ROBOT FOR TREATMENT OF THE INTERNAL WALLS OF AQUATIC POOLS WITH BALANCING

Abstract

A robot (1) for treating the internal walls (3) of aquatic basins (4), comprising four suction cup heads (10) connected by a frame (2) forming a square or rectangular shape, the suction cup heads (10) being arranged at the corners of the frame, a motorized roller (30) with rollers (31) or tracks, for moving the treatment device (1) along a wall (3) to be treated, said roller (30) being activatable or orientable in two unique driving positions angularly spaced 90 degrees apart, each of the suction cup heads (10) comprising a rotating disc (11) arranged in a rotatable manner and connected to a rotation axis (12) capable of being driven by a disc motor (13). FIGURE 1

Description

Title of the invention: ROBOT FOR TREATMENT OF THE INTERNAL WALLS OF WATER POOLS WITH BALANCING Technical field

[0001] The present invention relates to a robot for treating the internal walls of aquatic basins, comprising four suction cup heads connected to each other by a chassis forming a frame in the shape of a square or rectangle, the suction cup heads being arranged at the corners of the frame, a motorized mobile with rollers or tracks, for moving the treatment device along a wall to be treated, said mobile being activatable or orientable according to two unique rolling positions angularly spaced 90 degrees apart, each of the suction cup heads comprising a rotating disc arranged in a rotational manner and connected to a rotation axis capable of being driven by a disc motor. Previous technique

[0002] Aquatic tanks such as aquariums are intended for public viewing and therefore must have clean walls with a high degree of transparency. Regular cleaning of the transparent surfaces of aquatic tanks is therefore necessary. Most tanks contain several varieties of fish and marine plants, which often generate various types of soiling and lead to the deposition of biofilms along the tank walls. Biofilms can easily obstruct the visibility of an aquarium after only a few days. Therefore, cleaning of the walls must be repeated at regular intervals to prevent the biofilm from becoming too thick and difficult to remove.

[0003] Various prior art methods exist for cleaning the transparent surfaces of aquariums. Often, known methods not only require intrusive means that are harmful to the life forms present in the aquatic tanks, but also require significant and difficult-to-implement human intervention.

[0004] Generally, the cleaning of transparent surfaces in aquatic ponds is done manually. Large ponds are often cleaned by operators positioned on available surfaces above the pond. They use poles equipped with brushes or sponges to scrub the walls. Their movements are irregular, and some areas may be missed. The quality of the cleaning is often approximate due to the application of inconsistent friction force and a random number of passes.

[0005] Other cleaning methods are also known. For example, systems comprising an element inside the basin and an element outside the basin are known, the two elements cooperating together through a magnetic effect. An operator, positioned outside the basin, can then move the external element, thereby moving the internal element.

[0006] For example, patent application EP2012581 proposes a device for cleaning aquarium glass, and in particular the internal glass of aquariums. This device includes an element that can be positioned on the inner wall of the aquarium glass. The device also includes an external element that is positioned on the outer face of the glass. The internal and external elements of the device are attracted by magnetic force, respectively, so that the internal element of the device follows the movements of the external element. A cleaning surface is installed within the device. This surface is positioned directly against the inner wall of the aquarium. This device facilitates the cleaning of small glass surfaces. For large, often tall, glass surfaces, the operator is forced to use various methods to be able to cover the entire surface.

[0007] Application EP1738642 relates to an internal aquarium surface cleaning device comprising an inner body. The inner body has a cleaning surface made of foam, intended to be in contact with the wall to be cleaned. The inner body is moved across the magnetic surface by the magnetic force binding it to an external component.

[0008] Document WO2007127472 provides yet another example of a treatment and proposes a remote surface preparation mechanism, such as cleaning the internal surface of an externally controlled aquarium. The cleaning device comprises a body with at least one magnetic element which is coupled, for remote control, with complementary magnetic elements in a remotely located movable drive head.

[0009] The prior art, as illustrated by the documents cited above, proposes systems for polishing and / or cleaning aquarium surfaces using various magnetic mechanisms. However, such methods have certain drawbacks. The magnetic force required for surface treatment necessitates installing two elements on either side of the wall of the aquarium to be treated. Furthermore, this system requires easy external access regardless of the arrangement of the walls to be cleaned, which is not always the case in practice. The treatment technique, particularly using magnetic mechanisms, is often limited to relatively thin walls, which precludes the treatment of large aquariums, whose walls can be several tens of centimeters thick. Also, the movement of the magnetic element fixed to the inner wall is a significant drawback. The movement of the water feature in the basin is generated by the external element, often through human intervention, thus precluding automation of the process. These various systems do not allow for adjusting or varying the intensity of the force applied to the cleaning surface. Finally, the cleaning surface inside the basin quickly becomes saturated with dirt and biofilm, significantly reducing the cleaning effectiveness.

[0010] Treatment systems with means of movement entirely internal to the basin are also known, such as, for example, that of application FR3067563, which describes a system for treating the walls of aquatic basins comprising a treatment head with a containment chamber having an opening that can be oriented towards the wall to be treated, said treatment head being mobile on a support by means of a treatment movement motor to allow the treatment of said wall, the support consisting of a repositionable mobile support capable of being fixed on the wall to be treated by suction cups and comprising a treatment movement rail on which the treatment head can move, a translation rail allowing the mobile support to be translated when the treatment head is stopped and fixed against the surface in repositioning mode of the mobile support.

[0011] Document FR3033229 describes a system for treating internal walls of aquatic basins by polishing, comprising an abrasive mixture reservoir and a surface treatment head in fluidic communication with the abrasive mixture reservoir, rails for moving the treatment head along the wall to be treated, and means for supplying the treatment head with an abrasive mixture in substantially continuous flow.

[0012] These last two systems ensure reliable, precise guidance without risk of deviation from the intended trajectory, but require a heavy, bulky, and expensive installation. Furthermore, the large span of the rails makes these systems incompatible with basins that have difficult access.

[0013] Document FR2010190 describes a multifunctional device capable of moving along a wall. In one particular embodiment, the device is adapted for cleaning swimming pool walls. The working head forms a single large suction cup. Wheels are arranged on the edges of the working head to ensure movement. The mobile unit is therefore integrated into the single suction cup head.

[0014] US patent 3337889 relates to a device for cleaning the internal walls of large tanks such as aquariums. The working head forms a single large suction cup. Wheels are arranged on the edges of the working head to enable movement. The mobile unit is therefore integrated into the single suction cup head.

[0015] To overcome these various drawbacks, the invention provides various technical means. Summary of the invention

[0016] First of all, a first objective of the invention is to provide a treatment system, in particular for cleaning the walls of aquatic basins, which is simple, inexpensive, and easy to implement.

[0017] Another objective of the invention is to provide a treatment system, in particular for cleaning the walls of aquatic basins, which makes it possible to ensure precise and rigorous monitoring of the trajectory followed along the wall to be treated.

[0018] Finally, another objective of the invention is to provide a treatment system, in particular for cleaning the walls of aquatic basins, which makes it possible to avoid leaving untreated areas.

[0019] To this end, the invention provides for a robot for treating the internal walls of aquatic basins, comprising four suction cup heads connected to each other by a chassis forming a square or rectangular frame, the suction cup heads being arranged at the corners of the frame, a motorized roller or tracked mobile unit for moving the treatment device along a wall to be treated, said mobile unit being activatable or orientable according to two unique rolling positions angularly spaced 90 degrees apart, said mobile unit being independent of the suction cup heads, connected to the chassis and positioned at the center of the latter, each of the suction cup heads comprising a rotating disc arranged in a rotatable manner and connected to a rotation axis capable of being driven by a disc motor, the robot being configured to present, in operation, a vertical FF flotation axis,the suction cup heads forming two pairs, each oriented perpendicularly to the flotation axis FF, i.e., one pair in the upper position and one pair in the lower position, whose rotational directions of the rotating discs of the same pair are opposite, and whose rotational directions of the discs of the pair in the upper position and the pair in the lower position, considered in relation to the flotation axis FF, are reversed.

[0020] This architecture allows for high static and dynamic stability of the robot, which can thus move in a straight line, which facilitates the implementation of treatment plans with successive parallel movements, without deviation of trajectory.

[0021] According to an advantageous embodiment, when the robot is in front view in a floating position, the rotating discs of the suction cup heads have directions of rotation, along the quadrants Q1, Q2, Q3 and Q4, in the counterclockwise direction (CCW) for quadrant Q1, clockwise (CW) for quadrant Q2, clockwise (CW) for quadrant Q3 and counterclockwise (CCW) for quadrant Q4.

[0022] Advantageously, the vertical flotation axis FF in operation is obtained by first balancing the robot along the plane V of the suction cup heads, by arranging the functional elements of the robot so as to have a greater mass in the lower zone so that the V plane is parallel to the FF flotation axis.

[0023] Also advantageously, the vertical flotation axis FF in operation is obtained by a second balancing of the robot in the direction of the median axis M of the robot by arranging the functional elements of the robot so as to have a balanced mass on each side of the median axis M of the robot.

[0024] According to another advantageous embodiment, the suction head comprises a rotating disc arranged in a rotatable manner and connected to a rotation axis capable of being driven by a disc motor, the rotating disc carrying a wall interface layer comprising a plurality of radial grooves connecting the center of rotation of the disc to the periphery of the disc and at least one orifice ensuring, in operation in an aquatic basin in the immediate vicinity of a wall to be treated, a flow of water between the rear of the disc and the radial grooves arranged in the portion of the disc located on the side of the wall to be treated.

[0025] Advantageously, the suction cup head comprises an axial peripheral envelope.

[0026] Also advantageously, the interface layer includes a treatment surface and the suction cup head serves on the one hand to fix the treatment device to a wall of the basin to be treated and on the other hand to carry out a cleaning or polishing treatment of the wall using said treatment surface. Brief description of the drawings

[0027] All implementation details are given in the following description, supplemented by Figures 1 to 10, presented solely for the purpose of non-limiting examples, and in which: Fig. 1

[0028] [Fig.1] [Fig.1] is a schematic representation of an example of an embodiment of a processing robot, in particular for wall cleaning, using a mobility assembly with motorized mobile; Fig. 2

[0029] [Fig.2] [Fig.2] shows the processing robot of [Fig.1] in side view, in submerged working position; Fig.3

[0030] [Fig.3] [Fig.3] is a schematic representation of an example embodiment of a motorized mobile seen from the side; Fig. 4

[0031] [Fig.4] [Fig.4] is a schematic representation of an example embodiment of a motorized mobile seen from above; Fig. 5

[0032] [Fig. 5] [Fig. 5] is a schematic representation of an example embodiment of a processing robot, in particular for wall cleaning, using a mobility assembly with a motorized mobile oriented to perform movement along the Y-axis; Fig. 6

[0033] [Fig.6] [Fig.6] is a schematic representation of an example embodiment of a processing robot, in particular for wall cleaning, using a mobility assembly with a motorized mobile oriented to perform movement along the X-axis; Fig. 7

[0034] [Fig.7] [Fig.7] is a front view from the outside of an aquatic basin of a example of a working disk; Fig. 8

[0035] [Fig.8] [Fig.8] is a front view of an alternative embodiment of the working disk of the [Fig.7]; Fig. 9

[0036] [Fig.9] [Fig.9] is a schematic representation of an example embodiment of a treatment head; Fig. 10

[0037] [Fig.10] [Fig.10] is a schematic representation of another example of manufacturing a treatment head. Description of the implementation methods

[0038] WALL TREATMENT DEVICE

[0039] Figure 1 is a schematic representation of an example of an embodiment of a treatment robot 1 for cleaning the internal walls of aquatic basins such as aquariums. A set of four dual-function dynamic suction cup heads 10 allows, on the one hand, the system 1 to be fixed to a wall 3 to be treated or cleaned and, on the other hand, the wall to be treated or cleaned by means of a non-abrasive mechanical friction action, for example, using a wall interface layer 14 that is specifically adapted to perform this cleaning function, as described below in relation to Figures 6 to 9. In the illustrated example, the dynamic heads 10 are provided at the four corners of the treatment system to facilitate access to the edges and corners of the walls 3 to be treated. The suction cup heads 10 are connected to each other by a frame 2, in this example taking the form of an assembly of square or rectangular tubes.The chassis 2 forms a peripheral frame in the shape of a quadrilateral within which a mobile (described later) is centrally arranged. Other types of configurations are possible.

[0040] MOTORIZED WHEELED MOBILE

[0041] To move the treatment device, a mobile 30 includes one or more wheels 31 or rollers or tracks arranged so as to contact the wall 3 to be treated in order to roll on the latter.

[0042] For the sake of simplification, Figures 1 to 6 illustrate only examples of embodiments in which the mobile includes wheels or rollers 31. In these different examples, the wheels or rollers can be replaced by tracks.

[0043] When the mobile 30 has a single wheel or roller, the latter can pivot 90° in the center of the processing device 1 by means of an angular actuator, and it is driven by a sealed motor.

[0044] When the mobile 30 has several wheels or rollers, two of its parallel sides each have a sealed motor capable of driving all the wheels on the same side. When the mobile 30 has tracks, two of its parallel sides each have a sealed motor capable of driving the track on the same side. All these assemblies are preferably controlled remotely, for example, using a suitable remote control.

[0045] The action of the wheels, rollers, or tracks against the wall allows the treatment robot to move. The suction power of the dynamic suction heads is metered and adjusted to provide both a holding force against the wall and sufficient friction of the interface layer 14 to ensure wall cleaning, while also allowing movement along the wall by the action of the wheels, rollers, or tracks. The value of this adjusted suction force can be achieved by the assistance and action of one or more calibrated springs advantageously arranged between the chassis 2 of the treatment device and the wheeled, tracked, or roller-equipped mobile 30, thus ensuring optimum adhesion of the latter against the wall 3.

[0046] A support 36 for the mobile, in this example a rod, connects the mobile 30 to the chassis 2 of the processing device. For greater stability and good dynamic balance, the mobile 30 is positioned in the center of the chassis 2. The motors and discs of the suction head units are preferably designed for counter-rotation to compensate for the torque effect that tends to rotate a single head in the opposite direction to the disc drive motor.

[0047] The mobile 30 carrying the wheels, rollers, or tracks can pivot on itself. According to a first mode, the pivoting is carried out, for example, by simultaneously rotating wheels, rollers, or tracks at the same speed, but in opposite directions on each side of the mobile. After pivoting, the wheels, rollers, or tracks can be simultaneously rotated at the same speed in the same direction, thus allowing the processing system to be moved in all useful directions.

[0048] A second pivoting mode uses a rotary actuator 33 connected to the set of wheels, rollers or tracks by a rotary actuator shaft 34.

[0049] In both cases, the axis of rotation of the mobile 30 is located at the center of the chassis 2 of the processing device.

[0050] Alternatively, the mobile 30 can be fixed relative to the chassis 2: in this case, the wheels, rollers, or tracks can be arranged as follows: along the X-axis, at least one wheel, roller, or track is arranged on two parallel sides, with its sealed motor. Along the Y-axis, at least one wheel, roller, or track is arranged on two parallel sides opposite the X-axis, with its sealed motor. These movement systems, comprising wheels, rollers, or tracks motorized along the X and Y axes, are retracted alternately by means of actuators. This makes it possible to maintain contact with the wall at all times without losing the X or Y reference.During a change of direction, the processing device 1 stops so that the part of the moving part comprising wheels, rollers or tracks which were retracted can be deployed and once in contact with the wall the part of the moving part dedicated to the other axis is retracted in turn, then the rotation of the elements against the wall can resume in the new direction offset by 90°.

[0051] Another variant provides for at least one retractable motorized wheel, roller, or track on the wall, attached to its moving part 30 by means of an actuator. The moving part 30 can pivot on itself through 90° by means of a rotary actuator. Once the new angular position along the X or Y axis is reached, at least one motorized wheel, roller, or track is redeployed and brought into contact with the wall 3. Their rotation against the wall then allows the processing device 1 to move in another direction along the X or Y axis.

[0052] It can be noted that, regardless of the variant chosen, adhering locking pads on the wall 3 can be deployed by actuators between two suction cup heads 10, for example, to improve the stability and maintenance of the position reference of the suction cup heads 10 during the pivoting of the mobile 30 or the retraction of its elements. This example is a non-limiting option.

[0053] The pivoting, mounted mobile unit allows the entire set of wheels, rollers, or tracks to be oriented along two unique and exclusive reference directions, X and Y. By default, movement in any other direction is inhibited or blocked. This mode is illustrated in Figures 5 and 6. This mode ensures good traceability of the path followed and to be followed along the surface being treated, ensuring that the entire surface is treated. For example, to perform treatment by a succession of parallel lines, the system moves along the X-axis to the end of a line, then moves along the Y-axis to the next line, and then resumes movement along the X-axis in the opposite direction. The system can thus move across the entire surface to be treated while avoiding deviation from the path. Maintaining traceability by preserving the initial reference facilitates management. of the processing path, avoiding leaving unprocessed areas. This mode also allows for movement in successive parallel columns or a hybrid mode, for example, by creating successive rectangles. Alternatively, the default movement mode, exclusively along the X or Y axis, can be deactivated, for example, for occasional movement where you want to go directly to a specific point on a wall, for localized retouching, or other purposes.

[0054] According to yet another embodiment, the processing robot 1 includes a mode for changing the X or Y axis when stopped. This mode allows the movement of the processing robot 1 to be stopped, then the mobile 30 to be repositioned along the X or Y axis, and then the movement of the processing robot 1 to resume automatically in the desired direction once the angular repositioning has been completed. This control aid for the processing robot 1 further optimizes its movement mode along the two unique and exclusive reference X or Y directions mentioned above.

[0055] ROTATION OF DISCS FOR BALANCING

[0056] Figure 2 shows the robot of Figure 1 in its working position immersed in the basin. To ensure optimal robot operation, static and dynamic balancing is planned according to several variables.

[0057] For the sake of simplicity, it is assumed that most of the walls of the pools to be treated are vertical. In order to adapt well to these walls, the robot's default working position is also vertical. As shown in [Fig. 2], a vertically aligned flotation axis FF is used as a reference.

[0058] First, when the robot is immersed in the basin, it should preferably adopt a working position aligned with a vertical basin wall. To define this position, we consider the plane V formed by the base of the suction heads 10. As shown in [Fig. 2], when the robot 1 is fully submerged, the plane V is vertical, or in other words, the plane V is parallel to the flotation axis FF. To achieve this alignment of the robot in the submerged working position, the robot is configured so that it has a greater mass on the side intended to serve as the lower zone in submerged mode.

[0059] A second alignment of the robot 1 is also provided, as illustrated in [Fig. 1]. As illustrated in this figure, a median axis MM of the robot is defined, corresponding in the illustrated example to a median position of the frame, and / or an alignment with the axis of rotation of the mobile 30. For good static balancing, the robot is configured so as to have an identical or balanced mass on each side of the median axis M of the robot.

[0060] In working position, it is important to be able to ensure effective and durable maintenance of this vertical alignment, or in other words, alignment with the flotation axis FF and also the balanced maintenance of the robot on the axis MM. These alignments are implemented by means of a particular architecture of the directions of rotation of each of the rotating discs 11.

[0061] To define these directions of rotation, as illustrated in [Fig. 1], four quadrants Q1, Q2, Q3, and Q4 are defined, corresponding to the relative angular positions of the four suction cup heads 10. The rotating discs 11 of the suction cup heads 10 each have a specific direction of rotation as illustrated in [Fig. 1]. First, two pairs of suction cup head discs 10 and / or rotating discs 11 are defined, in relation to their position in the vertical direction when the robot is in the submerged working position and in the static equilibrium position as previously described.

[0062] We thus have a pair on top (in the upper position as illustrated in [Fig.1]) and a pair on the bottom, (in the lower position as illustrated in [Fig.1]).

[0063] In other words, the suction cup heads 10 form two pairs, each oriented perpendicularly to the flotation axis FF, i.e., one pair in the high position and one pair in the low position.

[0064] To maintain a dynamic balance of the robot, the two rotating discs 11 of the suction cup heads 10 of the same pair have opposite directions of rotation.

[0065] On the other hand, the direction of rotation of the discs 11 of the pair in the high position and of the pair in the low position (considered in relation to the flotation axis F+F), are reversed.

[0066] In a preferred variant, for optimization of dynamic stability, in order to maintain better alignment during successive displacements along the X and Y axes, the rotating discs 11 of the suction cup heads 10 have directions of rotation, following the quadrants Q1, Q2, Q3 and Q4, in the counterclockwise direction (CCW) for quadrant Q1, clockwise (CW) for quadrant Q2, clockwise (CW) for quadrant Q3 and counterclockwise (CCW) for quadrant Q4.

[0067] ROTATING DISC AND SUCTION EFFECT

[0068] Figures 7 and 8 illustrate examples of embodiments of rotating discs 11 viewed from the face likely to be in contact with the wall of the basin 4 to be treated. It can be seen that the disc 11, of radius R, comprises a plurality of radial grooves 15, i.e., grooves oriented in the direction of the radius R. The grooves are oriented radially from the center of rotation of the disc. In the embodiment shown in [Fig. 7], a plurality of orifices 16 are arranged around the axis of rotation. Each of the orifices 16 communicates with a groove 15. In the embodiment shown in [Fig. 8], a single orifice 17 is arranged centrally in the axis of rotation 12 connecting the disc 11 to a motor 13 visible in Figures 9 and 10. The central orifice 17 communicates with each of the grooves 15.Because of this or these orifices 16 or 17 and the grooves 15, when the disc is rotated in the immediate vicinity of a wall to be treated in an aquatic environment, a flow of water is generated between the rear and the front of the disc, i.e. from the rear of the disc 11, then passing through the disc and being carried by the radial grooves 15 arranged in the portion of the disc. located on the wall side, this hydrodynamic flow generates a suction effect that tends to press the disc against the wall being treated. The level of this suction effect is adjustable depending on the number and dimensions of the grooves, the disc diameter, the material used, and especially the disc's rotational speed. This suction effect allows the discs to perform various hydromechanical functions, as explained below.

[0069] SINGLE OR DUAL FUNCTION SUCTION CUPS HEAD

[0070] Figures 9 and 10 illustrate, in cross-section, examples of a dynamic suction cup head 10 carrying a disc such as that illustrated in [Fig. 7] or 8. As illustrated, the disc 11 has a wall interface layer 14 on the side of the disc intended to interface, with or without contact, with the wall 3 to be treated. The interface layer 14 is either separate from the disc 11, or integral with the disc. The disc 11 is made of a rigid and preferably non-porous material, such as aluminum. The grooves 15 and the openings 16 and 17 are advantageously formed within the mass of the disc 11.

[0071] Depending on the embodiment, the dynamic suction head implements one or two functions. It can generate a suction function, as previously described. It can also generate a suction effect coupled with a wall treatment effect, for example cleaning or polishing (dual mode).

[0072] For the dual mode, the interface layer 14 comprises a treatment surface made of a material that allows for the cleaning of an aquatic basin wall 4, often PMMA, without risking damage to the wall. The treatment surface can be made, for example, of polyurethane or polyethylene with varying hardnesses and densities, as well as varying cell sizes (open or closed) and porosities, depending on the treatment objectives.

[0073] For the duo mode, a variant may provide an interface layer made up of more or less flexible lips, arranged in the extension of the walls of the grooves 15, made directly in the mass of the disk 11 or in that of the interface layer 14. We are referring here to the walls of the grooves 15 perpendicular to the wall to be treated 3. These lips protrude several millimeters in height from the surface of the disk 11 or the interface layer 14. They may represent a length more or less equal to the radius R of the disk 11 and be single or double.

[0074] Indeed, the presence of these lips, installed in the grooves 15, benefits from the flow of water in the latter to evacuate the biofilm torn from the wall during the rotation of the disc 11.

[0075] Thus, in this dual-function mode, the interface layer 14 is in contact with the wall to be treated.

[0076] For the single-function mode with a simple holding effect, the disc 11 is preferably located slightly away from the wall, for example by a few millimeters, to ensure the hydrodynamic effect, while avoiding contact with the wall.

[0077] A motor 13 and a shaft 12 oriented along axis AA, provided at the suction head, enable the rotation of the rotating disc 11. When the disc is immersed and located at a short distance (for example, 1 to 2 cm for a disc with a diameter of 100 mm) from a wall to be treated, the rotation of the grooved disc produces a vacuum that tends to bring the working disc closer to the wall 3, the latter being fixed. The suction head 10 is arranged to be able to approach the wall thanks to this effect. For a disc of the diameter mentioned above, the rotational speed required to produce the hydrodynamic effect tending to press the disc against the wall to be treated is, for example, between 800 and 1200 rpm (as an example only).

[0078] The arrows in Figures 9 and 10 illustrate an example of water flow when a suction head is in place against the wall of an aquatic basin 4. The water originates from the rear of the working disc, passes through the orifices 16 or 17, and then communicates with the radial grooves 15. Once the disc is in place, the water flow continues uninterrupted as long as the disc's rotation is maintained. In addition to contributing to the suction effect, this flow ensures cleaning of the treatment surface to prevent biofilm and other dirt removed during wall cleaning from accumulating on the disc and saturating the treatment surface, thus preventing the cleaning process from continuing. In this dual-function embodiment, the suction disc is in direct contact with the wall to be treated. It acts by friction against the wall to perform a cleaning action.

[0079] The suction head 10 preferably comprises a peripheral casing 18 arranged coaxially with the axis of rotation 12. This casing has a circumferential side wall 19 arranged to surround the rotating disc 11. In the examples in Figures 9 and 10, the casing extends rearward from the rotating discs to surround a portion of the shaft 12. The casing defines a working area W within which the disc performs a cleaning action against the surface to be treated. This working area W is also defined at the rear of the disc 11 by a cover 24, which closes the casing 18. In the illustrated examples, the cover 24 is in the shape of an inverted U, with a central opening to allow the motor shaft 12 to pass through. Additional ports 23, provided in the cover 24, ensure fluid communication between the working area W and the motor area M.The lid 24 can also be flat or U-shaped (not inverted).

[0080] A drainage light 20 is arranged through the side wall 19 of the axial peripheral casing 18. This tunnel allows the water flow to leave the casing to to reach the basin. The tunnel is advantageously positioned so that it is located in the upper zone of the suction head 10 during cleaning. This prevents the outgoing water flow from acting against the basin floor, which could push pebbles, particles, or dirt towards the working head. If a hard and / or abrasive foreign object were to become trapped between the working disc and the wall being cleaned, there would be a significant risk of scratching or other damage to the wall. The peripheral casing 18 provides additional protection against such contaminants entering the working zone W. A filtration element or system can be connected to this discharge outlet 20.

[0081] To prevent the peripheral casing 18 from exerting too much force against the wall 3, one embodiment provides that the rotating disk 11 cooperates with this casing by means of at least one spring 21. For example, a peripheral spring is used, arranged axially in the extension of the end of the peripheral casing 18 opposite the working area W. The spring 21 acts on the casing 18 on the one hand and on the cover 24 on the other hand.

[0082] Unlike the assembly formed by the disc 11 and the interface layer, the peripheral casing 18 is designed to remain angularly fixed, without rotation, with respect to the wall to be treated. A circumferential seal or a material with a hardness lower than that of the wall to be treated is advantageously provided at the contact end of the peripheral casing 18. This seal or material allows for gentle contact with the wall, without risk of damaging it. The connection between the angularly fixed part of the head and the rotating part of the head is ensured by a bearing 22, such as, for example, a plain or roller bearing. Figures 9 and 10 illustrate two embodiments of a suction cup head 10. In the embodiment of [Fig. 10] The parts that can be rotated include the shaft 12, the disc 11, the interface layer 14 and the cover 24. The bearing 22 is arranged between the cover and the spring 21. In the embodiment of [Fig.9], the parts that can be rotated include only the shaft 12, the disk 11 and the interface layer 14. The bearing 22 is in this case arranged between the shaft 12 and the cover 24. . List of reference signs

[0083] 1. Robot for treating the internal walls of aquatic basins 2. Chassis 3. Walls to be treated 4. Water feature 5. 6. 7. 8. 9. 10. Dynamic suction cup head 11. Rotating disc 12. Rotating shaft 13. Disc motor 14. Wall Interface Layer 15. Radial grooves 16. Fluid circulation orifice 17. Hollow fluid circulation orifice in the axis of rotation 18. Axial peripheral envelope 19. Circumferential lateral wall 20. Emergency light 21. Spring 22. Bearing (plain or rolling) 23. Lid holes 24. Lid 25. 26. 27. 28. 29. 30. Motorized wheeled mobile 31. Motorized wheels, rollers, or tracks 32. Sealed motor 33. Angular actuator 34. Actuator shaft 35. Engine mount 36. Mobile phone stand 37. Axle

Claims

Demands

1. A robot (1) for treating the internal walls (3) of aquatic basins (4), comprising four suction cup heads (10) connected to each other by a frame (2) forming a square or rectangular frame, the suction cup heads (10) being arranged at the corners of the frame, a motorized roller (30) with rollers (31) or tracks for moving the treatment device (1) along a wall (3) to be treated, said roller (30) being activatable or orientable according to two unique driving positions angularly spaced 90 degrees apart, said roller being independent of the suction cup heads, connected to the frame (2) and positioned at the center thereof, each of the suction cup heads (10) comprising a rotating disk (11) arranged in a rotatable manner and connected to a rotational axis (12) capable of being driven by a disk motor (13), characterized in that the robot is configured to present, in operation, an axis vertical FF flotation device,the suction cup heads (10) forming two pairs, each oriented perpendicularly to the flotation axis FF, i.e., one pair in the upper position and one pair in the lower position, whose directions of rotation of the rotating discs (11) of the same pair are opposite, and whose directions of rotation of the discs (11) of the pair in the upper position and of the pair in the lower position, considered in relation to the flotation axis FF, are reversed.

2. Robot according to claim 1, wherein, in front view of the robot in floating position, the rotating discs (11) of the suction heads (10) have directions of rotation, along the quadrants Q1, Q2, Q3 and Q4, in the counterclockwise (CCW) direction for quadrant Q1, clockwise (CW) for quadrant Q2, clockwise (CW) for quadrant Q3 and counterclockwise (CCW) for quadrant Q4.

3. Robot according to any one of claims 1 or 2, wherein the vertical flotation axis FF in operation is obtained by first balancing the robot along the plane V of the suction cup heads, by arranging the functional elements of the robot so as to have a greater mass in the lower zone so that the plane V is parallel to the flotation axis FF.

4. Robot according to claim 3, wherein the vertical flotation axis FF in operation is obtained by a second balancing of the robot in the direction of the median axis M of the robot by arranging the functional elements of the robot so as to have a balanced mass on each side of the median axis M of the robot.

5. Robot according to any one of claims 1 to 4, wherein the suction head (10) comprises a rotating disk (11) arranged in a rotatable manner and connected to a rotation axis (12) capable of being driven by a disk motor (13), the rotating disk (11) carrying a wall interface layer (14) comprising a plurality of radial grooves (15) connecting the center of rotation of the disk to the periphery of the disk and at least one orifice (16, 17) ensuring, when operating in an aquatic basin (4) in the immediate vicinity of a wall (3) to be treated, a flow of water between the rear of the disk (11) and the radial grooves (15) arranged in the portion of the disk located on the side of the wall to be treated.

6. Robot according to claim 5, wherein the suction cup head (10) comprises an axial peripheral envelope (18).

7. Robot according to any one of claims 5 or 6, wherein the interface layer (14) comprises a treatment surface and the suction head serves on the one hand to fix the treatment device to a wall of basin to be treated and on the other hand to carry out a cleaning or polishing treatment of the wall using said treatment surface.

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