METHOD FOR CONTROLLING AN AUTOMATIC DEVICE FOR CLEANING A SURFACE IMMERSED IN LIQUID AND CORRESPONDING CLEANING DEVICE

摘要

The invention relates to a method for controlling an automatic device for cleaning a surface immersed in liquid which comprises electric motors for driving a chassis along a cleanable surface. The inventive method consists in periodically measuring at least one electrical quantity which makes it possible to obtain the representative value of the resisting torque of at least one driving electric motor (7), in comparing each obtained value with the predetermined threshold representative value of a maximum acceptable value and, when said value is greater than said threshold value for the driving electric motor (7), a procedure known as a protection procedure is started. Said procedure consists in inverting the control of at least said driving electric motor (7) in such a way that the device is displaced in a direction opposite to the initial displacement direction and in controlling the device displacements in such a way that it follows the path enabling said device to deviate from the initial path which it followed when said threshold value was exceeded.