Working method and cleaning device for cleaning a swimming pool
First Claim
1. A method for cleaning a swimming pool using a cleaning device that moves backwards and forwards in the swimming pool, and has a drive mechanism that can be switched to forward or backward travel and is actively connected to drive wheels or drive tracks, a respective motor for each of a left-hand-side and a right hand-side part of the drive mechanism, a control apparatus for controlling the drive mechanism, and contact means arranged at the front and rear to generate control signals in the event that the cleaning device approaches a swimming pool wall or an obstacle, and wherein the control apparatus possesses, for each part of the drive mechanism, a speed regulating apparatus and means for the differential control of the speed of the two motors, said method comprising individually measuring the respective distances (d1,d2) covered in forward or backward movement by each part of the drive mechanism and, using the control apparatus, calculating and differentially controlling angles (R1, R2) of change of direction for the travelling cleaning device based on the measured distances (d1, d2) covered and an offset width (v) of the respective travel tracks.
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Accused Products
Abstract
A cleaning device (2) which can be moved backwards and forwards in a swimming pool (1) has a drive mechanism which can be switched to forward or backward travel and has one motor for a left-hand-side and one for a right-hand-side part of the drive mechanism and a control apparatus for controlling the drive mechanism. The control apparatus has a speed regulation apparatus for each part of the drive mechanism and has means for differentially controlling the speed of the two motors. The cleaning device has means on both parts of the drive mechanism for measuring the distances (d1, d2) covered in forward and backward travel. The angles (R1, R2) of change of direction are calculated and differentially controlled by the control apparatus on the basis of the measured distances (d1, d2) covered and an offset width (v) of the respective travel tracks. The advantage of the control method lies in the fact that angles of change of direction can be precisely executed and swimming pools of any desired shape can be reliably cleaned.
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Citations
8 Claims
- 1. A method for cleaning a swimming pool using a cleaning device that moves backwards and forwards in the swimming pool, and has a drive mechanism that can be switched to forward or backward travel and is actively connected to drive wheels or drive tracks, a respective motor for each of a left-hand-side and a right hand-side part of the drive mechanism, a control apparatus for controlling the drive mechanism, and contact means arranged at the front and rear to generate control signals in the event that the cleaning device approaches a swimming pool wall or an obstacle, and wherein the control apparatus possesses, for each part of the drive mechanism, a speed regulating apparatus and means for the differential control of the speed of the two motors, said method comprising individually measuring the respective distances (d1,d2) covered in forward or backward movement by each part of the drive mechanism and, using the control apparatus, calculating and differentially controlling angles (R1, R2) of change of direction for the travelling cleaning device based on the measured distances (d1, d2) covered and an offset width (v) of the respective travel tracks.
Specification