EP2824256A3 - Procédé de nettoyage d'un bassin à l'aide d'un robot - Google Patents

Procédé de nettoyage d'un bassin à l'aide d'un robot Download PDF

Info

Publication number
EP2824256A3
EP2824256A3 EP14176788.9A EP14176788A EP2824256A3 EP 2824256 A3 EP2824256 A3 EP 2824256A3 EP 14176788 A EP14176788 A EP 14176788A EP 2824256 A3 EP2824256 A3 EP 2824256A3
Authority
EP
European Patent Office
Prior art keywords
robot
rank
vertical wall
cleaning
tank
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP14176788.9A
Other languages
German (de)
English (en)
Other versions
EP2824256B1 (fr
EP2824256A2 (fr
Inventor
Yoann CHOURAQUI
Damien Dumontier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HEXAGONE MANUFACTURE SAS
Original Assignee
HEXAGONE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HEXAGONE filed Critical HEXAGONE
Publication of EP2824256A2 publication Critical patent/EP2824256A2/fr
Publication of EP2824256A3 publication Critical patent/EP2824256A3/fr
Application granted granted Critical
Publication of EP2824256B1 publication Critical patent/EP2824256B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)

Abstract

L'invention concerne un procédé de nettoyage (200) d'un bassin à N parois verticales à l'aide d'un robot, le procédé de nettoyage (200) comportant :
- une étape de calage (202) où le robot est calé contre la paroi verticale de rang n=1,
- une étape d'avancement (204) où le robot avance le long de la paroi verticale de rang n jusqu'à la détection de la paroi verticale de rang n+1,
- une étape de dégagement (206) où le robot recule sur une distance de dégagement pour se dégager de la paroi verticale de rang n+1,
- une étape de rotation (208) où le robot effectue une rotation sur lui-même pour se caler contre la paroi verticale de rang n+1,
- une étape de test (210) où il est vérifié si n est égal à N.
EP14176788.9A 2013-07-11 2014-07-11 Procédé de nettoyage d'un bassin à l'aide d'un robot Active EP2824256B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1356818A FR3008442B1 (fr) 2013-07-11 2013-07-11 Procede de nettoyage d'un bassin a l'aide d'un robot

Publications (3)

Publication Number Publication Date
EP2824256A2 EP2824256A2 (fr) 2015-01-14
EP2824256A3 true EP2824256A3 (fr) 2015-04-01
EP2824256B1 EP2824256B1 (fr) 2016-09-14

Family

ID=49237414

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14176788.9A Active EP2824256B1 (fr) 2013-07-11 2014-07-11 Procédé de nettoyage d'un bassin à l'aide d'un robot

Country Status (4)

Country Link
US (1) US9353542B2 (fr)
EP (1) EP2824256B1 (fr)
ES (1) ES2606979T3 (fr)
FR (1) FR3008442B1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL289621B (en) * 2014-07-01 2022-09-01 Samsung Electronics Co Ltd Cleaning robot and its control method
AU2021232871A1 (en) * 2020-03-09 2022-08-18 Zodiac Pool Care Europe Method of effecting lateral movement of an automatic pool cleaner along a surface of a swimming pool

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5569371A (en) * 1994-04-22 1996-10-29 Maytronics Ltd. System for underwater navigation and control of mobile swimming pool filter
US20030102014A1 (en) * 2001-12-05 2003-06-05 Junji Yoshino Self-running cleaning apparatus and self-running cleaning method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3676884A (en) * 1970-04-14 1972-07-18 Stanley S Wulc Random motion suction cleaner
DE2726577C3 (de) * 1976-06-28 1981-11-19 Sommer, Schenk AG, Schinznach-Dorf Reinigungsgerät für die Unterwasserreinigung von Schwimmbecken
US5337434A (en) * 1993-04-12 1994-08-16 Aqua Products, Inc. Directional control means for robotic swimming pool cleaners
ES2221276T3 (es) * 1998-09-23 2004-12-16 3S Systemtechnik Ag Aparato de limpieza de piscinas.
US7797780B2 (en) * 2004-11-12 2010-09-21 Smartpool, Inc. Wheel arrangement for swimming pool cleaner
US8623201B2 (en) * 2009-08-31 2014-01-07 Smartpool Llc Pool cleaning vehicle having improved logic

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5569371A (en) * 1994-04-22 1996-10-29 Maytronics Ltd. System for underwater navigation and control of mobile swimming pool filter
US20030102014A1 (en) * 2001-12-05 2003-06-05 Junji Yoshino Self-running cleaning apparatus and self-running cleaning method

Also Published As

Publication number Publication date
FR3008442B1 (fr) 2015-08-21
FR3008442A1 (fr) 2015-01-16
EP2824256B1 (fr) 2016-09-14
EP2824256A2 (fr) 2015-01-14
US20150027959A1 (en) 2015-01-29
US9353542B2 (en) 2016-05-31
ES2606979T3 (es) 2017-03-28

Similar Documents

Publication Publication Date Title
FR2984454B1 (fr) Paroi de cuve comportant une conduite
WO2012125249A3 (fr) Système et procédé permettant de fracturer une formation et procédé permettant d'augmenter la profondeur de fracture d'une formation
FR3035174B1 (fr) Cuve equipee d'une paroi presentant une zone singuliere au travers de laquelle passe un element traversant
FR3016952B1 (fr) Outil pour intervention sur la paroi d'une canalisation - methode associee.
EP2824256A3 (fr) Procédé de nettoyage d'un bassin à l'aide d'un robot
FR2957649B1 (fr) Procede de depose d'une ligne sous-marine au fond de la mer
FR3023348B1 (fr) Dispositif et procede de mise en place d'un manchon tubulaire de jonction pour conduite comportant un chemisage interne
FR3004233B1 (fr) Dispositif pour la fixation, sur une paroi, d'un raccord de canalisation
WO2017045846A3 (fr) Organe d'agitation, ensemble baguette d'agitation et contenant de transport et de stockage pour liquides équipé d'un ensemble baguette d'agitation
FR3033062B1 (fr) Procede de determination d'intervalles de tolerance pour le dimensionnement d'une piece
FR3042816B1 (fr) Moteur thermique muni d'un systeme de variation du taux de compression
FR3003632B1 (fr) Systeme d'injection pour chambre de combustion de turbomachine comportant une paroi annulaire a profil interne convergent
GB202018448D0 (en) Estimating downhole rpm oscillations
FR3018499B1 (fr) Mecanisme de fixation de derive de vehicule aquatique
FR2994448B1 (fr) Dispositif pour la fixation d'un element d'ossature a distance d'un element de structure d'une paroi.
FR3049428B1 (fr) Systeme de vegetalisation d'une paroi ou d'un mur
FR3052492B1 (fr) Palier de transmission servant de support pour une pompe a eau sur un groupe motopropulseur
HK1251272A1 (zh) 連續互扣式管樁牆或圍堰施工方法
FR3032564B1 (fr) Procede de raccordement de cables d'une section unitaire de conduite destinee a etre assemblee verticalement sur une conduite sous-marine de transport de fluides
FR3016890B1 (fr) Systeme de capotage pour cuve d'electrolyse
FR3052727B1 (fr) Procede de determination d'une classe de conduite de reference
FR2981115B1 (fr) Element de coffrage pour un volet roulant, destine a etre pose au niveau de la traverse haute d'un dormant rapporte au sein d'une baie de batiment
FR3032461B1 (fr) Procede pour desengager un ensemble anodique use d'une cuve d'une installation de production d'aluminium
FR3016909B1 (fr) Procede de construction d'une structure autoportante pour bassin
FR2978180B1 (fr) Piscine a debordement sur paroi vitree, boulonnee au travers d'une etancheite par membrane

Legal Events

Date Code Title Description
17P Request for examination filed

Effective date: 20140711

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: E04H 4/16 20060101AFI20150224BHEP

R17P Request for examination filed (corrected)

Effective date: 20150916

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: HEXAGONE MANUFACTURE SAS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20160318

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 829190

Country of ref document: AT

Kind code of ref document: T

Effective date: 20161015

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602014003613

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161214

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 829190

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161215

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170114

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170116

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161214

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602014003613

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

26N No opposition filed

Effective date: 20170615

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170711

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20170731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170711

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20140711

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160914

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230724

Year of fee payment: 10

Ref country code: GB

Payment date: 20230720

Year of fee payment: 10

Ref country code: ES

Payment date: 20230926

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230725

Year of fee payment: 10

Ref country code: DE

Payment date: 20230719

Year of fee payment: 10