Method for Controlling an Automatic Device for Cleaning a Surface Immersed in Liquid and Corresponding Cleaning Device

Abstract

The invention relates to a method for guiding an automatic cleaning device for a surface submerged in a liquid. Changes in the device's inclination are detected; these changes correspond to its passage into a concave junction zone between two submerged surface portions ( 30 and 31 ) inclined relative to each other. Upon the condition that at least one change of the device's inclination is detected, a specific cleaning method for the junction zone is begun. The invention extends to a device making it possible to implement this method.

1 / Method for guiding an automatic cleaning device for a surface submerged in a liquid, including: 
 a chassis carrying a device for filtration of the liquid;    units for driving the chassis on the surface to be cleaned:    motors born on the chassis and arranged for transmitting motor movement to at least one part of the drive units;    electric means for controlling the motors;    said method including an operation consisting of:    detecting changes in the device's inclination corresponding to its passage into a concave junction zone between two portions of the submerged surface inclined relative to each other    on the condition that at least one change of the device's inclination is detected, a cleaning method is begun the consists of at least two reversals of the device's drive direction, with at least one reversal on each surface portion such that the device passes at least three times over said concave junction zone from one portion of the submerged surface to the other.    
   
   
       2 / Method according to  claim 1 , wherein the device comprises at least one inclination sensor suitable for changing state when the device's inclination relative to the horizontal passes through a predetermined reference angle value, and the electronic controls for the motors are adapted to be able to control a reversal of the direction of the motors driving the drive units, the specific cleaning procedure includes the following step: 
 (1) after detection of the state change of at least one inclination sensor, a reversal of the direction of the motors driving the drive units is ordered.    
   
   
       3 / Method according to  claim 2 , wherein the device comprises a single inclination sensor, the specific cleaning procedure comprises after step (1) the following step: 
 (2) after a predetermined period of time t 1 , a new reversal of the direction of the motors driving the drive units is ordered, where the value of this predetermined period of time t 1  is sufficiently significant to allow the passage of the device from one portion of the submerged surface to the other, but sufficiently short so that said new reversal of drive direction has the effect of again directing the device towards said junction zone.    
   
   
       4 / Method according to  claim 3  wherein t 1  is less than 10 seconds.  
   
   
       5 / Method according to  claim 4 , wherein t 1  is between two seconds and four seconds.  
   
   
       6 / Method according to  claim 3  wherein a time delay of length t 1  is begun during step (1).  
   
   
       7 / Method according to  claim 2  wherein the device comprises: 
 at least a first inclination sensor suited to detect the device's movement on one of said surface portions referred to as the first portion,    at least a second inclination sensor suited to detect the device's movement on the second surface portion,    the specific cleaning method comprises the following steps:    (1′) the device initially moving on the first surface portion, after detection of the state change of the second inclination sensor(s), a first reversal of the direction of the motors driving the drive units,    (2′) then, after detection of a state change of the primary inclination sensor(s), a reversal of the direction of the motors driving the drive units is ordered.    
   
   
       8 / Method according to  claim 2  wherein at least one inclination sensor is suited for changing state when the device's inclination relative to the horizontal exceeds a reference angle value of order 60°.  
   
   
       9 / Method according to  claim 3 , wherein the steps (1) and (2), or the steps (1′) and (2′) are repeated at least once.  
   
   
       10 / Method according to  claim 3 , wherein the steps (1) and (2), or the steps (1′) and (2′) are repeated only once.  
   
   
       11 / Method according to  claim 2  wherein the execution of the specific cleaning method is ordered upon each detection of a transition of the cleaning device from a horizontal surface portion onto a wall inclined at an angle relative to said horizontal portion greater than or equal to the inclination sensor's reference angle.  
   
   
       12 / Automatic cleaning device for a surface submerged in a liquid comprising: 
 a chassis carrying a device for filtration of the liquid;    units for driving the chassis on the surface to be cleaned;    motors born on the chassis and arranged for transmitting motor movement to at least one part of the drive units;    electric means (for controlling the motors;    at least one sensor of the device's inclination suited for detecting changes of the device's inclination corresponding to its passage over a concave junction zone between two portions of the submerged surface inclined relative to each other wherein:    the electronic control means are suited for beginning, on the condition that at least one change of the device's inclination is detected, a cleaning procedure consisting of at least two reversals of the device's drive direction with at least one reversal on each surface portion such that the device passes at least three times over said concave junction zone from one per version of the submerged service to the other.    
   
   
       13 / Device according to  claim 12  wherein: 
 it includes at least one inclination sensor suited to changing state when the device's inclination relative to the horizontal passes through a predetermined reference angle value,    the electronic control means are suited for being able to control, after detecting a change of state of at least one inclination sensor, during the specific cleaning method, a step (1) of reversing the direction of the motors driving the drive units.    
   
   
       14 / Device according to  claim 13  wherein it includes a single inclination sensor and wherein the electronic control means are suited, after this step (1), and after a predetermined time period t 1 , for ordering a step (2) beginning reversing the direction of the motors driving the drive units, where the value of this predetermined period of time t 1  is sufficiently significant to allow the passage of the device from one portion of the submerged surface to the other, but sufficiently short so that said new reversal of drive direction has the effect of again directing the device towards said junction zone.  
   
   
       15 / Device according to  claim 14  wherein t 1  is less than 10 seconds.  
   
   
       16 / Device according to claimed  15  wherein t 1  is between two seconds and four seconds.  
   
   
       17 / Device according to  claim 14 , wherein the electronic control means comprise a time delay of measure t 1 .  
   
   
       18 / Device according to claims  13  wherein: 
 it comprises at least a first inclination sensor suited to detect the device's movement on one of said surface portions referred to as the first portion,    it comprises at least a second inclination sensor suited to detect the device's movement relative to the second surface portion,    the electronic control means Hare suited for, during the specific cleaning method: 
 the device initially moving on the first surface portion, after detection of the state change of the second inclination sensor(s), a first step (1′) of reversal of the direction of the motors driving the drive units is ordered,  
 then, after detection of a state change of the primary inclination sensor(s), a second step (2′) of reversal of the direction of the motors (driving the drive units is ordered.  
   
   
   
       19 / Device according to  claim 13  wherein it comprises at least one inclination sensor suited for changing state when the device's inclination relative to the horizontal exceeds a reference angle value of order 60°.  
   
   
       20 / Device according to  claim 14  wherein the electronic control means (are suited for repeating the steps (1) and (2), or steps (1′) and (2′) at least once.  
   
   
       21 / Device according to  claim 14  wherein the electronic control means are adapted so that during each specific cleaning procedure the steps (1) and (2), or steps (1′) and (2′) are executed only one time.