suction of litter and, on the other hand, a movement of the robot. cleaning 1 as a function of the movement phases recorded in the management system of the movement system 4.

In the absence of an obstacle, the cleaning robot 1 moves at a substantially constant speed, the sets of displacement wheels 11, 12, mounted idly, are then in rotation like their axles 110, 120 and the displacement wheels 2 . In reference to the figure 2 , the cleaning robot 1 moves on the horizontal wall P _H of the swimming pool.

The target 8 is thus in rotation with the rear axle 120 and reflects the light ray L emitted by the electronic component 72 of the transceiver 7 when a reflecting zone 81 is aligned with the emission axis ( Figure 6 ). The reflected light ray L is received by the electronic component 72 of the transceiver 7 which generates a high value signal T ₈₁ ( Figure 8 ).

On the contrary, when a non-reflecting area 82 is aligned with the emission axis ( Figure 7 ), the electronic component 72 of the transceiver 7 receives no light beam L and generates a low value signal T ₈₂ ( Figure 8 ).

In other words, when the cleaning robot 1 is in motion, the signal generated is substantially periodic. When the cleaning robot 1 is immobilized, for example when the cleaning robot 1 is in abutment against a vertical wall Pv, a reflecting zone 81 or a non-reflecting zone 82 is aligned with the emission axis for a significant period , which generates a high value signal T ₈₁ or a low value signal T ₈₂ for a long time.

According to the invention, a time threshold T _s is defined from which a displacement phase change instruction INS is issued by the transceiver 7 to the management module of the movement system 4. Preferably, the time threshold T _s is between 2s and 10s, preferably 5s, so as to quickly control a change in movement of the cleaning robot 1 when an obstacle is detected.

In this example, with reference to the figure 8 , as the non-reflecting area 82 is aligned with the emission axis for a duration greater than said time threshold Ts, an instruction INS for changing the displacement phase is issued by the transceiver 7 to the system management module displacement 4 so that the cleaning robot 1 moves away from the vertical wall Pv against which the cleaning robot 1 is in abutment. In this example, in the event of immobilization, the detection system 6 commands movement in the opposite direction.

Thanks to the invention, the cleaning robot 1 can detect in practice any obstacle during cleaning (wall, branch, etc.) in order to modify its movement and thus clean the swimming pool. In addition, advantageously, the detection system 6 can measure and follow the speed of movement of the cleaning robot 1.

The invention has been presented for a cleaning robot 1 comprising a displacement system with hydraulic propulsion but it also applies to a motorized displacement system comprising at least one train of motorized displacement wheels in addition to trains of displacement wheels gone crazy.

Claims (10)

1. An automatic pool cleaner (1) comprising a moving system (4) comprising at least one idle-mounted set of moving wheels (12), a debris sucking system (5) and a detection system (6) for detecting a halt of said automatic cleaner (1), the detection system (6) comprising:

   - at least one transceiver (7) of a light ray (L) along a transmission axis and

   - at least one target (8), integral with the set of moving wheels and aligned with said transmission axis, adapted to reflect said light ray (L) in order to detect a rotation of said set of moving wheels (12).
2. The automatic cleaner according to claim 1, wherein the detection system (6) comprises a sealed housing (70) in which the transceiver (7) is mounted, said sealed housing (70) comprising a transparent wall (73) to allow circulation of light rays (L) along said transmission axis.
3. The automatic cleaner according to one of claims 1 and 2, wherein the transceiver (7) is of the infrared type.
4. The automatic cleaner according to one of claims 1 to 3, wherein the target (8) comprises alternate reflective zones (81) and non-reflective zones (82).
5. The automatic cleaner according to one of claims 1 to 4, wherein, the set of moving wheels (12) comprising at least two wheels (2) connected by an axle (120), said target (8) is attached to said axle (120).
6. The automatic cleaner according to claim 5, wherein the transceiver (7) is positioned above said axle (120).
7. The automatic cleaner according to one of claims 1 to 6, wherein said target (8) is made integral by adhering.
8. The automatic cleaner according to one of claims 1 to 7, wherein the moving system (4) further comprises a motor-driven set of moving wheels.
9. The automatic cleaner according to one of claims 1 to 8, wherein the moving system (4) comprises several idle-mounted sets of moving wheels.
10. A method for detecting a halt of an automatic pool cleaner (1) according to one of claims 1 to 9, the automatic cleaner (1) moving according to a moving phase, the method comprising:

    - a step of transmitting, by said transceiver (7), a light ray (I) along the transmission axis to said target (8),

    - a step of intermittently receiving, by said transceiver (7), a light ray reflected from said target (8),

    - a step of modifying the moving phase of said automatic cleaner (1) when said transceiver (7) does not receive any light ray (L) for a predetermined period of time (T_s) or when it receives a light ray (L) for a predetermined period of time (T_s).

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