Method of cleaning a pool with a robot
A method, for cleaning a pool with N vertical walls using a robot, comprising adjusting the robot against the vertical wall of rank n=1. The robot advances along the vertical wall of rank n until the vertical wall of rank n+1 is detected. The robot retracts over a release distance in order to be released from the vertical wall of rank n+1. The robot makes a rotation on itself in order to be adjusted against the vertical wall of rank n+1. Checking whether n is equal to N, in the negative case, the cleaning method continues with an incrementation step where “n” is incremented by “1”, and—then looping onto the advancement step. In the positive case, the cleaning method continues with a finishing step where the robot advances along the vertical wall of rank “1” until the vertical wall of rank “2” is detected.
1. A method for cleaning a pool comprising a bottom and N vertical walls by means of a robot comprising a contact detector and a chassis on which a set of left-hand wheels having a left motor and a set of right-hand wheels having a right motor are mounted, each set being rotated by each respective motor controlled by a control unit, the cleaning method comprising:
adjusting the robot comprising controlling the motor associated with the set of left-hand wheels and the motor associated with the set of right-hand wheels with the control unit in order to adjust the robot against a vertical wall of rank n=1,
advancing the robot comprising controlling the motor associated with the set of left-hand wheels and the motor associated with the set of right-hand wheels with the control unit in order to advance the robot along the vertical wall of rank n=1 until a vertical wall of rank n+1 is detected by the contact detector,
releasing the robot comprising controlling the motor associated with the set of left-hand wheels and the motor associated with the set of right-hand wheels with the control unit in order to withdraw the robot over a release distance in order to be released from the vertical wall of rank n+1,
rotating the robot comprising controlling the motor associated with the set of left-hand wheels and the motor associated with the set of right-hand wheels with the control unit to make the robot rotate on itself in order to be adjusted against the vertical wall of rank n+1,
testing the walls wherein the control unit checks whether n is equal to N,
when n is different from N, the cleaning method further comprises:
incrementing the value of n wherein the control unit increments the value of n by “1”, and
looping to the advancing the robot step wherein the cleaning method loops onto the advancement step,
when n is equal to N, the cleaning method continues with:
finishing the method wherein the control unit controls the motors in order to advance the robot along the vertical wall of rank “1” until the vertical wall of rank “2” is detected by the contact detector, and
stopping the cleaning method.
2. The Cleaning method according to claim 1 , wherein during the advancing and finishing steps, the control unit forces the robot to run against the vertical wall.
3. The cleaning method according to claim 1 , wherein the control unit controls each of the motor associated with the set of left-hand wheels and the motor associated with the set of right-hand wheels so that the speed of the wheels that are against the vertical wall is less than the speed of the wheels that are not against the vertical wall.
4. The cleaning method according to claim 2 , wherein the robot comprises a gyroscope having an angular offset with respect to a direction of advancement of the robot.
5. The cleaning method according to claim 1 , wherein during the rotating step, the rotation angle is less than the actual angle between the vertical walls.
6. The cleaning method according to claim 1 , wherein the robot comprises a distance detector configured to measure the distance between the robot and the vertical wall that the robot is following, and in that, during the advancing and finishing steps, when the distance measured is greater than a threshold, the control unit controls each of the motor associated with the set of left-hand wheels and the motor associated with the set of right-hand wheels wherein the speed of the wheels that are against the vertical wall is less than the speed of the wheels that are not against the vertical wall.
7. A robot configured to clean a pool comprising a bottom and N vertical walls, and comprising a contact detector and a chassis on which a set of left-hand wheels and a set of right-hand wheels are mounted, each set being rotated by a motor controlled by a control unit, said robot comprising:
the control unit being configured to control the motors associated with each set of wheels in order to adjust the robot against a vertical wall,
the control unit being configured to control the motors associated with each set of wheels so as to advance the robot along a vertical wall as long as the contact detector detects no contact,
the control unit being configured to control the motors associated with each set of wheels in order to withdraw the robot over a release distance when the contact detector detects a contact,
the control unit being configured to control the motors associated with each set of wheels in order to make the robot rotate on itself after the release,
the control unit being configured to check whether n is equal to N,
when n is different from N:
the control unit being configured to increment the value of n by “1”, and
when n is equal to N:
the control unit being configured to control the motors associated with each set of wheels in order to advance the robot along a vertical wall as long as the contact detector detects no contact.
8. The robot according to claim 7 , wherein the robot further comprises a gyroscope having an angular offset with respect to the direction of advancement of the robot.
9. The robot according to claim 7 , wherein the robot further comprises a contact roller with a vertical rotation axis configured to provide contact against the vertical wall.