Robot for treating the internal walls of aquatic basins, equipped with a balancing system

Abstract

The invention relates to a robot (1) for treating the internal walls (3) of aquatic basins (4), said robot comprising four suction heads (10) connected to one another by a chassis (2) forming a square or rectangular frame, the suction heads (10) being arranged at the corners of the frame; a motorised mobile unit (30) with rollers (31) or tracks, for moving the treatment device (1) along a wall (3) to be treated, wherein the mobile unit (30) can be activated or oriented according to two unique rolling positions angularly spaced apart by 90 degrees from each other, each of the suction heads (10) comprising a rotary disc (11) arranged so as to rotate and connected to a rotation shaft (12) that can be driven by a disc motor (13).

Description

ROBOT FOR TREATMENT OF THE INTERNAL WALLS OF AQUATIC POOLS WITH BALANCING TECHNICAL FIELD OF THE INVENTION

[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 square or rectangular frame, the suction cup heads being arranged at the corners of the frame, a motorized roller or tracked mobile 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. STATE OF PRIOR ART

[0002] Aquatic tanks, such as aquariums, are intended for public viewing and therefore require clean walls with high transparency. Regular cleaning of the transparent surfaces of aquatic tanks is essential. Most tanks contain various types of fish and marine plants, which often generate different kinds of dirt and lead to the formation of biofilms along the tank walls. Biofilms can easily obstruct the view of an aquarium in just a few days. Therefore, cleaning the walls should 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, the known methods not only require intrusive means harmful to the life forms present in the aquatic tanks, but also a 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 inconsistent due to the application of uneven scrubbing force and the random number of passes.

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

[0006] For example, patent application EP2012581 proposes a device for cleaning aquarium glass, particularly 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, 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 W02007127472 provides 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 additional magnetic elements in a remotely located, movable drive head.

[0009] The state of the art, as illustrated by the previously cited documents, offers 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 units on either side of the aquarium wall. Furthermore, this system requires easy external access regardless of the configuration 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, thus precluding the treatment of large aquariums, whose walls can be several tens of centimeters thick.Furthermore, the movement of the magnetic element fixed to the inner wall of the pool is triggered by the movement of the external element, often through manual intervention, thus precluding automation of the process. These systems do not allow for adjusting or varying the intensity of the force applied to the cleaning surface. Finally, the cleaning surface inside the pool quickly becomes saturated with dirt and biofilm, significantly reducing the effectiveness of the cleaning.

[0010] Treatment systems with means of movement entirely internal to the basin are also known, such as that described in application FR3067563, which describes a system for treating the walls of aquatic basins comprising a treatment head equipped with a containment chamber having an opening that can be oriented towards the wall to be treated, said head treatment being mobile on a support by means of a treatment displacement motor to allow the treatment of said wall, the support consisting of a repositionable mobile support capable of being fixed to the wall to be treated by suction cups and comprising a treatment displacement 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 polishing the internal walls of aquatic basins 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 deviating 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 multi-functional 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 facilitate movement. The mobile unit is therefore integrated within 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] Document W02020250120 describes a device for treating internal walls of aquatic basins comprising at least one suction head, a mobility assembly enabling the suction head to be moved along a wall to be treated, said mobility assembly comprising a motorized wheeled mobile orientable in two unique rolling positions, these two positions being angularly spaced 90 degrees apart.

[0016] Document FR3120495 describes a device for treating internal walls of aquatic basins comprising a peripheral frame in the shape of a quadrilateral carrying at least two suction cup heads and a mobility assembly for moving the treatment device along a wall to be treated, at least one side of the frame carrying a rotating cleaning roller arranged to rotate about the axis of the frame.

[0017] Document W02020016674 describes a system for treating the internal walls of aquatic basins comprising at least one working head, a mobility assembly enabling the working head to be moved along a wall to be treated, the working head comprising a rotating working disc connected to a rotation axis capable of being driven by a disc motor, the working disc carrying a wall contact foam comprising a plurality of radial grooves connecting the center of rotation of the disc to the periphery of the disc.

[0018] These documents describe devices designed to perform treatment along pool walls. Suction-equipped working heads allow the device to interact with the wall while simultaneously moving along it. These devices lack any means of aligning their positioning before they begin working along the walls, forcing operators to perform lengthy and delicate manual alignment maneuvers. These maneuvers are tedious and carry a risk of damaging the walls through collision.

[0019] To overcome these various drawbacks, the invention provides for different technical means. DESCRIPTION OF THE INVENTION

[0020] Firstly, a primary objective of the invention is to provide a treatment system, in particular for cleaning and / or polishing the walls of aquatic basins, which is simple, inexpensive, and easy to implement.

[0021] Another objective of the invention is to provide a treatment system, in particular for cleaning the walls of aquatic basins, which allows for precise and rigorous monitoring of the trajectory followed along the wall to be treated.

[0022] 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.

[0023] 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 unit for moving the treatment device along a wall to be treated, said unit being activatable or orientable according to two unique rolling positions angularly spaced 90 degrees apart, said unit being independent of the suction cup heads, connected to the chassis and positioned at the center of the latter along a median axis MM, 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, characterized in that the chassis comprises, on one side of the median axis MM,a positive buoyancy zone containing two suction cup heads designed to be in a raised position, and on the other side of the median axis MM, a negative buoyancy zone containing two suction cup heads designed to be in a lowered position, so that the robot, when it is immersed in a basin, a static and dynamic equilibrium according to a flotation position with a flotation axis FF and a plane V formed by the base of the suction cup heads both vertical, and in that the suction cup heads form two pairs each oriented perpendicularly to the flotation axis FF, i.e. a pair in high position and a pair in low position, whose directions of rotation of the rotating disks of the same pair are opposite, and whose directions of rotation of the disks of the pair in high position and of the pair in low position, considered in relation to the flotation axis FF, are reversed.

[0024] It is taken into account that the vast majority of aquarium walls to be treated are vertical. In such a case, this design allows the robot to be positioned submerged in the aquarium water with the base of the suction heads parallel to the wall. Without this design and this alignment of the treatment heads' bases with the wall, the robot would be tilted, with two suction heads close to the wall and two others further away. In such a case, the hydrodynamic effect of the suction heads, which tends to pull them closer to the wall, could not be maintained for the two distant suction heads, as this suction effect only works effectively from a certain distance from the wall (for example, 1 to 5 cm).

[0025] Advantageously, the positive and negative buoyancy zones are designed so that the robot exhibits neutral or slightly positive overall buoyancy. In the latter case, the slightly positive buoyancy ensures that the robot slowly rises to the surface in the event of a malfunction or incident, thus greatly facilitating handling.

[0026] Advantageously, the positive buoyancy zone includes at least one float.

[0027] Also advantageously, the float is integrated into the chassis or another element of the robot.

[0028] Also advantageously, the float can be made up of a watertight box of sufficient volume to carry electronic equipment useful or necessary for the robot for example, and at the same time generate an Archimedes' thrust greater than its own weight including the material carried.

[0029] The negative buoyancy zone, or lower zone, may contain ballast. Advantageously, for example, it may contain a small, watertight housing containing high-density equipment, thus generating a weight greater than its Archimedes' principle.

[0030] According to an advantageous embodiment, when the robot is in front view in a floating position, the rotating discs of the suction head heads 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.

[0031] This configuration provides an upward pulling effect on the upper heads and a downward pulling effect on the lower heads, which is perfectly aligned with the aforementioned alignment of the robot with a positive buoyancy zone in which the two suction cup heads intended to be in the upper position are located, and a negative buoyancy zone in which the two suction cup heads intended to be in the lower position are located.

[0032] Furthermore, to optimally treat a wall and avoid untreated areas, the robot preferably works line by line, successively, processing adjacent lines one by one. It moves along the X-axis on one line, then moves along the Y-axis to adjust to the adjacent line (up or down), and returns in the opposite direction, processing this new line. To ensure complete surface treatment, it is crucial that the robot be perfectly angularly stable and exhibit no dynamic imbalance. The quadrant arrangement described above eliminates the instability that might occur with other configurations. With this advantageously stable arrangement, when stationary (with the heads active but not moving), the robot maintains its position perfectly on the wall being treated.Dynamic tests have indeed shown that other configurations either cause the robot to rotate around its center or generate a downward force, tending to make the robot rise. In all these cases, dynamic stability is not guaranteed, and processing by successive lines yields random results.

[0033] Also advantageously, the vertical flotation axis FF in operation is also obtained by balancing the robot in the direction of a lateral equilibrium axis EL of the robot by arranging the functional elements of the robot so as to have a balanced mass on each side of this lateral equilibrium axis EL of the robot.

[0034] 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.

[0035] Advantageously, the suction cup head includes an axial peripheral envelope.

[0036] 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. DESCRIPTION OF THE FIGURES

[0037] All implementation details are given in the following description, supplemented by figures 1 to 10, presented solely as non-limiting examples, and in which: - Figure 1 is a schematic representation of an example of the realization of a processing robot, in particular for wall cleaning, using a mobility assembly with motorized mobile; - Figure 2 shows the processing robot of Figure 1 in side view, in submerged working position; - Figure 3 is a schematic representation of an example of the realization of a motorized mobile seen from the side; - Figure 4 is a schematic representation of an example of the realization of a motorized mobile seen from above; - Figure 5 is a schematic representation of an example of the realization of a processing robot, in particular for wall cleaning, using a mobility assembly with a motorized mobile oriented to perform a movement along the Y axis; - Figure 6 is a schematic representation of an example of the realization of a processing robot, in particular for wall cleaning, using a mobility assembly with a motorized mobile oriented to perform a movement along the X axis; - Figure 7 is a front view from outside an aquatic basin of an example of a working disk; - Figure 8 is a front view of a variant embodiment of the working disk of Figure 7; - Figure 9 is a schematic representation of an example of the implementation of a processing head; - Figure 10 is a schematic representation of another example of the implementation of a processing head. DETAILED DESCRIPTION OF THE INVENTION DEFINITIONS

[0038] By "positive buoyancy" and "negative buoyancy": a positive buoyancy zone is defined as an area with a buoyancy index that allows it to be positioned above an area with a negative buoyancy index when the object is submerged in water. In other words, a positive buoyancy zone floats better or tends to rise to the surface, while a negative buoyancy zone tends to sink to the bottom of the basin. WALL TREATMENT DEVICE

[0039] Figure 1 is a schematic representation of an example of a robot 1 for cleaning and / or polishing the internal walls of aquatic basins such as aquariums. A set of four dual-function dynamic suction cup heads 10 allows the system 1 to be attached to a wall 3 to be treated or cleaned, and also enables the wall to be treated or cleaned by means of a mechanical action of abrasive or non-abrasive friction, for example, using a wall interface layer 14 specifically adapted to perform this cleaning or polishing function, as described below in relation to Figures 6 to 9. In the example As illustrated, the dynamic heads 10 are positioned 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 by a frame 2, in this example taking the form of a square or rectangular tube assembly. The frame 2 forms a peripheral quadrilateral frame within which a moving part (described later) is centrally arranged. Other configurations are possible. MOTORIZED WHEELED MOBILE

[0040] 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.

[0041] For the sake of simplification, Figures 1 to 6 only illustrate 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.

[0042] 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.

[0043] When the mobile unit 30 has several wheels or rollers, two of its parallel sides each have a waterproof motor capable of driving all the wheels on that side. When the mobile unit 30 has tracks, two of its parallel sides each have a waterproof motor capable of driving the track on that side. All these assemblies are preferably controlled remotely, for example, using a suitable remote control.

[0044] 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 sufficient gripping force against the wall and adequate friction of the interface layer 14 to ensure the cleaning or polishing of the wall, while simultaneously allowing movement along it by the action of the wheels, rollers, or tracks. The value of this adjusted suction force can be achieved through 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 unit 30, thus ensuring optimal adhesion of the latter against the wall 3.

[0045] 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 at the center of the chassis 2, thus defining a median axis MM, dividing the robot into two zones (described later in this document). The motors and discs of the suction head units are preferably designed for counter-rotation to compensate for the torque effect that tends to cause a single head to rotate in the opposite direction to the disc's actuating motor.

[0046] The mobile unit 30, which carries the wheels, rollers, or tracks, can pivot on its own axis. In one method, pivoting is achieved, for example, by simultaneously rotating wheels, rollers, or tracks at the same speed, but in opposite directions on each side of the unit. 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.

[0047] A second pivoting mode uses a rotary actuator 33 connected to the set of wheels, rollers or tracks by a rotary actuator shaft 34.

[0048] In both cases, the axis of rotation of the mobile 30 is located at the center of the chassis 2 of the processing device.

[0049] Alternatively, the mobile unit 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 positioned on two parallel sides, each with its own sealed motor. Along the Y-axis, at least one wheel, roller, or track is positioned on two parallel sides opposite the X-axis, each with its own sealed motor. These drive systems, comprising wheels, rollers, or tracks motorized along the X and Y axes, are retracted sequentially by means of actuators. This ensures constant contact with the wall without losing the X or Y reference point.During a change of direction, the processing device 1 stops so that the part of the mobile including wheels, rollers or tracks which were retracted can be deployed and once in contact with the wall the part of the mobile 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°.

[0050] Another variant includes 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 rotate 90° on its own axis 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. Its rotation against the wall then allows the treatment device 1 to move in another direction along the X or Y axis.

[0051] It should 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 stability and maintain 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.

[0052] 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 allows To ensure accurate traceability of the path followed and to be followed along the surface being treated, guaranteeing that the entire area is covered. For example, to perform treatment by successive 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 keeping track of the starting reference simplifies the management of the treatment path, preventing untreated areas. This mode also allows for movement in successive parallel columns or a hybrid mode, for example, by performing successive rectangular treatments.Alternatively, the default X or Y axis movement mode can be disabled, for example for occasional movement where you want to go directly to a specific point on a wall, to make a localized touch-up or other.

[0053] In yet another variant, the treatment robot 1 includes a stop-motion mode for changing the X or Y axis. This mode allows the movement of the treatment robot 1 to be stopped, then the mobile 30 to be repositioned along the X or Y axis, and finally the treatment robot 1 to resume movement in the desired direction automatically once the angular repositioning is complete. This control aid for the treatment robot 1 further optimizes its movement along the two unique and exclusive reference X or Y directions mentioned previously. BALANCING

[0054] Figure 2 shows the robot from Figure 1 in its working position, submerged in the basin. To ensure optimal robot operation, static and dynamic balancing is implemented based on several variables.

[0055] For the sake of simplicity, we assume that most pool walls are vertical. To adapt to these walls, the robot's default working position is also vertical. As shown in Figure 2, a vertically aligned FF flotation axis is used as a reference.

[0056] First, when the robot is submerged in the pool, it should ideally adopt a working position aligned with a vertical pool wall. To define this position, we consider the V-shaped plane formed by the base of the suction cup heads 10. As shown in Figure 2, when the robot 1 is fully submerged, the V-shaped plane is vertical, or in other words, the V-shaped plane is parallel to the waterline FF. To achieve this alignment of the robot in its submerged working position, the robot is configured so that its mass is greater on the side intended to serve as the lower zone when submerged.More specifically, as illustrated in Figures 1 and 2, the chassis has, on one side of the median axis MM, a positive buoyancy zone containing two suction cup heads designed to be in a raised position (when the robot is submerged), and on the other side of the median axis MM, a negative buoyancy zone containing two suction cup heads designed to be in a lowered position (when the robot is submerged). Thus, the robot exhibits, when submerged in a... basin, a static and dynamic equilibrium according to a floating position with a floating axis F-F and a plane V formed by the base of the suction cup heads both vertical, the suction cup heads 10 forming two pairs each oriented perpendicularly to the floating axis FF, i.e. one pair in high position and one pair in low position.

[0057] To achieve this arrangement, a float 5 is advantageously positioned in the positive buoyancy zone. The float 5 can be fixed to the chassis or integrated into another element of the robot. A ballast 6 can also be provided. The ballast 6 is advantageously positioned in the negative buoyancy zone.

[0058] A second alignment of robot 1 is also planned, as illustrated in figure 1. As illustrated in this figure, a lateral balance axis EL of the robot is defined, corresponding in the illustrated example to a median position of the frame, and / or an alignment with the rotation axis 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 lateral balance axis EL of the robot.

[0059] In the working position, it is important to be able to ensure effective and lasting maintenance of this vertical alignment, or in other words, alignment with the FF flotation axis, and also the balanced maintenance of the robot on the EL axis. These alignments are implemented through a specific architecture of the rotation directions of each of the rotating disks 11.

[0060] To define these directions of rotation, as illustrated in Figure 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 Figure 1. First, two pairs of suction cup head discs 10 and / or rotating discs 11 are defined, in relation to the position of the latter in the direction of height when the robot is in the immersed working position and in the static equilibrium position as previously described.

[0061] Thus, we have a pair on top (in the upper position as illustrated in Figure 1) and a pair on the bottom (in the lower position as illustrated in Figure 1). 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 upper position and one pair in the lower position.

[0062] 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.

[0063] 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.

[0064] As a preferred variant, for optimization of dynamic stability, in order to maintain a better alignment during successive movements along the X and Y axes, the rotating discs 1 1 of the suction cup heads 10 have directions of rotation, following the quadrants Q1, Q2, Q3 and Q4, in the counter-clockwise direction (CCW) for quadrant Q1, clockwise (CW) for quadrant Q2, clockwise (CW) for quadrant Q3 and counter-clockwise (CCW) for quadrant Q4. ROTATING DISC AND SUCTION EFFECT

[0065] Figures 7 and 8 illustrate examples of the embodiment 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 Figure 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 Figure 8, a single orifice 17 is centrally arranged 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.Due to the orifice(s) 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 water flow is generated between the front and rear of the disc, originating from the rear of the disc 11, then passing through the disc and flowing via the radial grooves 15 arranged in the portion of the disc located on the wall side. This hydrodynamic flow creates a suction effect that tends to press the disc against the wall to be treated. The level of the suction effect is adjustable according to the number and dimensions of the grooves, the diameter of the disc, the material used, and especially the rotational speed of the disc. This suction effect allows the discs to perform various hydromechanical functions, as explained below. SUCTION CUPS HEAD, SINGLE OR DUAL FUNCTION

[0066] Figures 9 and 10 illustrate, in cross-section, examples of a dynamic suction cup head 10 carrying a disc such as that shown in Figure 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 solid mass of the disc 11.

[0067] 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).

[0068] For the dual mode, the interface layer 14 includes a treatment surface made of a material that allows for the cleaning of an aquatic basin wall 4, often made of PMMA, without risking damage to the wall. The treatment surface can be made by Example: polyurethane or polyethylene with varying hardness and density, as well as cell dimensions (open or closed) and porosities, depending on the treatment objectives.

[0069] 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 disc 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 disc 11 or the interface layer 14. They may represent a length more or less equal to the radius R of the disc 11 and be single or double.

[0070] 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 1 1. Thus, in this dual-function mode, the interface layer 14 is in contact with the wall to be treated.

[0071] For single-function mode with a simple holding effect, disc 11 is preferably located slightly away from the wall, for example a few millimeters, to ensure the hydrodynamic effect, while avoiding contact with the wall.

[0072] A motor 13 and a shaft 12 oriented along axis AA, located at the suction head, enable the rotation of the rotating disc 11. When the disc is immersed and positioned close to the surface to be treated (for example, 1 to 2 cm for a disc with a diameter of 100 mm), the rotation of the grooved disc creates a vacuum that tends to pull the working disc closer to the surface 3, which remains fixed. The suction head 10 is designed to be able to approach the surface using this effect. For a disc of the diameter mentioned above, the rotational speed required to produce the hydrodynamic effect that presses the disc against the surface to be treated is, for example, between 800 and 1200 rpm (as an example only).

[0073] 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, preventing biofilm and other dirt removed during wall cleaning from accumulating on the disc and saturating the treatment surface, thus halting the cleaning process. 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.

[0074] The suction cup head 10 preferably comprises a peripheral casing 18 arranged coaxially with the axis of rotation 12. This casing has a circumferential lateral wall 19 arranged to surround the rotating disk 11. In the examples in Figures 9 and 10, the casing 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 being 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 inverted U-shaped, with a central opening to allow the passage of the motor shaft 12. Additional openings 23 in the cover 24 ensure fluid communication between the working area W and the motor area M. The cover 24 can also be flat or non-inverted U-shaped.

[0075] A drainage port 20 is arranged through the side wall 19 of the axial peripheral casing 18. This tunnel allows the water flow to leave the casing and enter the basin. The tunnel is advantageously positioned so that it is located in the upper zone of the suction head 10 during cleaning phases. 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 drainage port 20.

[0076] 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 one side and on the cover 24 on the other.

[0077] Unlike the assembly formed by the disc 11 and the interface layer, the peripheral casing 18 is designed to remain angularly fixed, without rotation, relative to the wall being treated. A circumferential seal or a material with a hardness lower than that of the wall being 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 damage. 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 a plain or roller bearing. Figures 9 and 10 illustrate two embodiments of a suction head 10. In the embodiment of Figure 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 Figure 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. Reference numbers used in the figures Basin and treatment system Robot for treating the internal walls of aquatic basins Chassis Wall to be treated Water feature Float Stage Dynamic suction cup head Dynamic suction cup head Rotating disc Rotating shaft Disc motor Wall interface layer Radial grooves Fluid circulation orifice Hollow fluid circulation orifice in the axis of rotation Axial peripheral envelope Circumferential lateral wall Emergency light Spring Bearing (plain or rolling) Lid holes Lid Mobility package Motorized wheeled mobile Motorized wheels, rollers, or tracks Waterproof motor Angular actuator Actuator shaft Engine mount Mobile phone stand 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 chassis (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 chassis (2) and positioned at the center of the latter along a median axis MM, 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), characterized in that the chassis comprises, on one side of the median axis MM,a positive buoyancy zone in which are located two suction cup heads intended to be in a raised position, and on the other side of the median axis MM, a negative buoyancy zone in which are located two suction cup heads intended to be in a lower position, so that the robot, when immersed in a basin, exhibits static and dynamic equilibrium in a floating position with a floating axis FF and a plane V formed by the base of the suction cup heads, both vertical, and in that the suction cup heads (10) form two pairs, each oriented perpendicularly to the floating axis FF, i.e., one pair in a raised position and one pair in a lower position, the directions of rotation of the rotating disks (11) of the same pair being opposite, and the directions of rotation of the disks (11) of the pair in the raised position and the pair in the lower position, considered in relation to the floating axis FF, being reversed.

2. Robot according to claim 1, wherein the positive buoyancy zone comprises at least one float (5).

3. Robot according to claim 2, wherein the float (5) is integrated into the chassis or another element of the robot.

4. Robot according to any one of claims 1 to 3, wherein, in front view of the robot in floating position, the rotating discs (11) of the suction cup 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.

5. Robot according to any one of claims 1 to 4, wherein the vertical flotation axis F-F in operation is also obtained by balancing the robot in the direction of a lateral equilibrium axis EL of the robot by arranging the functional elements of the robot so as to have a balanced mass on each side of this lateral equilibrium axis EL of the robot.

6. Robot according to any one of claims 1 to 5, in which 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.

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

8. Robot according to any one of claims 6 or 7, 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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