EP0750083B1 - Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle - Google Patents
Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle Download PDFInfo
- Publication number
- EP0750083B1 EP0750083B1 EP96401298A EP96401298A EP0750083B1 EP 0750083 B1 EP0750083 B1 EP 0750083B1 EP 96401298 A EP96401298 A EP 96401298A EP 96401298 A EP96401298 A EP 96401298A EP 0750083 B1 EP0750083 B1 EP 0750083B1
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- Prior art keywords
- obstacle
- vehicle
- driving wheel
- rotation
- driving
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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
- Such vehicles are used for example for constitute robots for cleaning liquid tanks, such as swimming pools.
- these devices can sometimes have difficulty getting out of certain obstacles or even fail to get clear (for example if they engage between a ladder and the pool wall); more their deviation significantly constant in front of an obstacle sends them back in directions privileged so that their successive trajectories end up overlapping and they don't travel the the entire surface of the bottom of the pool.
- their functioning as a vehicle is not satisfactory and the pool is not cleaned in a way sufficiently effective.
- the object of the invention is essentially to remedy to the disadvantages presented by known vehicles and offer an improved vehicle that is able to get out safely in front of any obstacle and that is able, when disengaged, to pivot by a non-predetermined angle so that its successive trajectories are perfectly and that, being a cleaning robot cleaning, be made effective on the whole from the surface of the bottom of the pool, being understood further that the technical means used for these purposes must be simple, reliable and of limited cost so that the vehicle perfected in accordance with the invention can be mass produced.
- a rolling vehicle as mentioned in preamble is essentially characterized, being arranged in accordance with the invention, in that each member of obstacle detection comprises an elongated member consisting by the front edge, extending substantially over half a width and on the corresponding angle of the front of the vehicle which is opposite to the drive wheel to which said member is functionally associated, with an arm shaped so that its opposite end is located substantially at the vicinity of the drive wheel that it controls and is supported freely rotating on a substantially rotational axis vertical and in that said elongated member is coupled to selectively to the drive shaft driving said wheel drive through the above connecting means.
- the vehicle is made of symmetrically and it is arranged so that its clearance takes place in a direction opposite to the obstacle.
- the obstacle is perfectly frontal or bilateral, the two detectors obstacle are operated simultaneously and both wheels driving are simultaneously turned in direction reverse so that at first the vehicle backs up without being deflected.
- the function of obstacle detection is effectively ensured and a suitable order can be ensured whatever the position of the obstacle relative to the front of the vehicle.
- the means for reversing the direction of rotation comprises a wheel drive tooth placed at the end of the motor shaft, thus that a central pinion and a peripheral crown with teeth inner which are integral with the drive wheel and with either of which can mesh the gear drive to determine respectively two directions of rotation of the drive wheel.
- the means of link also include temporary blocking means able to maintain rotation in the opposite direction to the drive wheel for a sufficient time for the vehicle can clear the obstacle and then restore the rotation of the drive wheel in its initial direction so that the vehicle sets out again on a new trajectory;
- the locking means include a pawl integral locking of the movable bearing of the motor shaft which is resiliently engaged when the bearing is moved under the action of the eccentric.
- the temporary blocking means are arranged to maintain reverse rotation of the wheel motive power for an indefinite period, thanks to which the vehicle is made to turn at an unspecified angle and random so that its successive trajectories do not not overlap and are random; he is interesting, to obtain a simple, but reliable structure, that the temporary blocking means further comprises a finger transverse integral with the drive wheel and able to cooperate with the above-mentioned ratchet when it is engaged, so release it and free the bearing from the motor shaft, elastic return means being provided to bring the bearing in its initial position.
- each detection device obstacle is arranged to be functional not only on a front half of the vehicle, but also in the corner corresponding side, even on the anterior end on the corresponding side.
- each obstacle detection member is associated with connecting means arranged in such a way that the detection member, when it strikes an obstacle, controls the reversal of the direction of rotation of the driving wheel opposite, and therefore causes the vehicle to pivot at the opposite of the obstacle.
- each organ obstacle detection consists of an elongated member or arm 2 in the general shape of a mustache or crescent moon which extends approximately across the end front of the vehicle.
- Each detector 2 has an active edge 3 projecting forward and extending over one half front of the vehicle, as well as in the corner and on the start on the corresponding side of the vehicle; on the other half front of the vehicle, the edge 4 of the detector is set back rearward.
- the two detectors 2 are arranged one above on the other, being inverted with respect to each other by such that the recessed edge 4 of one coincides with the active projecting edge 3 of the other.
- Each detector 2 is supported for free rotation on a substantially vertical axis 5 by its end 6 located on the side of the recessed edge 4, lights possibly being be provided in the other detector to authorize their respective free rotary movements.
- This same end 6 of the detector 2 is associated to connecting means, designated as a whole by the reference 7, so as to functionally control the direction of rotation of the driving wheel 1 which is located same side.
- this detector 2 controls the wheel 1 located on the opposite side.
- each driving wheel 1 Training and reversing the direction of rotation of each driving wheel 1 are arranged as follows.
- a tree motor 8 (driven by a central motor not shown) is fitted, at its free end, with a drive gear 9.
- To wheel 1 or to the axis of wheel 1 are secured coaxially a central pinion 10 and a peripheral crown 11 with internal teeth.
- the driving gear 9 is located between the central pinion 10 and the crown 11 and can mesh with one or the other, selectively, as indicated below.
- each detector 2 is shaped like a fork 12 coagulating with a lug 13 integral of a carriage 14 which is movable over a part of fixed frame 15 in an approximately parallel direction to the motor shaft 8.
- the carriage 14 carries a spout 16 which extends in tree direction 8.
- a disc eccentric 17 is set in rotation on the shaft 8.
- the shaft 8 is supported by a bearing 18 which is itself supported by a carriage 19 capable of sliding on a fixed frame 20 in approximately a direction transverse to the shaft 8.
- detector 2 If there is no obstacle, detector 2 is not deflected and it keeps the spout 16 laterally offset by relative to the eccentric disc 17.
- a return spring 21 then maintains the carriage 19 in a position for which the bearing 18 supports the shaft 8 in the rest position, the drive gear 9 meshing with crown 11. Meaning corresponding rotation of the driving wheel 1 is assumed correspond to the forward movement of the vehicle.
- detector 2 When an obstacle occurs that pushes the edge active 3 of detector 2 backwards, detector 2, in pivoting, causes, by means of its fork 12, the displacement of the spout 16 which is brought opposite the disc eccentric 17. By turning, it bears against the spout and the shaft 8 is pushed back so that the gear drive 9 leaves the crown 11 and will cooperate with the central pinion 10. It is driven in the opposite direction to the crown 11 and the driving wheel 1 rotates in the opposite direction.
- blocking means are provided releasable designated as a whole by the reference 22 in Figures 2 and 3.
- the releasable blocking means 22 include a rod 23 sliding axially freely in a passage 25 a fixed body 24 located opposite the bearing 18, said rod 23 being integral with said bearing 18.
- the rod 23 has a radial notch 26 which, when released outside the body 24, is pushed back against the edge of the orifice of passage 25 using a transverse spring 27 (the rod 23 having a certain radial clearance in the passage 25).
- a transverse spring 27 the rod 23 having a certain radial clearance in the passage 25.
- the release of the blocking means is carried out as follows.
- the driving wheel 1 carries a finger 29 which extends transversely and which, during the rotation of the wheel 1, finds on its trajectory an organ, for example a ring 30, integral with the rod 23.
- an organ for example a ring 30, integral with the rod 23.
- the notch 26 is hollowed out in the rod 23 on the same side as the finger 29.
- the arrangement which has just been described presents the advantage that, when the obstacle is encountered, the finger 29 is in any angular position relative to the ring 30.
- the drive wheel 1 therefore performs a rotation of angular amplitude not predetermined and random before being forced to turn again before.
- the vehicle, after hitting an obstacle, will therefore get free by pivoting away from the obstacle with a random angular amplitude and will go forward on a new trajectory which is arranged so random compared to the previous one.
- the two driving wheels 1 are brought to turn in opposite direction simultaneously and the vehicle reverses substantially in straight line.
- the two fingers 29 are not found not, in principle, in the same relative angular position relative to the two respective rings 30: one of the two fingers 29 will therefore meet its associated ring 30 before the other, and then the vehicle will be driven in the direction determined by said first finger meeting its ring partner, and then go forward on a new trajectory as the case previously exposed.
- both the straight line recoil distance and the side towards which the rotation takes place and the amplitude angular of this rotation are random: the new again, the forward path is guaranteed to be randomly arranged in relation to the previous one.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
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- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Suction Cleaners (AREA)
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Abstract
Description
La présente invention concerne des perfectionnements apportés aux véhicules roulants à changement automatique de direction de déplacement lorsqu'ils rencontrent un obstacle, ce dispositif étant pourvu de deux roues antérieures motrices indépendantes et comportant :
- deux organes de détection d'obstacle disposés de chaque côté à l'avant du véhicule,
- des moyens d'entraínement de chaque roue motrice à partir d'un arbre moteur, par l'intermédiaire de moyens d'inversion du sens de rotation,
- et des moyens de liaison interposés entre chaque organe de détection d'obstacle et les moyens d'entraínement de la roue motrice située du côté opposé,
- lesdits organes de détection d'obstacle et lesdits moyens de liaison étant agencés de manière que, lorsque le véhicule rencontre un obstacle, les moyens de détection actionnés par ledit obstacle agissent, par l'intermédiaire desdits moyens de liaison correspondants, pour actionner lesdits moyens d'inversion du sens de rotation et faire passer la rotation de la roue motrice en sens avant, à une rotation de la roue motrice en sens arrière.
- two obstacle detection members arranged on each side at the front of the vehicle,
- means for driving each driving wheel from a drive shaft, by means of reversing the direction of rotation,
- and connecting means interposed between each obstacle detection member and the drive wheel drive means located on the opposite side,
- said obstacle detection members and said connecting means being arranged so that, when the vehicle encounters an obstacle, the detection means actuated by said obstacle act, by means of said corresponding connection means, to actuate said means of reversing the direction of rotation and changing the rotation of the drive wheel in the forward direction to a rotation of the drive wheel in the reverse direction.
De tels véhicules sont utilisés par exemple pour constituer des robots de nettoyage de réservoirs de liquide, tels que des piscines. On connaít diverses réalisations de tels robots de nettoyage de piscine qui présentent toutefois, du fait même de leur conception, l'inconvénient d'être déviés toujours dans le même sens lorsqu'ils rencontrent un obstacle et également l'inconvénient d'être déviés toujours sensiblement du même angle. Il en résulte que ces appareils peuvent parfois rencontrer des difficultés pour se dégager de certains obstacles, voire même ne pas parvenir à se dégager (par exemple s'ils s'engagent entre une échelle et le mur de la piscine); de plus leur déviation sensiblement constante devant un obstacle les renvoie dans des directions privilégiées de sorte que leurs trajectoires successives finissent par se superposer et qu'ils ne parcourent pas la totalité de la surface du fond de la piscine. Au bout du compte, leur fonctionnement en tant que véhicule n'est pas satisfaisant et la piscine n'est pas nettoyée de façon suffisamment efficace.Such vehicles are used for example for constitute robots for cleaning liquid tanks, such as swimming pools. We know various achievements of such pool cleaning robots which, however, exhibit by their very design, the disadvantage of being always deviated in the same direction when they meet a obstacle and also the disadvantage of being deviated always roughly the same angle. As a result, these devices can sometimes have difficulty getting out of certain obstacles or even fail to get clear (for example if they engage between a ladder and the pool wall); more their deviation significantly constant in front of an obstacle sends them back in directions privileged so that their successive trajectories end up overlapping and they don't travel the the entire surface of the bottom of the pool. At the end of account, their functioning as a vehicle is not satisfactory and the pool is not cleaned in a way sufficiently effective.
On connaít notamment un tel véhicule d'après le document FR-A-2 041 339. Cette machine connue, agencée pour éviter automatiquement des obstacles, est équipée d'organes de détection qui sont situés dans les angles avant, lesquels organes sont constitués sous forme de deux tampons s'étendant de façon divergente l'un de l'autre.We know in particular such a vehicle from the document FR-A-2 041 339. This known machine, arranged for automatically avoid obstacles, is equipped with organs which are located in the front corners, which organs are formed as two buffers extending divergent from each other.
Un tel agencement peut certes s'avérer efficace face à certaines configurations d'obstacles, comme par exemple le cas illustré à la figure 3 dudit document ou bien dans le cas d'un obstacle sensiblement plan. Toutefois, cet agencement est totalement inefficace si la machine vient à rencontrer un obstacle dont la largeur est inférieure à la distance séparant les deux tampons (par exemple rencontre avec une maçonnerie en angle saillant).Such an arrangement can certainly prove effective in the face certain obstacle configurations, such as the case illustrated in Figure 3 of said document or in the in the case of a substantially flat obstacle. However, this arrangement is totally ineffective if the machine comes to encounter an obstacle whose width is less than the distance separating the two buffers (for example meeting with protruding corner masonry).
L'invention a essentiellement pour but de remédier aux inconvénients présentés par les véhicules connus et de proposer un véhicule perfectionné qui soit apte à se dégager de façon sûre devant n'importe quel obstacle et qui soit apte, en se dégageant, à pivoter d'un angle non prédéterminé de sorte que ses trajectoires successives soient parfaitement aléatoires et que, s'agissant d'un robot de nettoyage de piscine, le nettoyage soit rendu efficace sur la totalité de la surface du fond de la piscine, étant entendu en outre que les moyens techniques mis en oeuvre à ces fins doivent être simples, fiables et d'un coût limité de manière que le véhicule perfectionné conformément à l'invention puisse être produit en grande série.The object of the invention is essentially to remedy to the disadvantages presented by known vehicles and offer an improved vehicle that is able to get out safely in front of any obstacle and that is able, when disengaged, to pivot by a non-predetermined angle so that its successive trajectories are perfectly and that, being a cleaning robot cleaning, be made effective on the whole from the surface of the bottom of the pool, being understood further that the technical means used for these purposes must be simple, reliable and of limited cost so that the vehicle perfected in accordance with the invention can be mass produced.
A ces fins, un véhicule roulant tel que mentionné au préambule se caractérise essentiellement, étant agencé conformément à l'invention, en ce que chaque organe de détection d'obstacle comprend un organe allongé constitué par le bord antérieur, s'étendant sensiblement sur une demi-largeur et sur l'angle correspondant de l'avant du véhicule qui est opposé à la roue motrice à laquelle ledit organe est fonctionnellement associé, d'un bras conformé de manière que son extrémité opposée soit située sensiblement au voisinage de la roue motrice qu'il commande et soit supportée à libre rotation sur un axe de rotation sensiblement vertical et en ce que ledit organe allongé est accouplé de façon sélective à l'arbre moteur entraínant ladite roue motrice par l'intermédiaire des susdits moyens de liaison.For these purposes, a rolling vehicle as mentioned in preamble is essentially characterized, being arranged in accordance with the invention, in that each member of obstacle detection comprises an elongated member consisting by the front edge, extending substantially over half a width and on the corresponding angle of the front of the vehicle which is opposite to the drive wheel to which said member is functionally associated, with an arm shaped so that its opposite end is located substantially at the vicinity of the drive wheel that it controls and is supported freely rotating on a substantially rotational axis vertical and in that said elongated member is coupled to selectively to the drive shaft driving said wheel drive through the above connecting means.
Grâce à cette structure, le véhicule est réalisé de façon symétrique et il est agencé pour que son dégagement s'effectue dans un sens opposé à l'obstacle. Si l'obstacle est parfaitement frontal ou bilatéral, les deux détecteurs d'obstacle sont actionnés simultanément et les deux roues motrices sont amenées simultanément à tourner en sens inverse de sorte que dans un premier temps le véhicule recule sans être dévié. De toute façon il parvient à se dégager quelles que soient la position (latérale, frontale, bilatérale), la nature (plane, concave,...) et la dimension (en particulier la largeur) de l'obstacle. La fonction de détection de l'obstacle est ainsi assurée de façon efficace et une commande appropriée peut être assurée quelle que soit la position de l'obstacle par rapport à l'avant du véhicule.Thanks to this structure, the vehicle is made of symmetrically and it is arranged so that its clearance takes place in a direction opposite to the obstacle. If the obstacle is perfectly frontal or bilateral, the two detectors obstacle are operated simultaneously and both wheels driving are simultaneously turned in direction reverse so that at first the vehicle backs up without being deflected. Anyway, he manages to clear whatever the position (lateral, frontal, bilateral), nature (plane, concave, ...) and dimension (in particular the width) of the obstacle. The function of obstacle detection is effectively ensured and a suitable order can be ensured whatever the position of the obstacle relative to the front of the vehicle.
Dans un mode de réalisation particulier préféré, les moyens d'inversion du sens de rotation comprennent une roue dentée motrice disposée au bout de l'arbre moteur, ainsi qu'un pignon central et une couronne périphérique à denture intérieure qui sont solidaires de la roue motrice et avec l'un ou l'autre desquels peut engrener la roue dentée motrice pour déterminer respectivement deux sens de rotation de la roue motrice.In a particular preferred embodiment, the means for reversing the direction of rotation comprises a wheel drive tooth placed at the end of the motor shaft, thus that a central pinion and a peripheral crown with teeth inner which are integral with the drive wheel and with either of which can mesh the gear drive to determine respectively two directions of rotation of the drive wheel.
On peut prévoir que les moyens de liaison comprennent un palier de support de l'arbre moteur qui est déplaçable approximativement transversalement audit arbre lorsque les moyens de détection d'obstacle sont actionnés ; dans un mode de réalisation préféré, lesdits moyens de liaison comprennent en outre un bec déplaçable entraíné par ledit bras de manière à occuper deux positions, savoir ;
- une première position non fonctionnelle occupée lorsque le bras est dans un position de repos en l'absence d'obstacle,
- une seconde position fonctionnelle occupée lorsque le bras est déplacé par un obstacle, dans laquelle le bec coopère avec un excentrique solidaire de l'arbre moteur de manière à repousser le palier mobile supportant ledit arbre moteur et à modifier l'engrènement de la roue dentée motrice.
- a first non-functional position occupied when the arm is in a rest position in the absence of an obstacle,
- a second functional position occupied when the arm is moved by an obstacle, in which the spout cooperates with an eccentric integral with the motor shaft so as to push back the movable bearing supporting said motor shaft and to modify the engagement of the driving gear wheel .
Il est en outre souhaitable que les moyens de liaison comprennent également des moyens de blocage temporaire aptes à maintenir la rotation en sens inverse de la roue motrice pendant une durée suffisante pour que le véhicule puisse se dégager de l'obstacle, puis à rétablir la rotation de la roue motrice dans son sens initial pour que le véhicule reparte sur une nouvelle trajectoire ; avantageusement les moyens de blocage comprennent un cliquet de blocage solidaire du palier mobile de l'arbre moteur qui est enclenché élastiquement lorsque le palier est déplacé sous l'action de l'excentrique.It is further desirable that the means of link also include temporary blocking means able to maintain rotation in the opposite direction to the drive wheel for a sufficient time for the vehicle can clear the obstacle and then restore the rotation of the drive wheel in its initial direction so that the vehicle sets out again on a new trajectory; advantageously the locking means include a pawl integral locking of the movable bearing of the motor shaft which is resiliently engaged when the bearing is moved under the action of the eccentric.
De préférence, les moyens de blocage temporaire sont agencés pour maintenir la rotation inverse de la roue motrice pendant une durée non prédéterminée, ce grâce à quoi le véhicule est amené à tourner d'un angle non prédéterminé et aléatoire de sorte que ses trajectoires successives ne se superposent pas et sont aléatoires ; il est intéressant, pour obtenir une structure simple, mais fiable, que les moyens de blocage temporaire comprennent en outre un doigt transversal solidaire de la roue motrice et apte à coopérer avec le susdit cliquet lorsque celui-ci est enclenché, afin de le dégager et de libérer le palier de l'arbre moteur, des moyens élastiques de rappel étant prévus pour ramener le palier dans sa position initiale.Preferably, the temporary blocking means are arranged to maintain reverse rotation of the wheel motive power for an indefinite period, thanks to which the vehicle is made to turn at an unspecified angle and random so that its successive trajectories do not not overlap and are random; he is interesting, to obtain a simple, but reliable structure, that the temporary blocking means further comprises a finger transverse integral with the drive wheel and able to cooperate with the above-mentioned ratchet when it is engaged, so release it and free the bearing from the motor shaft, elastic return means being provided to bring the bearing in its initial position.
L'invention sera mieux comprise à la lecture de la description détaillée qui suit d'un mode de réalisation préféré donné uniquement à titre d'exemple nullement limitatif. Dans cette description, on se réfère aux dessins annexés sur lesquels :
- la figure 1 est une vue d'ensemble, en perspective, d'un mécanisme équipant un véhicule, tel qu'un robot de nettoyage de piscine, agencé conformément à l'invention ;
- la figure 2 est une vue plus détaillée et à plus grande échelle d'un moitié du mécanisme de la figure 1 ;
- la figure 3 est une vue en perspective, sous un autre angle, et à échelle encore plus grande, d'une autre partie du mécanisme de la figure 2 ; et
- la figure 4 est une vue fragmentaire, en coupe, d'un élément du mécanisme visible sur la figure 3.
- Figure 1 is an overall perspective view of a mechanism fitted to a vehicle, such as a swimming pool cleaning robot, arranged in accordance with the invention;
- Figure 2 is a more detailed view on a larger scale of one half of the mechanism of Figure 1;
- Figure 3 is a perspective view, from another angle, and on an even larger scale, of another part of the mechanism of Figure 2; and
- FIG. 4 is a fragmentary view, in section, of an element of the mechanism visible in FIG. 3.
Sur les figures 1 à 4, et en particulier sur la figure 1, on n'a représenté que la partie du véhicule roulant qui est concernée par l'invention. Pour le reste, le véhicule peut être agencé de façon quelconque en fonction des applications et des besoins. En particulier le nombre des roues, le type de motorisation (électrique, hydraulique, mécanique,...) ainsi que l'équipement de travail et la forme générale (capotage, dimensions, ...) peuvent être quelconques dans la mesure où ils n'influent pas sur le mécanisme directeur qui va maintenant être plus particulièrement pris en compte.In Figures 1 to 4, and in particular on the Figure 1, only the part of the vehicle has been represented rolling which is concerned by the invention. For the rest, the vehicle can be arranged in any way according to applications and needs. In particular the number wheels, type of motorization (electric, hydraulic, mechanical, ...) as well as the work equipment and the form general (cover, dimensions, ...) can be any insofar as they do not influence the mechanism director who will now be more particularly taken into account.
De plus, bien que les dispositions propres à l'invention aient été plus particulièrement développées dans le but de réaliser un robot perfectionné de nettoyage de piscine, il est évident que lesdites dispositions peuvent trouver application pour équiper n'importe quel type de véhicule roulant à changement automatique de direction en présence d'un obstacle ; les mêmes dispositions pourraient également trouver application dans un véhicule flottant mû par deux propulseurs écartés transversalement l'un de l'autre.In addition, although the provisions specific to the invention have been more particularly developed in the goal of making an advanced robot for cleaning swimming pool, it is obvious that the said provisions may find application to equip any type of vehicle moving with automatic change of direction in presence of an obstacle; the same provisions could also find application in a floating floating vehicle by two thrusters spread transversely one of the other.
Sur la figure 1, on voit deux roues antérieures 1 d'un véhicule, qui sont motrices de façon indépendantes (c'est-à-dire non calées sur un arbre commun) tout en étant susceptibles d'être entraínées à partir d'un moteur commun (non représenté).In Figure 1, we see two front wheels 1 of a vehicle, which are independently driven (i.e. not wedged on a common tree) while being likely to be driven from a common engine (not shown).
A l'avant du véhicule sont disposés deux organes de détection d'obstacle qui sont agencés pour détecter des obstacles respectivement de part et d'autre du milieu de l'avant du véhicule. En outre chaque organe de détection d'obstacle est agencé pour être fonctionnel non seulement sur une moitié frontale du véhicule, mais aussi dans l'angle latéral correspondant, voire même sur l'extrémité antérieure du côté correspondant.At the front of the vehicle are arranged two obstacle detection which are arranged to detect obstacles obstacles respectively on both sides of the middle of the front of the vehicle. In addition, each detection device obstacle is arranged to be functional not only on a front half of the vehicle, but also in the corner corresponding side, even on the anterior end on the corresponding side.
Enfin chaque organe de détection d'obstacle est associé à des moyens de liaison agencés de manière telle que l'organe de détection, lorsqu'il heurte un obstacle, commande l'inversion du sens de rotation de la roue motrice opposée, et donc provoque le pivotement du véhicule à l'opposé de l'obstacle.Finally each obstacle detection member is associated with connecting means arranged in such a way that the detection member, when it strikes an obstacle, controls the reversal of the direction of rotation of the driving wheel opposite, and therefore causes the vehicle to pivot at the opposite of the obstacle.
Comme visible sur les figures 1 et 2, chaque organe
de détection d'obstacle est constitué par un organe allongé
ou bras 2 en forme générale de moustache ou de croissant de
lune qui s'étend approximativement en travers de l'extrémité
avant du véhicule. Chaque détecteur 2 présente un bord actif
3 saillant vers l'avant et s'étendant sur une moitié
frontale du véhicule, ainsi que dans l'angle et sur le début
du côté correspondant du véhicule ; sur l'autre moitié
frontale du véhicule, le bord 4 du détecteur est en retrait
vers l'arrière.As shown in Figures 1 and 2, each organ
obstacle detection consists of an elongated member
or
Les deux détecteurs 2 sont disposés l'un au-dessus
de l'autre, en étant inversés l'un par rapport à l'autre de
telle manière que le bord en retrait 4 de l'un coïncide avec
le bord actif en saillie 3 de l'autre.The two
Chaque détecteur 2 est supporté à libre rotation sur
un axe sensiblement vertical 5 par son extrémité 6 située du
côté du bord en retrait 4, des lumières pouvant éventuellement
être prévus dans l'autre détecteur pour autoriser leurs
libres mouvements rotatifs respectifs.Each
Cette même extrémité 6 du détecteur 2 est associée
à des moyens de liaison, désignés dans leur ensemble par la
référence 7, de manière à commander fonctionnellement le
sens de rotation de la roue motrice 1 qui est située de ce
même côté. Autrement dit, lorsqu'un obstacle agit sur le
bord 3 d'un détecteur 2, ce détecteur 2 commande la roue 1
située du côté opposé.This
L'entraínement et l'inversion du sens de rotation de
chaque roue motrice 1 sont agencés comme suit. Un arbre
moteur 8 (entraíné par un moteur central non représenté) est
équipé, à son extrémité libre, d'une roue dentée motrice 9.
A la roue 1 ou à l'axe de la roue 1 sont solidarisés
coaxialement un pignon central 10 et une couronne périphérique
11 à denture intérieure. La roue dentée motrice 9 est
située entre le pignon central 10 et la couronne 11 et peut
engrèner avec l'un ou l'autre, sélectivement, comme indiqué
ci-après.Training and reversing the direction of rotation of
each driving wheel 1 are arranged as follows. A tree
motor 8 (driven by a central motor not shown) is
fitted, at its free end, with a drive gear 9.
To wheel 1 or to the axis of wheel 1 are secured
coaxially a
Les moyens de liaison précités sont agencés comme
suit. Une partie de l'extrémité 6 de chaque détecteur 2 est
conformée en fourche 12 coagissant avec un ergot 13 solidaire
d'un chariot 14 qui est déplaçable sur une partie de
bâti fixe 15 selon une direction approximativement parallèle
à l'arbre moteur 8.The aforementioned connecting means are arranged as
follows. Part of the
Le chariot 14 porte un bec 16 qui s'étend en
direction de l'arbre 8.The
Approximativement en regard du bec 16, un disque
excentré 17 est calé en rotation sur l'arbre 8.Approximately
Par ailleurs l'arbre 8 est supporté par un palier 18
qui est lui-même supporté par un chariot 19 apte à coulisser
sur un bâti fixe 20 selon une direction approximativement
transversale à l'arbre 8.Furthermore, the
En l'absence d'obstacle, le détecteur 2 n'est pas
dévié et il maintient le bec 16 décalé latéralement par
rapport au disque excentré 17. Un ressort de rappel 21
maintient alors le chariot 19 dans un position pour laquelle
le palier 18 supporte l'arbre 8 en position de repos, la
roue dentée motrice 9 engrènant avec la couronne 11. Le sens
de rotation correspondant de la roue motrice 1 est supposé
correspondre à la marche avant du déplacement du véhicule.If there is no obstacle,
Lorsque survient un obstacle qui repousse le bord
actif 3 du détecteur 2 vers l'arrière, le détecteur 2, en
pivotant, provoque, par le biais de sa fourche 12, le
déplacement du bec 16 qui est amené en regard du disque
excentré 17. En tournant, celui-ci prend appui contre le bec
et l'arbre 8 est repoussé de sorte que la roue dentée
motrice 9 quitte la couronne 11 et va coopérer avec le
pignon central 10. Celui-ci est entraíné en sens inverse de
la couronne 11 et la roue motrice 1 tourne en sens inverse.When an obstacle occurs that pushes the edge
active 3 of
Pour que la coopération de la roue dentée 9 avec le
pignon central 10 dure suffisamment longtemps pour permettre
au véhicule de se dégager, on prévoit des moyens de blocage
libérable désignés dans leur ensemble par la référence 22
sur les figures 2 et 3.So that the cooperation of the toothed wheel 9 with the
Les moyens de blocage libérable 22 comprennent une
tige 23 coulissant axialement librement dans un passage 25
d'un corps fixe 24 situé en regard du palier 18, ladite tige
23 étant solidaire dudit palier 18. La tige 23 présente une
encoche radiale 26 qui, lorsqu'elle est dégagée hors du
corps 24, est repoussée en appui contre le bord de l'orifice
du passage 25 à l'aide d'un ressort transversal 27 (la tige
23 ayant un certain jeu radial dans le passage 25). On peut
éventuellement prévoir le passage 25 dans une chemise 28
vissable dans le corps 24 afin de permettre un réglage de
course, comme visible à la figure 4.The releasable blocking means 22 include a
La libération des moyens de blocage s'effectue comme
suit. La roue motrice 1 porte un doigt 29 qui s'étend
transversalement et qui, au cours de la rotation de la roue
1, trouve sur sa trajectoire un organe, par exemple une
bague 30, solidaire de la tige 23. On notera ici que
l'encoche 26 est creusée dans la tige 23 du même côté que le
doigt 29. Lorsque le doigt 29 rencontre la bague 30, il la
repousse et, l'encoche 26 étant ainsi dégagée, le ressort 21
rappelle tout l'équipage mobile en position initiale avec à
nouveau engrènement de la roue dentée motrice 9 avec la
couronne 11 : la roue motrice 1 retrouve alors une rotation
en sens avant.The release of the blocking means is carried out as
follows. The driving wheel 1 carries a
La disposition qui vient d'être décrite présente
l'avantage que, au moment de la rencontre de l'obstacle, le
doigt 29 se trouve dans une position angulaire quelconque
par rapport à la bague 30. La roue motrice 1 effectue donc
une rotation d'amplitude angulaire non prédéterminée et
aléatoire avant d'être à nouveau amenée à tourner en sens
avant. Le véhicule, après avoir heurté un obstacle, va donc
s'en dégager en pivotant à l'opposé de l'obstacle avec une
amplitude angulaire aléatoire et va repartir en marche avant
sur une nouvelle trajectoire qui est disposée de façon
aléatoire par rapport à la précédente.The arrangement which has just been described presents
the advantage that, when the obstacle is encountered, the
Dans le cas où les deux détecteurs 2 sont actionnés
simultanément (rencontre d'un obstacle frontal central), les
deux roues motrices 1 sont amenées à tourner en sens inverse
de façon simultanée et le véhicule recule sensiblement en
ligne droite. Toutefois les deux doigts 29 ne se trouvent
pas, en principe, dans la même position angulaire relative
par rapport aux deux bagues 30 respectives : un des deux
doigts 29 rencontrera donc sa bague associée 30 avant
l'autre, et alors le véhicule sera amené à tourner dans le
sens déterminé par ledit premier doigt rencontrant sa bague
associée, puis repartira en marche avant sur une nouvelle
trajectoire comme le cas précédemment exposé. Toutefois,
ici, aussi bien la distance de recul en ligne droite que le
côté vers lequel s'effectue la rotation et que l'amplitude
angulaire de cette rotation sont aléatoires : la nouvelle
trajectoire en marche avant est, là encore, assurée d'être
disposée aléatoirement par rapport à la précédente.In the case where the two
On est ainsi assuré que le véhicule ne va pas parcourir successivement les mêmes itinéraires et, dans le cas particulier d'un robot de nettoyage du fond d'une piscine, on est assuré que, par la combinaison de toutes les trajectoires aléatoires successives, le robot parcourra la totalité du fond de la piscine.This ensures that the vehicle does not go successively travel the same routes and, in the special case of a robot cleaning the bottom of a swimming pool, we are sure that, by the combination of all successive random trajectories, the robot will travel the entire bottom of the pool.
Comme il va de soi et comme il résulte d'ailleurs déjà de ce qui précède, l'invention ne se limite nullement à ceux de ses modes d'application et de réalisation qui ont été plus particulièrement envisagés ; elle en embrasse au contraire toutes les variantes prévues dans le cadre des revendications.As it goes without saying and as it results from elsewhere already from the above, the invention is in no way limited to those of its modes of application and embodiments which have have been more particularly envisaged; she embraces otherwise all variants provided in the scope of claims.
Claims (9)
- Wheeled vehicle which automatically changes travel direction when it meets an obstacle, this device being provided with two independent front-wheel drives (1) and comprising :two obstacle-detection units (2) located on the front of the vehicle at each side,means for driving each driving wheel (1) from a motor shaft (8), through means for reversing the direction of rotation,and means of connection (7) placed between each obstacle-detection unit (2) and means for driving the driving wheel located on the opposite side,said obstacle-detection units (2) and said means of connection (7) being arranged in such a manner that, when the vehicle meets an obstacle, the means of detection (2) actuated by said obstacle act, through said corresponding means of connection (7), so as to actuate said means for reversing the direction of rotation, and to have the rotation of the driving wheel pass from the forward direction to the rear direction,
- Vehicle as in claim 1, characterized in that the means for reversing the direction of rotation comprise a drive pinion (9) located at the end of the motor shaft (8), as well as a central gear (10) and an annular, inwardly toothed gear (11) which are integral with the driving wheel (1) and with one or the other of which the drive pinion (9) can mesh in order to determine respectively two directions of rotation of the driving wheel (1).
- Vehicle as in claim 1 or 2, characterized in that the means of connection (7) comprise a bearing (18) supporting the drive shaft (8) which is movable (19, 20) approximately transversely to said shaft when the obstacle detection means are actuated.
- Vehicle as in claims 1 and 3, characterized in that the means of connection (7) comprise a movable nose (16) driven by said arm (2) in such manner as to occupy two positions, namely :a first non-operational position occupied when the arm is in a rest position during the absence of an obstacle,a second operational position occupied when the arm is displaced by an obstacle, in which the nose (16) co-operates with an eccentric (17) integral with the drive shaft (8), in such manner as to push back the movable bearing (18) supporting said drive shaft (8) and to modify the meshing of the drive pinion (9).
- Vehicle as in anyone of claims 1 to 4, characterized in that the means of connection (7) also comprise temporary clamping means (22) capable of maintaining the reverse rotation of the driving wheel (1) during a sufficient time so that the vehicle can free itself from the obstacle, then to re-establish the rotation of the driving wheel (1) to its initial direction so that the vehicle starts out again on a new trajectory.
- Vehicle as in claim 5, characterized in that the clamping means (22) comprise a clamping catch (25, 26) fixed to the movable bearing (18) of the drive shaft (8) which is engaged elastically when the bearing is displaced under the action of the eccentric (17).
- Vehicle as in claims 5 or 6, characterized in that the clamping means (22) are arranged so as to maintain the reverse rotation of the driving wheel during a non-predetermined time whereby the vehicle is caused to turn from a non-predetermined, random angle such that its successive trajectories are not superimposed and are random.
- Vehicle as in claim 7, characterized in that the clamping means (22) also comprise a transversal pin (29) integral with the driving wheel (1) and capable of co-operating with said catch (25, 26) when the latter is engaged, in order to release it and free the bearing (18) from the drive shaft (8), elastic return means (21) being provided to return the bearing to its initial position.
- Automate cleaner for a water reservoir, particularly a swimming pool, adapted for moving on the bottom of said reservoir, characterized in that it is arranged according to anyone of claims 1 to 8.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9507297 | 1995-06-19 | ||
FR9507297A FR2735437B1 (en) | 1995-06-19 | 1995-06-19 | ROLLING VEHICLE, IN PARTICULAR POOL CLEANING ROBOT, WITH AUTOMATIC CHANGE OF DIRECTION OF MOVEMENT IN FRONT OF AN OBSTACLE |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0750083A1 EP0750083A1 (en) | 1996-12-27 |
EP0750083B1 true EP0750083B1 (en) | 2000-05-10 |
Family
ID=9480135
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96401298A Expired - Lifetime EP0750083B1 (en) | 1995-06-19 | 1996-06-14 | Driving vehicle, specially cleaning robot, in particular for swimming pools with means for automatically changing the driving direction in front of an obstacle |
Country Status (9)
Country | Link |
---|---|
US (1) | US5771987A (en) |
EP (1) | EP0750083B1 (en) |
AT (1) | ATE192821T1 (en) |
AU (1) | AU704603B2 (en) |
CA (1) | CA2179482A1 (en) |
DE (1) | DE69608168T2 (en) |
ES (1) | ES2146366T3 (en) |
FR (1) | FR2735437B1 (en) |
ZA (1) | ZA965184B (en) |
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1995
- 1995-06-19 FR FR9507297A patent/FR2735437B1/en not_active Expired - Fee Related
-
1996
- 1996-06-14 DE DE69608168T patent/DE69608168T2/en not_active Expired - Fee Related
- 1996-06-14 AT AT96401298T patent/ATE192821T1/en not_active IP Right Cessation
- 1996-06-14 EP EP96401298A patent/EP0750083B1/en not_active Expired - Lifetime
- 1996-06-14 ES ES96401298T patent/ES2146366T3/en not_active Expired - Lifetime
- 1996-06-17 US US08/664,828 patent/US5771987A/en not_active Expired - Fee Related
- 1996-06-18 AU AU56047/96A patent/AU704603B2/en not_active Ceased
- 1996-06-19 CA CA002179482A patent/CA2179482A1/en not_active Abandoned
- 1996-07-03 ZA ZA965184A patent/ZA965184B/en unknown
Also Published As
Publication number | Publication date |
---|---|
AU5604796A (en) | 1997-01-09 |
DE69608168D1 (en) | 2000-06-15 |
FR2735437B1 (en) | 1997-08-14 |
ATE192821T1 (en) | 2000-05-15 |
FR2735437A1 (en) | 1996-12-20 |
ZA965184B (en) | 1997-01-23 |
DE69608168T2 (en) | 2001-01-11 |
US5771987A (en) | 1998-06-30 |
AU704603B2 (en) | 1999-04-29 |
CA2179482A1 (en) | 1996-12-20 |
EP0750083A1 (en) | 1996-12-27 |
ES2146366T3 (en) | 2000-08-01 |
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