Cleaning robot for slatted pergolas

Abstract

The invention relates to a Pergola Cleaning Robot (200) with blades (201), comprising: - a chassis (1), - at least two transverse rotating brushes (3), - means of locomotion (5), characterized in that: the brushes (3) are composed of segments (31, 33) arranged on a transverse line of the robot (100), and cover at least eighty percent of the width of the chassis (1), the segments (31, 33) each extending over a width, along the transverse axis, of at least one hundred and five percent, in particular one hundred and twenty percent, of the width of the expected space between the blades (201) of pergolas (200), and are located longitudinally on either side of the means of locomotion (5).

Description

Domaine technique

[0001] The present invention relates to the general field of pressurized water cleaning robots, brushes etc. equipped with specific tools, for cleaning fixed structures.

[0002] In particular, the present invention relates to the field of cleaning slatted pergolas, the slats of which may have a hollow section, gutters and slides at least partially undercut, while said slats are located at a significant height making their cleaning difficult. Techniques antérieures

[0003] Automated cleaning robots are commonly used in private swimming pools and ponds. These robots move along the bottom of the water and are equipped with brushes that scrape away biofilms and dirt stuck to the bottom of the pool. A suction head then draws the loosened dirt, suspended in the water, into a filter or away from the pool.

[0004] Derived robots are used for cleaning solar panels. They are equipped with stiff brushes and tracks, sometimes with suction cup tracks. While suitable for cleaning the perfectly flat surfaces of photovoltaic panels, they are not adapted to the complex shapes of pergola slats.

[0005] Other well-known robots are used for washing the windows of tall buildings, such as skyscrapers. These robots are carried by cables attached to an upper edge of the facade, and / or have suction cups on their legs to allow them to move along the glass facade.

[0006] None of these robots are suitable for cleaning pergolas, especially so-called "bioclimatic" pergolas. The slats of these pergolas have an "S" shaped cross-section with edges designed to interlock with the edge of the next slat, notably to form a watertight surface when closed.

[0007] Even double-skinned blades, which are flatter over most of their surface, have lips and grooves for interlocking. This complex section, with its recesses and undercut channels, makes cleaning difficult.

[0008] Furthermore, the slats form a discontinuous structure if the pergola is not closed, so a robotic pool cleaner cannot easily move across them. Conversely, when closed, the edges of the slats are not cleaned.

[0009] Consequently, the blades do not offer a sufficiently continuous, flat and smooth surface for conventional suction cups, tracks or casters.

[0010] The absence of edges physically limiting the robot's path also implies a risk of falling when it reaches the edge of the pergola.

[0011] There is therefore a need for a robot that allows for automated cleaning of pergola slats, is simple and safe to use, and has sufficient cleaning efficiency. Exposé de l'invention

[0012] To meet this need, the invention proposes a pergola cleaning robot with slats, configured for cleaning pergolas whose slats have a substantially constant and predetermined inter-slat spacing, comprising: a chassis, supporting means of locomotion, in support, when using the robot on the blades of the pergola, at least two transverse rotating brushes, with one brush at the front and one brush at the rear of the chassis, on either side longitudinally of the means of locomotion.

[0013] The robot is then characterized in that the means of locomotion extend in segments transversely under the chassis of the robot, with each segment having a transverse width greater than one hundred and five or even one hundred and twenty percent of the inter-blade space.

[0014] Thus, the means of transport are always supported on at least two pergola blades, while the entire pergola can be cleaned using the robot moving on it.

[0015] The robot may exhibit one or more of the following characteristics.

[0016] The chassis may have a vertical longitudinal T-shaped section, with the means of locomotion located at the base of the vertical bar of the T, and the ends of the horizontal bar of the T each carrying a brush.

[0017] This T-shaped structure leads to a particularly compact robot, with brushes suspended on either side of the means of locomotion.

[0018] The means of locomotion comprise a motorized roller in two segments, one of which is equipped with braking means, and a free-rotating follower roller with a total transverse width greater than one hundred and five or even one hundred and twenty percent of twice the inter-blade space.

[0019] Alternatively, the means of locomotion may include two tracks.

[0020] The braking system allows for simple control of the robot, with limited added weight and cost.

[0021] The brushes can be composed of segments arranged on a transverse line of the robot, and cover at least eighty percent of the width of the chassis, the segments each extending over a width, along the transverse axis, of at least one hundred and five percent, in particular one hundred and twenty percent, of the width of the expected space between the pergola blades, and are situated longitudinally on either side of the means of locomotion.

[0022] It is then possible to clean the entire surface of the pergola without having to extend the robot laterally beyond the pergola.

[0023] The brushes may include flexible tongues made of polymer material, extending under a support plane for the means of locomotion on the pergola, connected to a central shaft set in rotation and means for supplying a washing solution to the brushes or to the blades.

[0024] Such brushes ensure effective washing without scratching the surfaces of pergola blades and adapt to the roughness of the different existing blade models.

[0025] The brushes may also include polyurethane discs with saw-toothed edges arranged on the central shaft for cleaning grooves and undercuts of pergola blades.

[0026] The robot may include a reservoir of washing solution distributed on the brushes, and be connected or connectable to a drone capable of transporting it from a base, equipped with means of filling the water reservoir, to the pergola to be cleaned.

[0027] The drone can, in particular, lighten the robot when it is supported on the pergola, and be automated to allow autonomous washing of the pergola without human intervention.

[0028] Alternatively, the robot can include a flexible washing solution inlet, carried by an articulated arm, comprising a fixed mast and an arm suspended from the mast, the arm carrying the flexible hose.

[0029] The robot may include means for detecting the edges of the pergola to be cleaned, and a control unit configured to pilot the robot automatically so as to cover the surface between the edges.

[0030] The washing of the pergola can then be automated without risk of the robot falling.

[0031] Edge detection methods may include ultrasonic radars, lidars or cameras with edge recognition by the control unit or optical sensors and laser emitters, the emitters being placed at the corners of the pergola and emitting beams parallel to the edges, the optical sensors detecting the passage of the robot in the laser beams. Description sommaire des figures

[0032] Other advantages and features of the invention will become apparent from the following description of the accompanying figures, among which: There figure 1 is a perspective view of an embodiment of a cleaning robot according to an embodiment of the invention, The figure 2 is an exploded view of a brush segment of the robot's figure 1 , There figure 3 is a longitudinal cross-sectional view of the robot of the figure 1 , There figure 4a is a three-quarter view of a robot variant, with part of the chassis removed for better understanding. figures 4b, 4c And 4d They show different sizings of locomotion means allowing the robot to move on the blades in a schematic top view, The figure 5 is a cross-sectional view of the robot of the figure 4a , There figure 6 is a schematic top-view representation of a pergola with the robot and its path during cleaning. figure 7 is a side view of a robot on a pergola equipped with a power supply including a boom, The figure 8 is a schematic side view representation of a variant of a robot collaborating with a drone.

[0033] The examples are given for illustrative purposes only and are not intended to be limiting. Other embodiments of the invention can easily be obtained by variations and combinations of the embodiments shown. Description détaillée

[0034] There figure 1 is a simplified perspective representation of a first embodiment of a cleaning robot 100 for a pergola 200 with blades 201.

[0035] In the following description, the longitudinal direction L of the blades 201 also gives the longitudinal direction of the robot 100, which moves in a direction substantially parallel or slightly inclined with respect to the longitudinal direction L of the blades 201. The gravity 200, when the pergola is considered horizontal, or the normal to the plane of the pergola 200 gives the height direction V, and the third direction T, in the plane of the pergola 200 and perpendicular to the length, gives the width or transverse direction.

[0036] The 201 blades are arranged with a constant gap width or inter-blade width, typically between fifteen and thirty centimeters, which is known or at least within a known and predictable range.

[0037] The robot 100 has a chassis 1, which is roughly rectangular when viewed from above. The chassis 1 consists of a reservoir 10 for a washing solution, for example, a mixture of soap and water, and covers 11 that form splash guards for rotating brushes 3. The chassis 1 may also include a battery compartment or a connection for a power cable.

[0038] The reservoir 10 here has an opening 13 for supplying the cleaning solution, allowing for either intermittent or continuous refilling. The chassis 1 also has an interface 15, featuring indicator lights or displays and control means such as buttons and switches, and / or an electrical connection for powering or recharging a battery.

[0039] The chassis 1 is set in motion by means of locomotion 5, arranged on a transverse line, here in particular at the level of the middle of the chassis 1.

[0040] The brushes 3 are arranged at the front and rear of the chassis 1, and each is composed of two brush segments 31, 33 which cover at least eighty percent of the width of the chassis 1, or even ninety percent of this width, and in the embodiment shown, in particular the entirety of said width, or even protrude slightly on each side of the robot.

[0041] Each of the brush segments 31, 33 extends over a transverse width equal to or slightly greater than the width of the inter-blade space. In particular, the width of each of the brush segments 31, 33 is at least eighty percent, and in particular at least one hundred and five percent or even one hundred and twenty percent, of the expected width of the space between the pergola blades.

[0042] The cleaning capacity of the robot 100 is thus optimized with each longitudinal crossing of the pergola 200, while the entire surface of the pergola 200 is cleaned.

[0043] A brush segment 31 is shown in exploded view in figure 2 .

[0044] The brush segment 31 has a tubular central shaft 35, pierced with holes (not shown) through which water or the cleaning solution is injected. Around the central shaft 35 are arranged discs 37 with tongues made of flexible polymer material, in particular expanded neoprene or foam. The tongues are formed, in particular, by radial cuts in the outer periphery of the discs 37.

[0045] As an alternative or in addition, the robot 100 can include nozzles that spray washing solution externally onto the brushes or directly onto the blades 201 of the pergola 200.

[0046] At the free end of the brush segment 31 are polyurethane discs 39, with a saw-toothed edge, with a diameter greater than the tongue discs 37, to allow cleaning of grooves and undercuts of the blades 201 of pergola 200.

[0047] Because of their greater flexibility and saw-tooth shape, the said polyurethane discs 39 will "lick" further than the tongue discs 37 into the hollows and undercuts of the blades 201.

[0048] Spacer rings 41 maintain a width gap between neighboring discs, allowing for significant disc flexibility.

[0049] In an alternative embodiment, water or washing solution can be supplied to the brushes 3 via dedicated spray nozzles. The tongues can also be individually connected to the central shaft 35.

[0050] Other shapes and materials of brushes 3 are also possible, including polymer bristle brushes or foam finger brushes.

[0051] There figure 3 is a cross-sectional view at the height of one of the brush segments 33 of the brushes 3, and the figure 4a is a three-quarter top view of robot 100, without tank 10 and hoods of an embodiment equipped with sensors 19.

[0052] The sensors 19, in cooperation with a control unit (not shown) controlling the means of locomotion 5, form means of detecting the edges of the pergola 200.

[0053] The sensors 19 may include ultrasonic radars, lidars, or cameras with edge recognition by the control unit. Alternatively, edge detection methods include laser emitters, positioned at the corners of the pergola and emitting beams parallel to the edges, and optical sensors 19 that detect the passage of the robot 100 over the laser beams.

[0054] In figure 3 It appears that the chassis 1 of the robot 100 has a longitudinal vertical T-shaped section, with the means of locomotion 5 at the base of the vertical bar of the T, and the brushes 3 located under the ends of the horizontal bar of the T, on either side of the means of locomotion 5.

[0055] In particular, the tongues of the brushes 3 are long enough to extend vertically lower than the means of locomotion 5, and therefore lower than the support plane of the robot 100 on the blades 201 of the pergola 200.

[0056] The brushes 3 can in particular be carried by arms that can oscillate freely between a high position and a low position, so that the brushes can adapt their vertical position to that of the portion of blade 201 on which they rest.

[0057] For the automation of the operation of robot 100, the embodiment shown in figure 4a It has sensors 19 on each of its left and right sides, as well as at the front and rear, respectively directed in front of and behind the front and rear brushes 3. The arrangement of the brushes 3 and the means of locomotion 5 in the horizontal plane is schematically illustrated in figure 4b .

[0058] The means of locomotion 5 comprise two transverse lines of rollers, with a motorized transverse line 51, and a free rotating line 53, forming a follower roller.

[0059] The motorized rollers 51 are driven by an electric motor 55, powered by the battery 17 (or an electrical supply line if necessary).

[0060] Each line of rollers 51, 53 comprises two transverse segments, located on either side transversely of a central support and on the same transverse line.

[0061] The segments, in particular the motorized roller segments 51, cover from one of their external transverse ends to the other a total width W greater than one hundred and five or even one hundred and twenty percent of twice the width of the inter-blade space e between the contiguous pergola 200 blades 201, with a center distance i between their internal transverse ends less than ninety-five or even ninety percent of the inter-blade space e.

[0062] Further forward, the center distance i can be more significantly less than the inter-blade space e and in particular less than eighty or sixty, or even fifty percent of said inter-blade space e.

[0063] The total width W is slightly less than the width of the frame 1, and the motorized roller segments 51 occupy in particular more than two-thirds or even three-quarters or more of the transverse length of the frame 1.

[0064] Thus, regardless of the transverse position of the robot 100 oriented parallel or slightly inclined to the longitudinal direction L of the blades 200 of the pergola 200, each of the motorized segments 51 is always supported on at least one different blade 201, and the stability and mobility of the robot 100 are ensured.

[0065] There figure 4c illustrates another embodiment with a different arrangement of the motorized roller segments 51.

[0066] The robot 100 is narrower here, with a chassis 1 and a total transverse width W of the rollers 51, 53 just over twice the inter-blade space e.

[0067] In particular, the individual width w of each segment of motorized roller 51 is then very slightly greater than the inter-blade space e. With a sufficiently small center distance i, the motorized roller 51 is always in contact with two different blades 201, one per segment.

[0068] Three transverse positions of the motorized roller segments 51 are shown, with the position corresponding to the rest of the robot 100 shown shown in solid lines. In this position, the center distance i is located at the center of the inter-blade space e between two blades represented by their edge in dashed lines, forming a line or minimum bearing surface.

[0069] Indeed, the 201 blades are generally inclined slightly, from 30 to 45° with an open 200 pergola to allow the evacuation of the removed dirt and the cleaning solution applied with the 3 brushes.

[0070] In a first different transverse position 51' in dotted lines the segments are located with the center distance e situated exactly on an edge, not offset upwards from the figure 4c With the dimensioning shown, the outer ends of the segments are each supported on a different blade.

[0071] In the second different transverse position 51", also shown in dotted lines, the segments are located with the center distance e situated on the edge of the inter-blade space e between two contiguous blades, offset downwards from the figure 4c relative to the position shown in solid lines.

[0072] It is therefore understood that with this condition of width of the segments of motorized means of locomotion 51 greater than the inter-blade space e, the robot 100 is always supported on at least two different blades 201.

[0073] At least one, or even both, motorized roller segments 51 are equipped with a brake, for example a friction brake (not shown) which allows one or both segments to be braked individually, in order to slightly rotate the robot 100 when it reaches the end of the pergola 200, to divert its course and make it follow a zig-zag path.

[0074] There figure 4d is a schematic top-view representation of a broader transverse embodiment of robot 100 in a manner analogous to figures 4b et 4c .

[0075] In figure 4d , the robot 100 is equipped with two tracks 7, each with a width greater than twice the inter-blade space e, so as to be supported on more than one or two blades 201, in particular three blades 201.

[0076] The means of locomotion formed by the tracks 7 and the robot 100 as a whole then have a total width W greater than four times the inter-blade space e.

[0077] The tracks 7 allow in particular a better longitudinal distribution of the weight of the robot 100 on the blades 201.

[0078] The robot 100 is then controlled by the difference in forward speed of the tracks 7. Such a robot 100 equipped with tracks 7 is more suitable for pergolas 200 with wide and solid blades 201, for example of the double skin type with large hollow section, and with reduced deflection (high rigidity or short beam length).

[0079] The spacing between the slats of most pergolas intended for private residences is between 120 and 200mm.

[0080] Also, the means of locomotion 5, 7 are then transverse segments with an individual width w of at least 150 to 250mm, with a center distance i ranging from 50 to 150 mm typically for a relatively narrow robot, in particular with a total width W ranging from approximately 400 to 800mm.

[0081] In particular, a robot 100 with a total width of 500 to 700mm, with two transverse segments of motorized roller 51 (or tracks 7) with an individual width w between 200 and 250mm, allows for the cleaning of the majority of the 200 installed pergolas.

[0082] A maximum total width limit W is given in particular by the total weight of the robot 100, which the pergola 200 must support without deformation of the blades 201.

[0083] There figure 5 is a cross-sectional view of the embodiment of the figure 4a .

[0084] There figure 6 illustrates the operation of the robot 100 described previously.

[0085] There figure 6 is a schematic top-view representation of a portion of the pergola 200, represented by its edges. The longitudinal direction L of the robot and the blades 201 (not shown) corresponds to the up-down direction of the figure 6 .

[0086] The robot 100 starts from one of the corners (here top left) of the pergola 200 at the level of the edge R1 at the top. figure 6 and a lateral edge RL. It runs along the lateral edge RL of the pergola 200, until it reaches the opposite transverse edge R2 of the pergola 200 from its starting point (at the bottom). figure 6 ).

[0087] The sensors 19 then detect said edge R2, and trigger the braking means to rotate the robot 100 slightly, in the opposite direction to the lateral longitudinal edge.

[0088] Robot 100 then starts again, once diverted, in the opposite direction, along a slightly inclined axis, until it reaches the opposite transverse edge R1, on the side of its starting point.

[0089] The sensors 19 detect said edge, and trigger the braking means again so as to straighten the robot 100 or even tilt it along an axis oriented towards the inside of the pergola 200.

[0090] The robot 100 then goes back in the opposite direction, and, by repeating these steps, will cover the entire surface of the pergola 200 following a zig-zag path.

[0091] Between two extreme positions along an edge R1, R2, the robot 100 shifts by a transverse distance d relative to the blades 201. This distance d is notably less than the width of the robot 100, and can in particular be less than the distance between two blades 201, or even half the distance between two blades 201. All the blades 201 are then cleaned by means of the brushes 3 at least once or even twice.

[0092] There figure 7 illustrates a means of powering 300 of the robot 100 during its automatic operation for cleaning the pergola 200.

[0093] The said supply means 300 includes in particular an articulated arm, comprising a fixed mast 301 and an arm 303 suspended from the mast 301, the arm 303 carrying a flexible hose 305 for supplying washing solution, current and control signal, at the level of the pergola 200.

[0094] Mast 301 is here connected to a beam forming the edge of pergola 200, but it can alternatively be connected to a ground base or even to a vehicle with a washing solution tank. Alternatively, the jib can be part of a crane to lift robot 100 and place it onto pergola 200.

[0095] The arm helps to relieve the strain at the connection of the hose 305 to the tank 10 of the robot 100 by supporting most of the weight of the hose 305 filled with washing solution.

[0096] There figure 8 illustrates an alternative lifting and refueling method for robot 100 compared to the figure 7 .

[0097] In this embodiment, the robot 100 is removably connected to a drone 400, which can transport it from the ground to the pergola 200 to be cleaned. The drone 400 can also transport the robot 100 from the pergola being cleaned to a base (not shown) which includes means for recharging the robot 100 with electricity and cleaning solution.

[0098] The drone 400 can alternatively be an integral part of the cleaning robot 100 and relieve the weight of the robot 100 on the pergola 200 while it cleans it.

[0099] The robot 100 according to the invention allows for automated and efficient cleaning of pergolas 200, in particular climatic pergolas 200.

Claims

1. Pergola cleaning robot (200) with louvers (201), configured for cleaning pergolas (200) with louvers (201) having regularly spaced parallel louvers with a substantially constant predetermined inter-louver space (e), comprising: - a chassis (1), - load-bearing locomotion means (5), supported, when using the robot (100) on louvers (201) of the pergola (200), - at least two transverse rotating brushes (3), with one brush (3) at the front and one brush (3) at the rear of the chassis (1), on either side longitudinally (L) of the locomotion means (5), characterized in that : the means of locomotion (5) extending in segments transversely (T) under the chassis (1) of the robot (100), with each segment having a transverse width greater than one hundred and five or even one hundred and twenty percent of the inter-blade space (e).

2. Robot according to claim 1, characterized in thatthe chassis (1) has a vertical longitudinal T-shaped section, the means of locomotion (5) being located at the base of the vertical bar of the T, and the ends of the horizontal bar of the T each carrying two segments (31, 33) of brush (3).

3. Robot according to claim 1 or 2, characterized in that at least one of the motorized roller segments (51) is provided with means for braking its rotation to tilt the stroke of the robot (100).

4. Robot according to claim 3, characterized in that the means of locomotion comprise a driving roller (51) in two segments, one of which is provided with braking means, and a following roller (53) free in rotation with a total transverse width (W) greater than one hundred and five or even one hundred and twenty percent of twice the inter-blade space (e).

5. Robot according to claim 1, characterized in that the means of locomotion include two tracks (7).

6. Robot according to any one of the preceding claims, characterized in thatthe brushes (3) are composed of segments (31, 33) arranged on a transverse line (T) of the robot (100), and cover at least eighty percent of the width of the chassis (1), the segments (31, 33) each extending over a width, along the transverse axis, of at least one hundred and five percent, in particular one hundred and twenty percent, of the width of the expected space between the blades (201) of pergolas (200), and are located longitudinally (L) on either side of the means of locomotion (5).

7. Robot according to any one of the preceding claims, characterized in that the brushes (3) have flexible tongues of polymer material, extending up to under a support plane of the means of locomotion (5) on the pergola (200), connected to a central shaft (35) set in rotation and means of supplying a washing solution to the brushes (3).

8. Robot according to the preceding claim, characterized in thatthe brushes also include polyurethane discs (39) with saw-toothed edges arranged on the central shaft (35) for cleaning grooves and undercuts of the blades (201) of pergolas (200).

9. Robot according to any one of the preceding claims, characterized in that It includes a reservoir of washing solution (10) distributed onto the brushes (3), and in that It is connected or connectable to a drone (400) capable of transporting it from a base, equipped with means for filling the water tank, to the pergola (200) to be cleaned.

10. Robot according to any one of claims 1 to 7, characterized in that It includes a flexible (305) for the inlet of the washing solution, carried by an articulated arm (300), comprising a fixed mast (301) and an arm (303) suspended from the mast (301), the arm (303) carrying the flexible (305).

11. Robot according to any one of the preceding claims, characterized in thatIt includes means for detecting edges (19) of the pergola (200) to be cleaned, and in that It also includes a control unit configured to pilot the robot (100) in an automated manner so as to cover the surface between the edges.

12. Robot according to claim 12, characterized in that the means of detection (19) of the edges (R1, R2, RL) include ultrasonic radars, lidars or cameras with recognition of the edge (R1, R2, RL) by the control unit or optical sensors and laser emitters, the emitters being placed at the corners of the pergola and emitting beams parallel to the edges, the optical sensors detecting the passage of the robot in the laser beams.

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