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EP0099489B1 - Method of and machine for cleaning a water basin - Google Patents

Method of and machine for cleaning a water basin Download PDF

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Publication number
EP0099489B1
EP0099489B1 EP83106211A EP83106211A EP0099489B1 EP 0099489 B1 EP0099489 B1 EP 0099489B1 EP 83106211 A EP83106211 A EP 83106211A EP 83106211 A EP83106211 A EP 83106211A EP 0099489 B1 EP0099489 B1 EP 0099489B1
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EP
European Patent Office
Prior art keywords
machine
course
drive
cleaning
water basin
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
Application number
EP83106211A
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German (de)
French (fr)
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EP0099489A1 (en
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
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Sommer Schenk AG
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Filing date
Publication date
Application filed by Sommer Schenk AG filed Critical Sommer Schenk AG
Priority to AT83106211T priority Critical patent/ATE23899T1/en
Publication of EP0099489A1 publication Critical patent/EP0099489A1/en
Application granted granted Critical
Publication of EP0099489B1 publication Critical patent/EP0099489B1/en
Expired legal-status Critical Current

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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 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 course and change thereof, the course being maintained by a control device acting on the travel drive, a first course running by the respective command variable is set and, when the cleaning device comes into contact with a wall or another obstacle, the direction of travel is reversed and a second course which is changed by a set angle with respect to the first course is maintained, and a cleaning device for this.
  • the sensor rod or the sensor rods must be adjusted to a certain angle depending on the size of the water basin for automatic operation, so that after driving back on 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 or the like due to bumps. can be influenced, certain parts of the surface are run over twice at the beginning and at the end of the lane. In order to ensure that the pool floor is completely cleaned, this device must be monitored despite the automatic reversal 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.
  • DE-B-1 297 844 again shows a device which switches off the motor for the travel drive when it hits a wall of the swimming pool and then switches on a motor for -8 segment disks, such that after a full rotation of the segment disks and the displacement that has occurred the device by a certain amount on the side of the motor for the traction drive is switched on again with the help of a switching device in the opposite direction of rotation.
  • a switching device in the opposite direction of rotation.
  • a device for measuring the course is used, in that the second course is maintained for a set first period of time and after the first period of time the first course is set again, preferably automatically, with the angle and the first period of time are set so that successive lanes of the first course adjoin one another or overlap.
  • a corresponding cleaning device is equipped with a chassis and a crawler track driven by a travel drive.
  • a setting device for a course setpoint is assigned to the drive.
  • sensors are provided for transmitting a reversing direction signal to the drive when it comes into contact with an obstacle.
  • a course controller between the sensor and the drive is to be switched on and connected to the setting device and a device for determining the course measured value, the course controller comparing the course measured value and course setpoint, that the setting device has a timer and / or a manual actuation is assigned, and that an actuator for actuating one steering clutch each associated with the drive of a caterpillar of the caterpillar undercarriage is also connected to the course controller.
  • 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 rods 9, 10.
  • 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 rods 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.
  • 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, 11 schematically show two adjacent lanes which the cleaning device traverses one after the other.
  • the cleaning device first runs on the lane 1 on its preselected course, which is continuously regulated by the 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 basin wall 25, which, if necessary, ie when using a magnetic compass as an actual course value transmitter, causes disturbances in the earth's magnetic field can. 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 point 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 aligns itself on the lane c with the roadway II .
  • the return journey on the carriageway 11 begins, and when an edge contact with the sensors 11, 12 occurs, the return journey takes place on the same course with subsequent inclined travel and transition into the next carriageway.
  • the cleaning device shown in Fig. 3 has a crawler track, of which a caterpillar 2 is visible.
  • On both ends of the chassis 1 there are rotating cleaning rollers, e.g. Brushes 36, arranged in front of which the sensors 11, 12 are located.
  • a housing 27 surrounds parts, e.g. the filter or the like, 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 be used instead of the crawler track, which is controlled with the aid of steering clutches.

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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)
  • Electric Suction Cleaners (AREA)
  • Filtration Of Liquid (AREA)
  • Cleaning In General (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

A cleaning apparatus for a pool or tank has caterpillar tracks controlled by steering clutches actuated by a regulating device with a compass as a measured course value sensor, a setting device for the desired course value, a comparator for determining the error between the measured course value and the desired course value. The apparatus follows in oblique path from one travel path to the next by modifying the desired course by a given angle. After a given time, the desired course value is again modified by the same amount in the opposite direction, so that the cleaning apparatus returns parallel to the first path. By setting the angle and duration for the oblique travel, the new travel path can be selected independently of the dimensions of the pool to be cleaned.

Description

Die Erfindung betrifft ein Verfahren zum Reinigen eines Wasserbeckens mittels eines unter Wasser einsetzbaren Reinigungsgerätes, dessen Fahrantrieb zur Einhaltung eines bestimmten kurses und Aenderung desselben gesteuert wird, wobei der Kurs durch eine auf den Fahrantrieb wirkende Regelvorrichtung eingehalten wird, durch deren jeweilige Führungsgrösse ein erster Kurs laufend eingestellt wird und wobei bei Kontakt des Reinigungsgerätes mit einer Wand oder einem andern Hindernis eine Umkehr der Fahrtrichtung vorgenommen und ein gegenüber dem ersten Kurs um einen eingestellten Winkel geänderter zweiter Kurs eingehalten wird, sowie ein Reinigungsgerät hierfür.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 course and change thereof, the course being maintained by a control device acting on the travel drive, a first course running by the respective command variable is set and, when the cleaning device comes into contact with a wall or another obstacle, the direction of travel is reversed and a second course which is changed by a set angle with respect to the first course is maintained, and a cleaning device for this.

Zur Reinigung von Wasserbecken, insbesondere Schwimmbecken, ist es bekannt, Reinigungsgeräte einzusetzen, mit denen die Reinigung des Beckenbodens und gegebenenfalls der Beckenwände durchgeführt werden kann, wobei die Gerätebedienung ausserhalb des Wasserbeckens folgt. Grundsätzlich ist es möglich, ein solches Reinigungsgerät so laufend zu steuern, dass Fahrbahn um Fahrbahn zurückgelegt wird, bis die gesamte Fläche des Beckenbodens überfahren und gereinigt ist. Bekannt sind Vorrichtungen, mit denen solche Reinigungsgeräte selbsttätig eingesetzt werden können. Hierzu weist ein bekanntes Reinigungsgerät eine Fühlerstange auf, die bei Kontakt mit der Beckenwand oder einem Hindernis die Fahrtrichtungsumkehr des Gerätes vornimmt und gleichzeitig einen neuen Kurs einschlägt. Das Gerät bewegt sich dann auf seinem neuen Kurs, bis die nächste Fahrtrichtung und Richtungsänderung erfolgt. Nachteilig ist hierbei, dass bei diesem Gerät kein systematisches Abfahren des Beckenbodens stattfindet. Das Gerät fährt kreuz und quer über den Beckenboden und es ist möglich, dass die einen Flächenteile des Beckenbodens mehrmals und die andern Flächenteile überhaupt nicht befahren werden.For the cleaning of water pools, in particular swimming pools, it is known to use cleaning devices with which the cleaning of the pool floor and possibly the pool walls can be carried out, with 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. For this purpose, 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 direction of travel and change of direction take place. 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.

Bei einem anderen bekannten Gerät muss für einen automatischen Betrieb die Fühlerstange bzw. müssen die Fühlerstangen je nach der Grösse des Wasserbeckens in einen bestimmten Winkel eingstellt werden, so dass nach Zurücklegen einer Fahrbahn bei der Rückwärtsfahrt eine Schrägfahrt erfolgt, worauf die nächste Parallelfahrt zur ersten Fahrbahn abgefahren wird. Abgesehen davon, dass die Schrägfahrt nicht gesteuert wird und deshalb durch Unebenheiten od.dgl. beeinflusst werden kann, werden gewisse Flächenteile am Anfang und am Ende der Fahrbahn zweimal überfahren. Damit eine vollständige Reinigung des Beckenbodens gewährleistet ist, ist trotz der selbsttätigen Umsteuerung und Schrägfahrt eine Ueberwachung dieses Gerätes erforderlich.In another known device, the sensor rod or the sensor rods must be adjusted to a certain angle depending on the size of the water basin for automatic operation, so that after driving back on a lane, the vehicle travels backwards and then the next parallel run to the first lane is driven. Apart from the fact that the inclined travel is not controlled and therefore or the like due to bumps. can be influenced, certain parts of the surface are run over twice at the beginning and at the end of the lane. In order to ensure that the pool floor is completely cleaned, this device must be monitored despite the automatic reversal and inclined travel.

Bei einem weiteren bekannten Gerät ist zwar der Ablauf der einzelnen, selbsttätig zu erfolgenden Teiloperationen bei der Fahrtrichtungsumkehr und bei der Richtungsänderung durch einen Mikroprozessor festgelegt, doch ist die Einhaltung eines Kurses auch in diesem Fall nicht gewährleistet und das Gerät kann deshalb durch Hindernisse aus dem Kurs gebracht werden.In a further known device, 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.

Aus der US-A-2 988 762 ist weiterhin eine Vorrichtung zum Reinigen eines Wasserbeckens bekannt, welche in einem rechteckigen Wasserbecken in einem Zick-Zack-Kurs von einer Wand zur gegenüberliegenden Wand fährt. Dadurch werden aber entweder Flächen überhaupt nicht gereinigt oder müssen doppelt überfahren werden. Im übrigen ist dieses Gerät bei Schwimmbecken mit einer anderen als einer rechteckigen Form wenig nützlich.From US-A-2 988 762 a device for cleaning a water basin is further known which moves in a rectangular water basin in a zigzag course from one wall to the opposite wall. As a result, surfaces are either not cleaned at all or have to be run over twice. Incidentally, this device is of little use in swimming pools with a shape other than rectangular.

Die DE-B-1 297 844 zeigt wiederum ein Gerät, welches beim Anstossen an einer Wand des Schwimmbeckens den Motor für den Fahrantrieb abschaltet und dann einen Motor für -8egmentscheiben einschaltet, derart, dass nach einer vollen Umdrehung der Segmentscheiben und der dabei erfolgten Versetzung des Gerätes um ein bestimmtes Mass nach der Seite der Motor für den Fahrantrieb mit Hilfe eines Schaltgerätes in umgekehrter Drehrichtung wieder eingeschaltet wird. Durch die entsprechende Einstellung der Segmentscheiben können parallele Reinigungsbahnen gezogen werden. Bei diesem Gerät treten aber dann Störunqen im Betrieb auf, wenn Hindernisse an der Wand des Schwimmbeckens auftauchen. Dann kann eine Versetzung des Gerätes nur unvollständig erfolgen. Bei einem exakt eingestellten Gerät kann dieses Hindernis auch nicht überwunden werden, so dass zur weiteren Reinigung des Schwimmbeckens das Gerät von Hand versetzt werden muss.DE-B-1 297 844 again shows a device which switches off the motor for the travel drive when it hits a wall of the swimming pool and then switches on a motor for -8 segment disks, such that after a full rotation of the segment disks and the displacement that has occurred the device by a certain amount on the side of the motor for the traction drive is switched on again with the help of a switching device in the opposite direction of rotation. By adjusting the segment discs accordingly, parallel cleaning tracks can be drawn. With this device, malfunctions occur during operation if there are obstacles on the wall of the swimming pool. Then the device can only be moved incompletely. If the device is set precisely, this obstacle cannot be overcome, so that the device must be moved by hand to further clean the swimming pool.

Hier setzt die Erfindung ein, der die Aufgabe zugrundeliegt, ein Verfahren der eingangs beschriebenen Art so auszugestalten, dass die gesamte Bodenfläche eines Wasserbeckens zuverlässig und mit einem Minimum an Fahrten befahren und damit gereinigt werden kann.This is where the invention comes in, which is based on the object of designing a method of the type described at the outset in such a way that the entire bottom surface of a water basin can be traveled on reliably and with a minimum of trips and thus cleaned.

Diese Aufgabe wird gemäss der Erfindung dadurch gelöst, dass ein gerät zum Messen des kurses eingesetztrist, dass der zweite Kurs während einer eingestellten ersten Zeitdauer eingehalten und nach Ablauf der ersten Zeitdauer wieder der erste Kurs, vorzugsweise selbsttätig, eingestellt wird, wobei der Winkel und die erste Zeitdauer so eingestellt sind, dass aufinanderfolgende Fahrbahnen des ersten kurses aneinander grenzen oder sich überlappen.This object is achieved according to the invention in that a device for measuring the course is used, in that the second course is maintained for a set first period of time and after the first period of time the first course is set again, preferably automatically, with the angle and the the first period of time are set so that successive lanes of the first course adjoin one another or overlap.

Das bedeutet, dass das Reinigungsgerät erst ein Stück von der Wand entfernt auf seinen alten Kurs umgesetzt wird. Hindernisse an der Wand können sich hier nicht störend auswirken. Besonders vorteilhaft erscheint, wenn bei der Rückfahrt der erste Kurs noch eine kurze Zeitdauer verfolgt und dann erst der zweite Kurs eingestellt wird. Auf diese Weise ist gewährleistet, dass auf jeden Fall einem Hindernis an der Wand aus dem Wege gegangen wird.This means that the cleaning device is only moved to its old course a bit away from the wall. Obstacles on the wall cannot have a disruptive effect here. It seems particularly advantageous if the first course is followed for a short period of time on the return journey and only then is the second course set. This ensures that you will definitely avoid an obstacle on the wall becomes.

Ein entsprechendes Reinigungsgerät ist mit einem Chassis und einem über einen Fahrantrieb angetriebenes Raupenfahrwerk ausgestattet. Dem Antrieb ist ein Einstellgerät für einen Kurssollwert zugeordnet. Ausserdem sind Fühler zur Weitergabe eines Fahrtrichtungsumkehrsignals an den Antrieb bei Kontakt mit einem Hindernis vorgesehen.A corresponding cleaning device is equipped with a chassis and a crawler track driven by a travel drive. A setting device for a course setpoint is assigned to the drive. In addition, sensors are provided for transmitting a reversing direction signal to the drive when it comes into contact with an obstacle.

Erfindungsgemäss soll bei einem solchen Reinigungsgerät ein Kursregler zwischen Fühler und Antrieb eingeschaltet und mit dem Einstellgerät sowie einem Gerät zur Bestimmung des Kursmesswertes verbunden sein, wobei in dem Kursregler ein Vergleich von Kursmesswert und Kurssollwert stattfindet, dass dem Einstellgerät ein Zeitgeber und/oder eine manuelle Betätigung zugeordnet ist, und dass weiterhin mit dem Kursregler ein Stellglied zur Betätigung von je einer im Antrieb einer Raupe des Raupenfahrwerks zugeordneten Lenkkupplung verbunden ist.According to the invention, with such a cleaning device, a course controller between the sensor and the drive is to be switched on and connected to the setting device and a device for determining the course measured value, the course controller comparing the course measured value and course setpoint, that the setting device has a timer and / or a manual actuation is assigned, and that an actuator for actuating one steering clutch each associated with the drive of a caterpillar of the caterpillar undercarriage is also connected to the course controller.

Die Erfindung ist in der beiliegenden Zeichnung beispielsweise dargestellt und nachfolgend erläutert. Es zeigen:

  • Fig. 1 eine schematische Darstellung eines Reinigungsgerätes mit einer Kursregelung,
  • Fig. 2 einen Teilgrundriss eines Beckenbodens mit den vom Reinigungsgerät durchfahrenen Fahrbahnen bei der Fahrtrichtungsumkehr und
  • Fig. 3 eine schematische Darstellung eines Reinigungsgerätes mit höheneinstellbarem Kompass.
The invention is shown for example in the accompanying drawing and explained below. Show it:
  • 1 is a schematic representation of a cleaning device with a course control,
  • Fig. 2 is a partial floor plan of a pelvic floor with the lanes traversed by the cleaning device when reversing the direction of travel and
  • Fig. 3 is a schematic representation of a cleaning device with a height-adjustable compass.

In dem in Fig. 1 schematisch dargestellten Reinigungsgerät ist mit 1 ein strichpunktiert dargestelltes Chassis bezeichnet, das auf einem Raupenfahrgestell aufgebaut ist, von dem die beiden seitlich angebauten Raupen 2, 3 sichtbar sind. Die Raupen 2, 3 sind durch einen Antrieb 4 über schematisch dargestellte Antriebswellen 5 angetrieben. Der Antrieb 4 kann beispielweise ein reversierbarer Elektromotor sein, der über Getriebe mit den Antriebswellen 5 verbunden ist.In the cleaning device shown schematically in FIG. 1, 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.

Die Lenkung des Reinigungsgeräts erfolgt durch Betätigung von Lenkkupplungen 6, 7, beispielsweise Elektromagnet-Kupplungen, die von einer Schaltvorrichtung, die das Stellglied 8 einer nachstehend behandelten Regelvorrichtung darstellt, über schematisch dargestellte Gestange 9, 10 betätigt werden können. Reinigungsgeräte dieser Art sind im Detail in der US-PS 4 304 022 und 4 154 680 beschrieben.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 rods 9, 10. Cleaning devices of this type are described in detail in U.S. Patent Nos. 4,304,022 and 4,154,680.

Die Regelvorrichtung, mit der das Reinigungsgerät nach Fig. 1 ausgerüstet ist, umfasst verschiedene Teile, die alle auf dem Chassis 1 untergebracht sind, auch wenn sie in Fig. 1 zur besseren Uebersicht ausserhalb des Chassis 1 dargestellt sind.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.

Das Reinigungsgerät soll selbsttätig die gesamte Bodenfläche eines Wasserbeckens in nebeneinanderliegenden Fahrten überfahren, wobei der Fahrtrichtungswechsel und der Uebergang in eine benachbarte Bahn ebenfalls selbsttätig erfolgen soll. Wesentlich ist jedoch, dass alle Bewegungen des Reinigungsgerätes geregelt sind. Hierzu weist das Reinigungsgerät auf seiner Vorder- und Hinterseite eine Fühlerstange 11, 12 auf. Die Fühlerstangen 11, 12 stehen über das Chassis 1 hervor und kommen als erster Teil des Gerätes in Kontakt mit einer Beckenwand oder einem andern Hindernis, z.B. einer Leiter o.dgl. Das von den Fühlerstangen in Kontakt mit einer Wand oder einem Hindernis ausgelöste Signal wird über Verbindungen 13, z.B. elektrische Signalleitungen, zu einem Regler 14 geleitet, wo ein Signal zur Fahrtrichtungsumkehr an den Antrieb 4 geht, durch das die Drehrichtungsumkehr des Antriebs 4 erfolgt.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. However, it is essential that all movements of the cleaning device are regulated. For this purpose, 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.

Da das Reinigungsgerät bestimmte Bahnen abzufahren hat, weist es ein Gerät zum Messen des Kurses auf. Hierzu wird ein Kompass 15, beispielsweise ein Magnet- oder Kreiselkompass, verwendet, der den gemessenen Kursistwert über eine Verbindung 16 an den Regler 14 leitet. Im Regler 14 erfolgt der Vergleich dieses Wertes mit der Führungsgrösse, d.h. dem Kurssollwert, der an einem Einstellgerät 17 eingestellt und über eine Verbindung 18 dem Regler 14 eingegeben wird. Mit dem Einstellgerät 17 für die Einstellung der Führungsgrösse ist ein Zeitgeber 19 über eine Verbindung 20 verbunden. Weiter weist das Einstellgerät 17 eine Handbetätigung 21 auf, mit dem einerseits im Einstellgerät 17 der Kurssollwert gewählt und andererseits das Reinigungsgerät von Hand gesteuert werden kann.Since the cleaning device has to follow certain paths, it has a device for measuring the course. For this purpose, 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. In 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. Furthermore, 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.

Der Regler 14 weist eine Verbindung 22 mit dem Stellglied 8 auf, über die die Signale zur Kurskorrektur und zur Schrägfahrt übertragen werden.The controller 14 has a connection 22 to the actuator 8, via which the signals for course correction and for inclined travel are transmitted.

Die Funktion der in Fig. 1 beschriebenen Regetvorrichtung sei anhand von Fig. 2 näher erläutert, die einen Grundriss des Teils eines Wasserbeckens 23 zeigt, das durch Wände 24, 25 begrenzt ist. Durch Linien I, 11 sind zwei nebeneinanderliegende Fahrbahnen schematisch dargestellt, die von dem Reinigungsgerät nacheinander durchfahren werden. Das Reinigungsgerät fährt zunächst auf der Fahrbahn 1 auf seinem vorgewählten Kurs, der durch den Regler 14 dauernd geregelt wird. Kommt das Reinigungsgerät mit einem seiner Fühler 11, 12 in Kontakt mit der Beckenwand 25, wird ein Signal ausgelöst, durch das die Fahrtrichtung auf Gegenkurs umgeschaltet wird. Nun fährt das Reinigungsgerät eine Strecke A-B auf demselben Kurs zurück, wobei die Strecke A-B durch die Messung einer am Zeitgeber 19 eingestellten Zeit definiert ist. Diese auf dem gleichen Kurs erfolgende Rückfahrt auf der Strecke A-B dient dazu, um ein Festsitzen des Reinigungsgerätes an Säulen, Leitern oder Rinnen bei Einleitung einer Schrägfahrt zu verhindern.The function of the regulating device described in FIG. 1 will be explained in more detail with reference to FIG. 2, which shows a plan view of the part of a water basin 23 which is delimited by walls 24, 25. Lines I, 11 schematically show two adjacent lanes which the cleaning device traverses one after the other. The cleaning device first runs on the lane 1 on its preselected course, which is continuously regulated by the 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.

Ein weiterer Grund besteht darin, dass damit das Reinigungsgerät aus dem Bereich der Armierung der Beckenwand 25 gelangt, die gegebenenfalls, d.h. bei Verwendung eines Magnetkompasses als Kursistwertgeber, Störungen des Erdmagnetfeldes hervorrufen kann. Durch Einhalten einer Rückfahrt auf dem gleichen Kurs wird damit in einfacher Weise diesen Störmöglichkeiten ausgewichen. Am Ende der Rückfahrtstrecke A-B wird das Einstellgerät 17 in der Weise verstellt, dass der Kurssollwert um einen bestimmten Winkel a verändert wird. Der Regler 14 bringt nun das Reinigungsgerät in die durch den neuen Kurssollwert gegebene Richtung, indem durch das Stellglied 8 die Lenkkupplungen 6, 7 zweckmässig in der Weise betätigt werden, dass die Einnahme des Schrägkurses auf der Stelle B erfolgt. Nun bewegt sich das Reinigungsgerät während einer am Zeitgeber 19 eingestellten Zeit auf diesem Schrägkurs bis zur Stelle B. Dort wird der Kurssollwert in entgegengesetzter Richtung wie beim Uebergang auf den Schrägkurs um denselben Betrag geändert, wodurch das Reinigungsgerät sich auf der Stellec auf die Fahrbahn II ausrichtet. Dann beginnt die Rückfahrt auf der Fahrbahn 11, wobei jeweils beim Auftreten eines Randkontaktes mit den Fühlern 11, 12 die Rückfahrt auf demselben Kurs mit anschliessender Schrägfahrt und Uebergang in die nächste Fahrbahn erfolgt. Durch Wahl des Winkels a und der Zeit für die Schrägfahrt kann der Abstand zwischen zwei Fahrbahnen I, 11 festgelegt werden, wobei die Grösse des zu befahrenden Wasserbeckens ohne Einfluss ist. Zweckmässig wird der Abstand zwischen den Fahrbahnen 1, II in der Weise festgelegt, dass sich die Fahrbahnen um einen bestimmten Betrag, z.B. 20 - 40% der Breite des Reinigungsgerätes, überlappen. Damit wird das Befahren der gesamten Bodenfläche eines Wasserbeckens gewährleistet, auch wenn im Bereich des Beckens Abweichungen des Erdmagnetfeldes vorliegen. Das Befahren der gesamten Bodenfläche wird jedoch vor allem dadurch gewährleistet, dass das Reinigungsgerät während der ganzen Fahrt auf den einzelnen Fahrbahnen kursgeregelt ist.Another reason is that the cleaning device thus comes out of the area of the reinforcement of the basin wall 25, which, if necessary, ie when using a magnetic compass as an actual course value transmitter, causes disturbances in the earth's magnetic field can. By adhering to a return trip on the same course, you can easily avoid these interference options. At the end of the return route AB, 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 point B. There, the course setpoint is changed in the opposite direction to the transition to the inclined course by the same amount, whereby the cleaning device aligns itself on the lane c with the roadway II . Then the return journey on the carriageway 11 begins, and when an edge contact with the sensors 11, 12 occurs, the return journey takes place on the same course with subsequent inclined travel and transition into the next carriageway. By choosing the angle a and the time for the inclined travel, the distance between two lanes I, 11 can be determined, the size of the water basin to be driven on being without influence. The distance between the lanes 1, 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. This ensures that the entire floor area of a water basin is covered, even if there are deviations in the earth's magnetic field in the area of the basin. However, driving across the entire floor area is ensured above all by the fact that the cleaning device is course-controlled during the entire journey on the individual lanes.

Das in Fig. 3 dargestellte Reinigungsgerät weist ein Raupenfahrwerk auf, von dem eine Raupe 2 sichtbar ist. An beiden Stirnseiten des Chassis 1 sind rotierende Reinigungswalzen, z.B. Bürsten 36, angeordnet, vor denen die Fühler 11, 12 liegen. Ein Gehäuse 27 umgibt Teile, z.B. den Filter o.dgl., des Reinigungsgerätes. Auf dem Chassis 1 ist ein Träger 28 abgestützt, der den Kompass 15 trägt. Der Träger 28 kann als Teleskopmast 29 ausgebildet sein, mit dem der Kompass 15 höheneinstellbar ist. Damit steht eine weitere Möglichkeit zur Verfügung, von der Armierung, insbesondere des Beckenbodens, herrührenden Störungen des Erdmagnetfeldes auszuweichen.The cleaning device shown in Fig. 3 has a crawler track, of which a caterpillar 2 is visible. On both ends of the chassis 1 there are rotating cleaning rollers, e.g. Brushes 36, arranged in front of which the sensors 11, 12 are located. A housing 27 surrounds parts, e.g. the filter or the like, 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.

Zur Durchführung des Verfahrens kann auch anstelle des Raupenfahrwerks ein Räderfahrwerk verwendet werden, das mit Hilfe von Lenkkupplungen gesteuert wird.To carry out the method, a wheel chassis can be used instead of the crawler track, which is controlled with the aid of steering clutches.

Claims (6)

1. Method for cleaning a water basin (23) by means of a machine for underwater operation, said machine being provided with a drive mechanism (4) controllable for the maintenance and modification of a predetermined direction, said dirdction being maintained through af a control equipment acting on the drive mechanism (4) by means of a reference input for continuous adjustment of the first direction, so that said machine reverses the direction in the case of contact with a wall (25) or a different obstacle and maintaines a second direction adjusted by an angle (a) with regard to the first one, characterized in that a measuring device for the direction is being used, that the second direction is being maintained during a predetermined period of time, after the expiration thereof the first direction is being restored, preferably automatically, the angle (a) and the first periode of time being so adjusted, that consecutive tracks (I, 11) of the first direction are adjacent to or overlapping each other.
2. Method according to claim 1, characterized in that the second direction is being established, preferably automatically, after expiration of a second time periad fallowing change af direction.
3. Method according to claim 1, characterized in that the transition from the first to the second direction and/or back takes place, when the machine stands still.
4. Machine for cleaning a water basin, with a chassis and a frame (2, 3) movable-by means af a drive unit (4) having an adjusting devicd (17) for a set direction value, and with sensors (11, 12) for the retransmission of a direction return signal to the drive unit (4) in case of a contact with an obstacle, characterized in that the frame (2, 3) has a caterpillar-type drive belt, that a direction control (14) is placed between the sensors (11, 12) and the drive (14) and is connected with the adjusting device (17) as well as with a device (15) for the determination of the measured direction value, so that a comparison between the measured direction and the set direction value takes place in the direction control (14), that a timer (19) and/or a manual operation means (21) are/is assigned to the adjusting device (17), and that a positioning element (8) is connected with the direction control (14) for the operation of each of the steering clutches (6, 7) assigned to the drive of the belts.
5. Machine according to claim 4, characterized in that the determination device (15) for the measured direction valud is placed at a distance on a support (28) attached to the chassis (1).
6. Machine according to claim 5, characterized in that the support (28) has an adjustable height and e.g. has the form of a telescopic mast.
EP83106211A 1982-07-05 1983-06-25 Method of and machine for cleaning a water basin Expired EP0099489B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83106211T ATE23899T1 (en) 1982-07-05 1983-06-25 METHOD AND PURIFICATION DEVICE FOR CLEANING A WATER BASIN.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4085/82 1982-07-05
CH4085/82A CH656665A5 (en) 1982-07-05 1982-07-05 METHOD AND CLEANING DEVICE FOR CLEANING A WATER BASIN.

Publications (2)

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

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EP83106211A Expired EP0099489B1 (en) 1982-07-05 1983-06-25 Method of and machine for cleaning a water basin

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US (1) US4518437A (en)
EP (1) EP0099489B1 (en)
JP (1) JPS5924037A (en)
AT (1) ATE23899T1 (en)
CH (1) CH656665A5 (en)
DE (1) DE3367949D1 (en)

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Also Published As

Publication number Publication date
ATE23899T1 (en) 1986-12-15
EP0099489A1 (en) 1984-02-01
DE3367949D1 (en) 1987-01-15
JPH0358028B2 (en) 1991-09-04
CH656665A5 (en) 1986-07-15
US4518437A (en) 1985-05-21
JPS5924037A (en) 1984-02-07

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