Bladed Pergola Cleaning Robot

Abstract

The invention relates to a pergola cleaning robot (200) with louvers (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 expected width of the space between the louvers (201) of the pergolas (200), and are located longitudinally on either side of the means of locomotion (5). Figure for the abstract: [Fig. 1]

Description

Title of the invention: Bladed pergola cleaning robot technical field

[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.

[0003] Prior techniques

[0004] Automated cleaning robots are known, particularly in the field of 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 towards a filter or outside the pool.

[0005] 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, however, adapted to the complex shapes of pergola slats.

[0006] Other known robots are used for washing 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.

[0007] None of these robots would be suitable for cleaning pergolas, particularly 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, in particular to form a watertight surface when closed.

[0008] Even double-skinned blades, which are flatter over most of their surface, have lips and recesses for interlocking. This complex cross-section, with recesses and undercut grooves, makes cleaning them difficult.

[0009] Furthermore, the slats form a discontinuous structure if the pergola is not closed, so that a robotic pool cleaner cannot simply move across it. Conversely, when closed, the edges of the slats are not cleaned.

[0010] Consequently, the blades do not offer a sufficiently continuous, flat and smooth surface for conventional suction cups, tracks or wheels.

[0011] The absence of edges physically limiting the robot's travel also implies a risk of falling when it reaches the edge of the pergola.

[0012] There is therefore a need for a robot that allows for automated cleaning of pergola blades, is simple and safe to use, and has sufficient cleaning efficiency. Description of the invention

[0013] To meet this need, the invention proposes a robot for cleaning louvered pergolas, comprising: - a chassis, - at least two transverse rotating brushes, - means of locomotion that support, when using the robot, the blades of the pergola.

[0014] The robot is characterized in that it has a brush at the front and a brush at the rear of the chassis, on either side longitudinally of the means of locomotion, and in that the means of locomotion extend transversely, with, from one of their external transverse ends to the other, a width greater than one hundred and five or even one hundred and twenty percent of twice the width of the expected space between the pergola blades,

[0015] Thus, the means of locomotion are always supported on at least two pergola blades, while the entire pergola can be cleaned using the robot.

[0016] The robot may have one or more of the following characteristics.

[0017] The chassis may have a vertical longitudinal T-shaped section, the means of locomotion being 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.

[0018] This T-shaped structure leads to a particularly compact robot, with brushes suspended on either side of the means of locomotion.

[0019] The means of locomotion may include at least one motorized roller, coming to rest against the pergola blades.

[0020] The motorized roller(s) may comprise two transverse motorized segments, with a spacing between their inner transverse ends less than ninety-five or even ninety percent of the expected width of the space between the pergola blades.

[0021] The robot is then permanently supported on two adjacent blades, while being compact.

[0022] Alternatively, the motorized roller(s) may comprise two transverse motorized roller segments, each roller segment having a width along the transverse line greater than one hundred and five percent, in particular one hundred and twenty percent, of the expected width of the space between the pergola blades.

[0023] The robot is then permanently supported on three to four pergola blades.

[0024] At least one of the motorized roller segments can be provided with means for braking its rotation in order to tilt the robot's stroke.

[0025] The braking means allows simple control of the robot, with limited extra weight and cost.

[0026] 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 located longitudinally on either side of the means of locomotion.

[0027] Cleaning of the entire surface of the pergola is then possible without having to extend the robot laterally beyond the pergola.

[0028] The brushes may in particular include flexible tongues made of polymer material, extending up to a support plane of the means of locomotion on the pergola, connected to a central shaft set in rotation and means of supplying a washing solution to the brushes or to the blades.

[0029] Such brushes ensure effective washing without scratching the surfaces of the pergola blades and adapt to the roughness of the different existing blade models.

[0030] The brushes may further include polyurethane discs with saw-toothed edges arranged on the central shaft for cleaning grooves and undercuts of pergola blades.

[0031] 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 for filling the water reservoir, to the pergola to be cleaned.

[0032] 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.

[0033] Alternatively, the robot may include a washing solution inlet hose, carried by an articulated arm, comprising a fixed mast and an arm suspended from the mast, the arm carrying the hose.

[0034] The robot may include means for detecting 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.

[0035] The washing of the pergola can then be automated without risk of the robot falling.

[0036] The means for detecting edges may include, in particular, ultrasonic radars, lidars, or cameras with edge recognition by the control unit, or optical sensors and laser emitters, the emitters being positioned at the corners of the pergola and emitting beams parallel to the edges, the optical sensors detecting the robot's passage through the laser beams. Summary description of the figures

[0037] Other advantages and features of the invention will become apparent from the following description of the accompanying figures, among which:

[0038] [Fig-1] is a perspective view of an embodiment of a cleaning robot according to an embodiment of the invention,

[0039] [Fig.2] is an exploded view of a brush segment of the robot of [Fig. 1],

[0040] [Fig.3] is a longitudinal cross-sectional view of the robot from [Fig. 1],

[0041] [Fig.4] is a three-quarter view of a variant of the robot, part of the chassis Removed for clarity.

[0042] [Fig.5] is a cross-sectional view of the robot from [Fig.4],

[0043] [Fig.6] is a schematic top view representation of a pergola with the robot and its path during cleaning

[0044] [Fig.7] is a side view of a robot on a pergola equipped with a feeding means comprising a gantry,

[0045] [Fig.8] is a schematic side view representation of a variant of a robot collaborating with a drone.

[0046] 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. Detailed description

[0047] Fig. 1 is a simplified perspective representation of a first embodiment of a cleaning robot 100 for a pergola 200 with blades 201.

[0048] In the following description, the longitudinal direction L of the blades 201 also gives the longitudinal direction of the robot 100, which evolves 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.

[0049] The blades 201 are arranged with a constant gap width or inter-blade width, typically between fifteen and thirty centimeters, which is known or at least located within a known and predictable range.

[0050] The robot 100 comprises a chassis 1, substantially rectangular in top view. The chassis 1 here consists of a reservoir 10 for a washing solution, for example a mixture of soap and water, and covers 11 forming splash guards for rotating brushes 3. The chassis 1 may also include a battery compartment, or a connection to a power supply cable.

[0051] The reservoir 10 here has an opening 13 for supplying the washing solution, for either intermittent or continuous refilling with washing solution. The chassis 1 further has an interface 15, including indicator lights or displays and control means such as buttons and switches, and / or an electrical connection for powering or recharging a battery.

[0052] 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.

[0053] 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 entire width, or even protrude slightly on each side of the robot.

[0054] 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, in particular at least one hundred and five or even one hundred and twenty percent, of the expected width of the space between the pergola blades.

[0055] 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.

[0056] A brush segment 31 is shown in exploded view in [Fig.2].

[0057] The brush segment 31 has a tubular central shaft 35, pierced with holes (not (represented) through which water or the washing 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 obtained, in particular, by radial cuts in the outer periphery of the discs 37.

[0058] As an alternative or in addition, the robot 100 may include nozzles that spray washing solution externally onto the brushes or directly onto the blades 201 of the pergola 200.

[0059] 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.

[0060] Due to greater flexibility and their saw-tooth shape, said polyurethane discs 39 will "lick" further than tongue discs 37 into the hollows and undercuts of the blades 201.

[0061] Spacer rings 41 maintain a width gap between neighboring discs allowing for significant disc flexibility.

[0062] According to an alternative embodiment, water or washing solution can be supplied to the brushes 3 by means of dedicated spray nozzles. The tongues can also be connected individually to the central shaft 35.

[0063] Other shapes and materials of brushes 3 are also possible, including polymer bristle brushes or foam finger brushes.

[0064] Figure 3 is a cross-sectional view at the height of one of the brush segments 33 of the brushes 3, and Figure 4 is a three-quarter top view of the robot 100, without the tank 10 and the covers of an embodiment equipped with sensors. Figure 5 is a transverse cross-sectional view of the embodiment of Figure 4.

[0065] In [Fig.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.

[0066] 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.

[0067] 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 the blade 201 on which they rest.

[0068] The means of locomotion 5 comprise two transverse lines of motorized rollers, with a motorized transverse line 51, and a free rotating line 53.

[0069] The motorized rollers 51 are driven by an electric motor 55, powered by the battery 17 (or an electrical supply line where applicable).

[0070] Each roller line comprises two transverse segments, located on either side transversely of a central support and on the same transverse line.

[0071] The segments, in particular the motorized roller segments 51, cover from one of their transverse ends outside the other a width greater than one hundred and five or even one hundred and twenty percent of twice the width of the expected space between the blades 201 of pergola 200, with a spacing between their inner transverse ends less than ninety-five or even ninety percent of the expected width of the space between the blades 201 of pergola 200.

[0072] Thus, whatever the position of the robot 100 on the pergola 200 each of the motorized segments 51 is always in support on a different blade 201, and the stability and mobility of the robot 100 are ensured.

[0073] According to an alternative embodiment, for a wider robot 100, each of the motorized roller segments 51 has a transverse width greater than the expected width of the space between two adjacent blades 201, in particular greater than one hundred and five to one hundred and twenty percent of the inter-blade space width. Each motorized roller segment 51 is then in contact with two adjacent blades 201 regardless of the position of the robot 100.

[0074] At least one, or even both, motorized roller segments 51 are provided 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 deflect its course and make it follow a zig-zag path.

[0075] For the automation of the operation of the robot 100, the embodiment shown in [Fig.4] 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.

[0076] These sensors 19, in cooperation with a control unit (not shown) controlling the means of locomotion 5, form means for detecting the edges of the pergola 200.

[0077] The sensors 19 may include, in particular, ultrasonic radars, lidars, or cameras with edge recognition by the control unit. Alternatively, the edge detection means 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.

[0078] Fig. 6 illustrates the operation of the robot 100 described above.

[0079] Figure 6 is a schematic top view representation of part of the pergola 200, represented by its edges. The longitudinal direction L of the robot and the blades 201 (not shown) corresponds to the top-bottom direction of Figure 6.

[0080] The robot 100 starts from one of the corners (here top left) of the pergola 200 at the level of the rim RI at the top in [Fig.6] and a lateral rim RL. It follows the lateral rim RL of the pergola 200, until it reaches the opposite transverse rim R2 of the pergola 200 from its starting point (at the bottom in [Fig.6]).

[0081] 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.

[0082] The robot 100 then starts again, once diverted, in the opposite direction, along a slightly inclined axis, until it reaches the opposite transverse edge RI, on the side of its starting point.

[0083] 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.

[0084] The robot 100 then goes back again in the opposite direction, and, by repeating these steps, will cover the entire surface of the pergola 200 following a zig-zag path.

[0085] Between two extreme positions along an edge RI, 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 of the blades 201 are then cleaned by means of the brushes 3 at least once or even twice.

[0086] Fig. 7 illustrates a means of supplying 300 to the robot 100 during its automatic operation for cleaning the pergola 200.

[0087] Said supplying 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.

[0088] The mast 301 is here connected to a beam forming the edge of the pergola 200, but it can alternatively be connected to a base on the ground, or even to a vehicle with a washing solution tank. The jib can alternatively be part of a crane allowing the robot 100 to be lifted and placed on the pergola 200.

[0089] The arm helps to relieve stress 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.

[0090] Fig. 8 illustrates an alternative lifting and supplying method for robot 100 compared to Fig. 7.

[0091] 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.

[0092] The drone 400 can alternatively become an integral part of the cleaning robot 100 and relieve the weight of the robot 100 on the pergola 200 while it cleans it.

[0093] The robot 100 according to the invention allows for automated and efficient cleaning of pergolas 200, in particular climatic pergolas 200.

Claims

Demands

1. A pergola cleaning robot (200) with slats (201), comprising: - a chassis (1), - at least two transverse rotating brushes (3), - load-bearing locomotion means (5), supported, during the use of the robot (100) on slats (201) of the pergola (200) characterized in that: it comprises a brush (3) at the front and a brush (3) at the rear of the chassis (1), on either side longitudinally (L) of the locomotion means (5), the locomotion means (5) extending transversely (T), with, from one of their external transverse ends to the other, a width greater than one hundred and five or even one hundred and twenty percent of twice the width of the expected space between the slats (201) of the pergola (200),

2. Robot according to claim 1, characterized in that the 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 the means of locomotion (5) comprise at least one motorized roller (51), coming to rest against the blades (201) of pergola (200).

4. Robot according to claim 3, characterized in that the motorized roller(s) (51) comprise two transverse motorized segments, arranged on the same transverse line (T) of the chassis (1), with a spacing between their inner transverse ends at ninety-five or even ninety percent of the width of the expected space between the pergola blades (201) (200).

5. Robot according to claim 3, characterized in that the motorized roller(s) (51) comprise two transverse motorized roller segments, each of the roller segments having a width along the transverse line greater than one hundred and five percent, in particular one hundred and twenty percent, of the width of the expected space between the pergola blades (201) (200).

6. Robot according to claim 4 or 5, characterized in that at least one of the motorized roller segments (51) is provided with means of braking its rotation to tilt the robot's course (100).

7. Robot according to any one of the preceding claims, characterized in that the 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 situated longitudinally (L) on either side of the means of locomotion (5).

8. Robot according to any one of the preceding claims, characterized in that the brushes (3) have flexible tongues of polymer material, extending up to 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).

9. Robot according to the preceding claim, characterized in that the brushes further comprise 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).

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

11. Robot according to any one of claims 1 to 9, characterized in that it comprises a washing solution inlet hose (305), 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 hose (305).

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

13. A robot according to claim 12, characterized in that the edge detection means (19) for the edges (RI, R2, RL) comprise ultrasonic radars, lidars, or cameras with edge recognition. (RI, 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.

Images