• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a pool cleaning system comprising a cleaning apparatus (10) intended to be immersed in the pool, the system also comprising at least one moving image acquisition means (30) secured to a float (31). ) via a flexible link (32).
    公开号:FR3041980A1
    申请号:FR1559339
    申请日:2015-10-01
    公开日:2017-04-07
    发明作者:Philippe Pichon
    申请人:Zodiac Pool Care Europe SAS；
    IPC主号:
    专利说明:

    The present invention relates to the field of swimming pool equipment. It relates more particularly to an autonomous robotic swimming pool cleaning system associated with power supply and control means.
    Preamble and prior art The invention relates to a surface cleaner device immersed in a liquid, such as a surface formed by the walls of a pool, including a swimming pool. These include a mobile pool cleaning robot. Such a cleaning robot carries out said cleaning by traversing the bottom and walls of the pool of the pool, brushing these walls, and sucking the debris to a filter. Debris means all the particles present in the basin, such as pieces of leaves, microalgae, etc., these debris being normally deposited at the bottom of the basin or glued on the side walls thereof.
    Most commonly, the robot is powered by an electrical cable connecting the robot to an outdoor control unit and power supply.
    For example, there is known in this field, patent FR 2 929 311, of the applicant, which is a submerged surface cleaner device pump pressure regulation. Such devices comprise a body, drive members of said body on the immersed surface, a filtration chamber formed within the body and comprising a liquid inlet, a liquid outlet, a hydraulic circuit for liquid circulation between the input and output through a filter device. In this patent, the filtering device is removable to allow emptying the leaves and other debris without having to return the cleaning device.
    One of the problems of all these robots is the difficulty of controlling their evolutions in a way that maximizes the cleaned area as a function of time. The object of the invention is to overcome this drawback.
    DESCRIPTION OF THE INVENTION The invention aims in a first aspect a pool cleaning system comprising a cleaning device to be immersed in the pool.
    The system also comprises an image acquisition means secured to a float by means of a flexible link attached to the submerged cleaning apparatus. The image acquisition means advantageously comprises at least one video camera. It can include two cameras oriented in different directions.
    In an alternative embodiment, the image acquisition means comprises means for measuring the local luminance in a sighting area, and for example around the cleaning apparatus. This corresponds to a very "degraded" image acquisition compared to a video camera image, but nevertheless sufficient for detection of more or less dark areas at the bottom of the pool to be cleaned.
    The term "pool cleaning apparatus" is intended to mean an apparatus for cleaning a submerged surface, that is to say typically a device, mobile within or at the bottom of a swimming pool, and adapted to carry out the filtration. Debris deposited as long as the bottom only on a wall. Such an apparatus is commonly known as a pool cleaning robot, when it comprises means of automated management of movements at the bottom and on the walls of the pool to cover the entire surface to be cleaned.
    Abbreviated as "liquid", the term "liquid" is used to describe the mixture of water and debris suspended in the pool or in the fluid circulation circuit within the cleaning apparatus.
    In a particular embodiment, the swimming pool cleaning system comprises means for transferring the images acquired by the image acquisition means to a control device of the cleaning apparatus.
    It advantageously comprises means for modifying the trajectory of the cleaning apparatus according to the images acquired.
    In particular embodiments, at least a portion of the float is located on the surface of the pool water. The invention also relates to a method for controlling a swimming pool cleaning device for a cleaning system as described, the method comprising a step in which an area still uncleaned on the bottom of the basin is detected, and a step of changing the path of the cleaning apparatus to browse and clean this area. The invention also relates to a method for controlling a swimming pool cleaning device for a cleaning system as described, the method comprising a step in which the geometry of the basin around the apparatus is detected, and a modification step trajectory in response to the observed geometry (slope, wall or particular obstacle). The invention also relates to a submerged surface cleaning system characterized in combination by all or some of the characteristics mentioned above or below.
    Presentation of figures
    The characteristics and advantages of the invention will be better appreciated thanks to the description which follows, description which sets out the characteristics of the invention through a non-limiting example of application.
    The description is based on the appended figures in which:
    FIG. 1 illustrates a perspective view of a swimming pool cleaning device implementing a filtration system as described,
    FIG. 2 illustrates a sectional view of the same apparatus along a longitudinal vertical plane;
    Figure 3 illustrates a view of the main elements of the pool cleaning system, including the cleaning apparatus and a float mounted camera, according to four different embodiments (A, B, C, D).
    DETAILED DESCRIPTION OF AN EMBODIMENT OF THE INVENTION The invention finds its place in a swimming pool technical environment, for example a family-type buried pool.
    A submerged surface cleaning system comprises, in the present embodiment, a cleaning apparatus 10, hereinafter referred to as a pool cleaning robot, and a feeding and control unit of said pool cleaning robot (not shown on the figures). Alternatively, this power supply and control unit can be integrated into the cleaning apparatus. In another variant, this power supply and control unit can be integrated in the float carrying an image acquisition means. The cleaning apparatus 10 is shown according to an embodiment given here by way of example, in FIGS. 1 and 2. In these figures, the type of apparatus is here water ejection inclined towards the rear of the chamber. device, relative to the running plane of the robot. The pool cleaning apparatus 10 comprises a body 11 and drive and guide members 12 of the body 11 on a submerged surface. In the present example, these driving and guiding members 12 consist of wheels arranged laterally to the body (see FIG. 1).
    The drive and guide members define a guide plane on a surface immersed by their points of contact with said immersed surface. Said guide plane is generally substantially tangential to the submerged surface at the point where the device is located. Said guide plane is for example substantially horizontal when the cleaning device 10 moves on a submerged surface of the pool bottom.
    Throughout the text the notions "up" and "down" are defined along a straight line, perpendicular to said guide plane, a "bottom" element being closer to the guide plane than a high element. The pool cleaning apparatus 10 further comprises a motor driving said driving and guiding members, said motor being, in the present example, supplied with energy by the control and control unit via a sealed flexible cable. In other embodiments, the cleaning apparatus is energy independent. The pool cleaning apparatus 10 has at least one liquid inlet 13 and one liquid outlet 14. The liquid inlet 13 is located at the base of the body (in other words, below it), that is to say immediately facing a submerged surface on which the apparatus 10 moves in order to suck debris accumulated on said immersed surface.
    The liquid outlet 14 is located here on the hood at the rear of the cleaning apparatus 10. In the present example, the liquid outlet is in a direction towards the rear of the cleaning apparatus 10 This provision is however not limiting, and a water outlet substantially perpendicular to the guide plane, that is to say vertically if the cleaning device 10 rests on the bottom of the pool, is also possible. The cleaning apparatus 10 comprises a hydraulic circuit connecting the liquid inlet 13 to the liquid outlet 14. The hydraulic circuit is adapted to ensure liquid circulation from the liquid inlet 13 to the liquid outlet 14. To this end, the cleaning apparatus 10 comprises a circulation pump comprising an electric motor 15 and a propeller 16 (see FIG. 2), said electric motor 15 driving the rotating propeller 16, said propeller 16 being disposed in the hydraulic circuit . The cleaning apparatus 10 comprises a filtration chamber 17 interposed on the hydraulic circuit between the liquid inlet 13 and the liquid outlet 14. In particular, the filtration chamber is supplied with liquid via at least one upstream channel 18 connecting the liquid inlet 13 to the filtration chamber 17.
    The filtration chamber 17 comprises a filtration basket 20. This filter basket 20 is advantageously but not necessarily removable.
    In the embodiment described here by way of example, the cleaning apparatus 10 (in other words the pool robot) is equipped with a camera 30 (see FIG. 3). In the present embodiment, the camera 30 is mounted on a float 31, which is towed by the cleaning apparatus 10 via a cable 32. This cable 32 may be confused with a power supply cable and control connecting the cleaning apparatus 10 and a unit 33 for supplying and controlling said cleaning apparatus 10, in particular when the latter consists of a system placed outside and in the vicinity of the pool.
    This camera 30 is here a video camera type, for example similar to webcams equipping personal computers. The camera 30 is therefore advantageously of small dimensions (less than a few tens of cubic centimeters) and of low mass (less than a few tens of grams). The camera 30 may, however, have larger dimensions, according to the specifications of said camera. It can also be a group of two or more cameras (not shown in the figures) pointing for example in different directions. However, in the implementation described here, a single camera is used because, being located above the cleaning apparatus 10, it can detect alone the level of soiling and the geometry of the pool around the appliance. cleaning 10.
    The camera 30 is here supplied with energy by the cable 32 which links it to the cleaning apparatus 10. It can alternatively be autonomous in energy, for example if it comprises a battery pack (not shown in the figures) of an autonomy adapted to its specifications. It can still be powered by a small photovoltaic panel attached to the upper part of the float 31.
    Figures 3A, B, C and D respectively illustrate four different embodiments of the present invention. FIG. 3A illustrates an embodiment in which the power supply of the cleaning apparatus 10 is made through the float 31, which allows the supply of the camera 30 and the direct sending of images towards the unit 33 so that it can transfer them to equipment via the internet.
    FIG. 3B illustrates an embodiment in which the supply of the cleaning apparatus is carried out by a supply unit 33 separated from the connection with the float 31. This configuration can be envisaged in retrofitting for example.
    FIG. 3C illustrates an embodiment in which the float 31 incorporates a battery and / or a solar panel (not shown in FIG. 1) serving to feed the camera 30 and the cleaning apparatus 10.
    FIG. 3D illustrates an embodiment identical to that illustrated in FIG. 3A, in which the float 31 is not at the surface but at a fixed distance from the cleaning apparatus 10.
    In the variants envisaged here as a non-limiting example, the power supply unit 33 supplies the cleaning apparatus 10. The unit 33 controls only the start of the cleaning and user cycle. The control of the cleaning apparatus 10, which controls the pump and traction motors according to the displacement algorithm and the information given by on-board sensors such as the gyroscope or the accelerometer, is located in the apparatus of 10. The idea is to have an image processing close to the camera (in the float), the "simple" information from the image processing will then be used by the control circuit integrated in the robot to adapt his displacement.
    The camera 30 is here pointed towards the cleaning apparatus 10. It is, for this purpose, oriented at a predetermined angle, possibly adjustable, with respect to the normal flotation direction of the float 31. In this way, the field of vision the camera 30 includes both the cleaning apparatus 10 but also its vicinity, and in particular the vertical walls of the basin when the device approaches. In the present exemplary implementation, the flexible connection between the cleaning apparatus 10 and the float makes any orientation determined relative to each other difficult. The system therefore comprises means for recognizing, whatever the orientation of the float, the orientation and the direction of movement of the cleaning apparatus 10, using markers placed on the body of the latter . In one exemplary embodiment, the system comprises means for detecting, on the images supplied by the camera 30, the orientation and the direction of movement of the cleaning apparatus 10.
    In the same way, the camera is able to observe the luminance differences in its field of vision, and thus notably to perceive the dirtiest zones of the bottom of the basin.
    The camera 30 transfers its images to the power and control unit 33, or to any other control device of the cleaning apparatus. It may, for example, transmit its images to a mobile phone type Smartphone equipped with remote control means of the cleaning device 10.
    In the present exemplary embodiment, the control unit 33 comprises means for modifying the trajectory of the cleaning apparatus 10 according to the images received from the camera 30.
    Operating mode
    In the present implementation example, when the robot is put into operation, the video camera 30 is turned on, and the video data is transmitted to the power and control unit.
    The camera 30 then optimizes the movement of the cleaning apparatus 10 to limit its operating time.
    The control method may in particular comprise a step in which an area still uncleaned on the bottom of the basin is detected, for example by detecting a locally darker color of the bottom. In a next step, the cleaning apparatus 10 is driven to this dirty area.
    The control method may also comprise a step in which the geometry of the surface of the pool located around the cleaning apparatus 10 (slope, wall, point obstacle, etc.) is determined. In a next step, the cleaning apparatus 10 adapts its displacement according to the geometry of the basin surface near the robot.
    Advantages
    The camera 30 is here independent of the body 11 of the cleaning apparatus 10 (in that it is not fixed on the body of the robot), to which it is secured only by a cable 32. is also not fixed relative to the basin, which allows it to monitor the changes of the cleaning device 10 regardless of the position and attitude of it vis-à-vis the basin.
    The advantages are: - complete vision of the environment around the cleaning device 10 (wall, slopes, debris) and not only on the front of the appliance, - better description of the environment / better accuracy 'image because the angle of view is more direct (the bottom of the pool is facing the camera 30). - No need to create a sealed volume on the cleaning device 10 which affects the balance of the device (reduced manufacturing cost) and the possibility of retrofitting a pre-existing robot. the float 31 can also integrate a battery or a solar panel.
    The camera 30 makes it possible to optimize the movement of the cleaning apparatus 10 to cover the zone to be cleaned as efficiently as possible, and thus to limit the duration of operation of the cleaning apparatus 10, which reduces its wear and maximizes its lifetime. Furthermore, the duration of the presence of the cleaning device 10 in the pool is reduced, which increases the duration of its availability for swimmers.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    Swimming pool cleaning system comprising a cleaning apparatus (10) intended to be immersed in the pool, characterized in that the system also comprises an image acquisition means (30) secured to a float (31) by via a flexible link (32) attached to the immersed cleaning apparatus (10).
    [2" id="c-fr-0002]
    Swimming pool cleaning system according to claim 1, characterized in that the image acquisition means (30) comprises at least one video camera.
    [3" id="c-fr-0003]
    Swimming pool cleaning system according to one of claims 1 to 2, characterized in that the image acquisition means (30) comprises two video cameras oriented in different directions.
    [4" id="c-fr-0004]
    Swimming pool cleaning system according to any one of claims 1 to 3, characterized in that the flexible link (32) coincides with a supply and control cable connecting the cleaning apparatus (10) and a unit (33) for supplying and controlling said cleaning apparatus (10).
    [5" id="c-fr-0005]
    Swimming pool cleaning system according to one of Claims 2 to 4, characterized in that the camera (30) is supplied with energy by the cable (32) connecting it to the cleaning device (10).
    [6" id="c-fr-0006]
    6. Pool cleaning system according to any one of claims 2 to 5, characterized in that it comprises means for detecting, on the images provided by the camera (30), the orientation and direction of movement of the cleaning apparatus (10).
    [7" id="c-fr-0007]
    Swimming pool cleaning system according to one of claims 2 to 6, characterized in that the image acquisition means (30) comprises means for measuring the local luminance in a target area.
    [8" id="c-fr-0008]
    Swimming pool cleaning system according to any one of claims 2 to 7, characterized in that it comprises means for transferring the images acquired by the image acquisition means (30) to a control device of the cleaning apparatus (10).
    [9" id="c-fr-0009]
    9. Pool cleaning system according to any one of claims 2 to 8, characterized in that it comprises means for changing the path of the cleaning apparatus (10) according to the acquired images.
    [10" id="c-fr-0010]
    Swimming pool cleaning system according to any one of claims 1 to 9, wherein at least a portion of the float is located on the surface of the pool water.
    [11" id="c-fr-0011]
    11. A method of controlling a swimming pool cleaning system, said system being according to any one of claims 1 to 10, characterized in that the method comprises a step in which is detected a still uncleaned area on the bottom of the pool , and a step of changing the path of the cleaning apparatus (10) to browse and clean this area.
    [12" id="c-fr-0012]
    12. The method of claim 11, characterized in that the detection of a still uncleaned area on the bottom of the basin is achieved by detecting a color locally darker background on the images provided by the acquisition means. of images (30).
    [13" id="c-fr-0013]
    13. A method of controlling a swimming pool cleaning system, said system being according to any one of claims 1 to 10, characterized in that the method comprises a step in which the geometry of the pool surface is determined in the vicinity. of the cleaning apparatus (10), and a path adaptation step of said cleaning apparatus (10) in response to the geometry of the pool surface in the vicinity of the cleaning apparatus (10).
    类似技术:
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    同族专利:
    公开号 | 公开日
    US20180266134A1|2018-09-20|
    ZA201802659B|2019-11-27|
    EP3356620A1|2018-08-08|
    FR3041980B1|2017-11-17|
    EP3356620B1|2019-06-26|
    ES2743026T3|2020-02-18|
    AU2016329776B2|2021-04-01|
    WO2017055737A1|2017-04-06|
    AU2016329776A1|2018-05-10|
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    法律状态:
    2016-10-25| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-07| PLSC| Publication of the preliminary search report|Effective date: 20170407 |
    2017-10-25| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-25| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-25| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-26| PLFP| Fee payment|Year of fee payment: 6 |
    2021-10-25| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1559339A|FR3041980B1|2015-10-01|2015-10-01|SWIMMING POOL CLEANING SYSTEM WITH IMAGE TAKING DEVICE|FR1559339A| FR3041980B1|2015-10-01|2015-10-01|SWIMMING POOL CLEANING SYSTEM WITH IMAGE TAKING DEVICE|
    ES16785233T| ES2743026T3|2015-10-01|2016-09-28|Pool cleaning system with imaging device|
    EP16785233.4A| EP3356620B1|2015-10-01|2016-09-28|Swimming pool cleaning system with image capture device|
    PCT/FR2016/052456| WO2017055737A1|2015-10-01|2016-09-28|Swimming pool cleaning system with image capture device|
    AU2016329776A| AU2016329776B2|2015-10-01|2016-09-28|Swimming pool cleaning system with image capture device|
    US15/764,471| US20180266134A1|2015-10-01|2016-09-28|Swimming pool cleaning system with image capture device|
    ZA201802659A| ZA201802659B|2015-10-01|2018-04-20|Swimming pool cleaning system with image capture device|
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