EP1826338A2 - Working method and cleaning device for cleaning a swimming pool - Google Patents

Abstract

The method involves driving a cleaning device (2) in a passage in a cleaning path (4) from an initial position in a forward direction to an excavation position in a swimming pool wall (3) at a low speed. A covered distance in the path is measured, and the device is guided into another passage in another cleaning path (5) at low speed. The device is guided in the path (5) at high speed up to a covered distance that is smaller than the former distance. The device is again driven in the path (5) until the wall is excavated. An independent claim is also included for a cleaning device with a control device.

Description

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

More particularly, 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. In this case, 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. In addition, 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. Furthermore, 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. Although ramping speeds are provided for the starting phases, the directional changes are essentially at the speed of travel used to clean the pool.

However, it has been shown that in swimming pool cleaning devices of this type very often nevertheless gradually increasing deviations from the initially set direction of movement (web direction) occur. This may be the case in particular for larger swimming pools, for example in 50 m basins, which require a large number of cleaning passes. Investigations have shown that the cleaning devices each experiencing a jerky displacement or twist during emergence on a pool edge or any other obstacle to the abrupt braking or impact, usually, albeit only slightly. As the number of abrupt braking increases, these trajectory errors accumulate. In most cases, mechanical devices are still used as contact means, because, especially in turbid water, other sensors, for example those based on optics, fail quickly or produce unreliable results. It is also often the case that the compression travel of the mechanical switching element is too small compared to the required braking distance of the cleaning device, so that the displacements on impact due to the inertia of the cleaning device still strengthen.

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.

This object is achieved by the features in the characterizing part of independent method claim 1 and the features in independent device claim 9.

• das Reinigungsgerät in einem ersten Reinigungsdurchgang in einer ersten Reinigungsbahn ab einer Startposition in einer Vorwärtsrichtung V bis zum Auffahren auf eine Schwimmbeckenwand mit einer geringen Geschwindigkeit fährt, wobei die zurückgelegte Distanz D1 auf der ersten Reinigungsbahn gemessen oder ermittelt wird,
• das Reinigungsgerät dann in einem zweiten Reinigungsdurchgang zunächst mit geringer Geschwindigkeit in eine zweite, von der ersten Reinigungsbahn abweichende oder versetzte Reinigungsbahn geleitet wird und das Reinigungsgerät dann auf der zweiten Reinigungsbahn in hoher Geschwindigkeit in eine Rückwärtsrichtung fährt, bis die zurückgelegte Distanz Dz um einen Abstand A kleiner ist, als die im vorherigen Durchgang zurückgelegte Distanz D1,
• das Reinigungsgerät schliesslich bei Erreichen der Distanz Dz mit geringer Geschwindigkeit in der zweiten Reinigungsbahn bis zum Auffahren auf eine Schwimmbeckenwand weiter fährt, wobei die zurückgelegte Distanz D2 auf der zweiten Reinigungsbahn gemessen oder ermittelt wird, und
• das Reinigungsgerät in jedem weiteren Durchgang wie beim vorhergehenden Durchgang gesteuert wird.

The inventive working method includes that a generic cleaning device is controlled by a control device of the cleaning device in a manner that

• the cleaning device travels at a low speed in a first cleaning passage in a first cleaning path from a starting position in a forward direction V until it reaches a swimming pool wall, the distance D1 being measured or determined on the first cleaning path;
• the cleaning device is then passed in a second cleaning passage at low speed in a second, deviating from the first cleaning path or cleaning cleaning path and the cleaning device then moves on the second cleaning path at high speed in a reverse direction until the distance traveled Dz by a distance A is less than the distance D1 traveled in the previous pass,
• Finally, the cleaning device on reaching the distance Dz at low speed in the second cleaning path to drive up to a Swimming pool wall continues, wherein the distance traveled D2 is measured or determined on the second cleaning track, and
• the cleaning device is controlled in each subsequent pass as in the previous pass.

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.

Switching from a high travel speed to a low travel speed when approaching a pool wall achieves a significant reduction in attitude error and, in particular, cumulative attitude errors after a variety of 'ramp-up' events on a pool wall. With regard to the approach to a swimming pool wall, it is assumed that the distance to be traveled on a respective adjacent and adjacent cleaning track, even with irregularly shaped swimming pools, can not be significantly different from the previous one, so that it is sufficient to register a reduced compared to the distance covered in the previous passage and reduced by a distance A, the driving speed. In practice, at driving speeds of 0.2 to 0.25 m / s and a selected distance A of 0.5 m have shown good results in terms of improving the accuracy of compliance with the cleaning trajectories.

With the exception of an edge area in the area of the swimming pool walls, higher cleaning speeds can thus be carried out in the entire surface area of the swimming pool.

This gives you shorter cleaning times and therefore energy savings. At the same time you get a more stable driving pattern and thus a better and more reliable cleaning.

Concrete improvements arise in particular when the low driving speed of the cleaning device in the edge region of the swimming pool is dimensioned so that the braking distance of the cleaning device at low speed is smaller than the compression travel E of the mechanical switching elements used (contact means). This ensures that the mass of the cleaning device can be controlled to a halt. In this way, the drive pattern-worsening effects of 'ride-on events' are reduced.

Of course, another alternative is the use of non-contact sensors, which can be used independently or in addition to mechanically acting contact means. 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.

Further improvements or extensions of the inventive method can be achieved by the possibilities of differential control of the speed of the two motors are extended. While at the EP-0 989 256 For the purpose of cornering only different but equal-directed and relatively high speeds of the motors for the two chassis parts are used, it is also possible to operate the two motors with opposite equal speeds. This allows a turn on the spot, thus also direction changes in the smallest possible space. As a result, this allows the realization of new and more efficient cleaning patterns. The number of sub-processes available to guide the cleaning device into a cleaning web deviating or offset from the preceding cleaning web can be extended.

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. As a result, 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. In particular, in the application of such sub-procedures, the additional use of a referenzrichtungsenden Element, such as a compass, undoubtedly provide yet another contribution to maintaining stable driving patterns. The use of reliable referenzrichtungsgebender elements is experience, however, very expensive, which is why it is omitted if possible. However, 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.

By providing a variety of such 'driving pattern programs' overall, the flexibility of the work process can be significantly extended and optimally adapted to existing situations.

In the following, the working method according to the invention will be described in detail by means of two examples.

Fig. 1

ein erstes Teilverfahren mit schräg verlaufenden Reinigungsbahnen, und

Fig. 2

ein zweites Teilverfahren mit parallel verlaufenden Reinigungsbahnen.

In the drawings shows:

Fig. 1

a first partial method with inclined cleaning tracks, and

Fig. 2

a second partial process with parallel cleaning tracks.

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. In addition, 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. 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 is avoided. When reaching the opposite edge of the pool or when hitting an obstacle, the cleaning device 2 is stopped and the direction of movement is reversed.

In a second pass, 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. In the present example, 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 α 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.

When reaching the distance Dz, the cleaning device 2 moves on at low speed in the second cleaning path 5 until it reaches the swimming pool wall 3. Thus, here too, a controlled acceleration at low speed takes place. Also on the second cleaning path 5, the distance covered D2 is measured or determined.

For each additional pass, 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. In the present example of the rectangular shaped swimming pool is of course expected that the course deviation angle, here the calculated course deviation α, will always be approximately equal.

With this method it is thus achieved that the cleaning of the swimming pool in a (predominantly predominantly) central area F (shaded) can always take place efficiently and at high speed. By contrast, the movement control of the cleaning device 2 in the edge regions of the pool walls 3 always takes place at a low speed, which considerably increases the driving pattern stability.

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. When reaching the opposite edge of the pool or when hitting an obstacle, the cleaning device 2 is stopped and the direction of movement is reversed.

In a second pass, 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. In the present example, 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.

In the specific case, 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. For this rotation in place, the engines of the two chassis parts with opposite equal sized Operated speeds. Subsequently, 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). Of course, there is no need to perform the left and right rotation by exactly 90 °, other angles can be selected. On the other hand, the two angles of rotation should be the same or the same length of rotation. In addition, in particular in the case of rectangular swimming pools, 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.

When reaching the distance Dz, the cleaning device 2 moves on at low speed in the second cleaning path 5 until it reaches the swimming pool wall 3. Thus, here too, a controlled acceleration at low speed takes place. Also on the second cleaning path 5, the distance covered D2 is measured or determined.

In each further passage, the cleaning device 2 is again controlled as in the previous passage.

With this partial method it is thus achieved that the cleaning of the swimming pool in a (predominantly predominant) central area F (shaded) can always take place efficiently and at high speed. Because of the cleaning paths that are only slightly or not overlapping in the region F, the region F can even be cleaned particularly quickly in comparison to the first partial method described above. By contrast, the movement control of the cleaning device 2 in the edge regions of the pool walls 3 is always carried out here at a low speed, which increases the driving pattern stability considerably.

Ultimately, therefore, 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.

As explained with the two sub-methods (according to FIGS. 1 and 2), 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.

In addition, 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. Of course, the flexibility of the software also allows the cleaner to be started from any corner of a rectangular swimming pool.

Claims (13)

Working method for a in a swimming pool (1) reciprocating cleaning device (2), with a reversible forward or reverse drive and standing in operative connection with drive wheels or conveyors chassis, each with a motor for a left and a right-side chassis part, one Control device for controlling the landing gear as well as front and rear arranged contact means for generating control signals in the case of running the cleaning device (2) on a pool wall (3) or an obstacle, wherein the control means for each chassis part, a speed control means and means for a differential control of the speed has the two motors, and the cleaning device has on both chassis parts means for measuring the distance covered during the journey,
characterized in that
the control device controls the cleaning device (2) in such a way that - The cleaning device (2) in a first pass in a first cleaning track (4) from a starting position in a forward direction V until it ascends to a pool wall (3) moves at a low speed, wherein the distance traveled D1 measured on the first cleaning track or is determined - The cleaning device (2) is first passed in a second passage at a low speed in a second, from the first cleaning path (4) deviating or offset second cleaning path (5) and the cleaning device then on the second cleaning path (5) at high speed in a Reverse direction continues until the distance traveled Dz is smaller by a distance A than the distance D1 traveled in the previous passage, - The cleaning device (2) on reaching the distance Dz at low speed in the second cleaning path (5) continues to drive onto a pool wall (3), wherein the distance covered D2 is measured or determined on the second cleaning path, and - The cleaning device (2) is controlled in each further passage as in the previous passage. Working method according to claim 1, characterized in that the contact means einfedernde mechanical switching elements with a compression travel E and the braking distance of the cleaning device (2) at low speed is less than the compression travel E. Working method according to claim 1, characterized in that the contact means are non-contact sensors with a response distance A and the braking distance of the cleaning device (2) at low speed is less than the response distance A. Working method according to one of the claims 1 to 3, characterized in that simultaneously different types of contact means are used to increase the reliability. Working method according to one of the claims 1 to 4, characterized in that the differential control of the speed of the two motors allows both different speeds and different directions of rotation, the latter being opposed by equal speeds also allows turning in the field. Working method according to one of claims 1 to 5, characterized in that the cleaning device (2) is guided by means of the differential control of the speed of the two motors with at least one of a number of available sub-method in a deviating from a previous cleaning track or cleaning track , Working method according to claim 6, characterized in that the cleaning device (2) is passed in a slanted to the previous cleaning track cleaning track with a first part of the method. Working method according to claim 6, characterized in that the cleaning device (2) is passed in a cleaning path substantially parallel to the preceding cleaning path with a second partial method. In a swimming pool reciprocating cleaning device (2) for performing a working method according to claim 1, with a switchable on forward or reverse drive and 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 landing gear as well as front and rear contact means for generating control signals in the case of driving the cleaning device onto a pool wall or an obstacle, wherein the control device for each chassis part has a speed control device and means for a differential control of the speed of the two motors, and the cleaning device (2) has on both chassis parts means for measuring the distances traveled while driving,
characterized in that
the motors are controllable by the control device with at least one low and at least one high speed. Cleaning device (2) according to claim 9, characterized in that the motors are controlled by the control device with opposite equal speeds. Cleaning device (2) according to claim 9 or 10, characterized in that the contact means einfedernde mechanical switching elements and / or non-contact sensors. Cleaning device (2) according to one of the claims 9 to 11, characterized in that at least one sub-method is executable with the control device in order to guide the cleaning device (2) in a deviating from a previous cleaning path or cleaning track cleaning. Cleaning device (2) according to one of the claims 9 to 12, characterized in that a compass is present.

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