Pool-cleaning robot and method for detecting halting of such a robot

Abstract

The invention relates to a pool-cleaning robot comprising a transport system that comprises at least one idle transport wheel train, a detritus suction system, and a system for detecting halting of said cleaning robot, the detection system comprising at least one transceiver of a light ray along an emission axis and at least one target that is secured to the transport wheel train, is aligned with said emission axis, and is suitable for reflecting said light ray so as to detect rotation of said transport wheel train.

1 . Pool-cleaning robot comprising a transport system comprising at least one idler transport wheel train, a detritus suction system and an immobilisation detection system of said cleaning robot, the detection system comprising:
 at least one transmitter-receiver for a beam of light along an emission axis and   at least one target, integral with the transport wheel train and aligned with said emission axis, adapted to reflect said beam of light in order for the rotation of said transport wheel train to be detected.   
     
     
         2 . Cleaning robot according to  claim 1 , in which the detection system comprises a watertight housing in which transmitter-receiver is mounted, said watertight housing comprising a transparent side to allow the circulation of beams of light according to said emission axis. 
     
     
         3 . Cleaning robot according to  claim 1 , in which the transmitter-receiver is an infrared transmitter-receiver. 
     
     
         4 . Cleaning robot according to  claim 1 , in which the target comprises an alternating pattern of reflective areas and non-reflective areas. 
     
     
         5 . Cleaning robot according to  claim 1 , in which, the transport wheel train comprising at least two wheels connected by an axle, said target is attached to said axle. 
     
     
         6 . Cleaning robot according to  claim 5 , in which the transmitter-receiver is positioned over said axle. 
     
     
         7 . Cleaning robot, according to  claim 1 , in which said target is attached by gluing. 
     
     
         8 . Cleaning robot according to  claim 1 , in which the transport system further comprises a motorised transport wheel train. 
     
     
         9 . Cleaning robot according to  claim 1 , in which the transport system comprises several idler wheel transport trains. 
     
     
         10 . Immobilisation detection method for a pool-cleaning robot according to  claim 1 , the cleaning robot moving in accordance with a movement phase, the method comprising:
 a step in which said transmitter-receiver emits a beam of light along the emission axis towards said target,   an intermittent reception step in which said transmitter-receiver receives a beam of light reflected by said target,   a step in which the movement phase for said cleaning robot is modified when said transmitter-receiver does not receive any beam of light for a set length of time or it receives a beam of light for a set length of time.