System for underwater navigation and control of mobile swimming pool filter
First Claim
1. A swimming pool cleaning, navigational controlled system, comprising:
- a robot;
locomotion means for said robot for producing a steerable motion therefor;
impeller means, movable with said robot, for drawing solids-entraining water from the floor of said pool through filter means for filtering the solids-entraining water, the filter means being mounted adjacent to, and upstream of, said impeller means, and returning said water after filtering to said pool;
microprocessor means associated with said robot for controlling said locomotion means for causing said robot to follow a preprogrammed route, and to generate correction signals whenever, at a given instant, the actual location of said robot deviates from said preprogrammed route;
signal-producing means carried by said robot;
at least two signal-detecting means defining together with said signal producing means a stationary triangulation base and being fixedly mounted in spaced-apart relationship at, or in close proximity to each other, on at least one side of said pool and being acted upon by said signal-producing means;
a mobile triangle apex being defined by said signal-producing means together with said signal detecting means; and
coupling means located on the ground in proximity to said pool and comprising a detector processing logic to receive and process data from said detecting means for transmission to said microprocessor means;
wherein the actual robot location is determined by triangulation of said stationary triangulation base defined by said at least two spaced-apart signal-detecting means and the mobile triangle apex.
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Accused Products
Abstract
An underwater navigation and control system for a swimming pool cleaning robot, having a driver, an impeller, a filter and a processor for controlling the driver and a signal-producing circuit. The system further includes a signal-detecting circuit mounted on the pool, an interface located on the ground in proximity to the pool and comprising a detector for receiving and processing data from the detecting circuit and for transmitting signals to the robot'"'"'s processor. Determination of the actual robot location is performed by triangulation in which the stationary triangulation base is defined by at least two spaced-apart signal detectors and the mobile triangle apex is constituted by the signal-producing circuit carried by the robot.
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Citations
15 Claims
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1. A swimming pool cleaning, navigational controlled system, comprising:
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a robot; locomotion means for said robot for producing a steerable motion therefor; impeller means, movable with said robot, for drawing solids-entraining water from the floor of said pool through filter means for filtering the solids-entraining water, the filter means being mounted adjacent to, and upstream of, said impeller means, and returning said water after filtering to said pool; microprocessor means associated with said robot for controlling said locomotion means for causing said robot to follow a preprogrammed route, and to generate correction signals whenever, at a given instant, the actual location of said robot deviates from said preprogrammed route; signal-producing means carried by said robot; at least two signal-detecting means defining together with said signal producing means a stationary triangulation base and being fixedly mounted in spaced-apart relationship at, or in close proximity to each other, on at least one side of said pool and being acted upon by said signal-producing means; a mobile triangle apex being defined by said signal-producing means together with said signal detecting means; and coupling means located on the ground in proximity to said pool and comprising a detector processing logic to receive and process data from said detecting means for transmission to said microprocessor means; wherein the actual robot location is determined by triangulation of said stationary triangulation base defined by said at least two spaced-apart signal-detecting means and the mobile triangle apex. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A swimming pool cleaning, navigational controlled system, comprising:
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a robot; locomotion means for said robot capable of producing a steerable motion therefor; impeller means, movable with said robot, for drawing solids-entraining water from the floor of said pool through filter means for filtering the water, the filter means being mounted adjacent to, and upstream of, said impeller means, and returning said water after filtering to said pool; microprocessor means provided in said robot for controlling said locomotion means for causing said robot to follow a preprogrammed route, and to generate correction signals whenever, ar a given instant, the actual location of said robot deviates from said preprogrammed route; signal-detecting means carried by said robot; at least two signal-producing means, together with said signal detecting means defining a stationary triangulation base, being fixedly mounted in spaced-apart relationship at, or in close proximity to each other, on at least one side of said pool and acting on said signal-detecting means; a mobile triangle apex being defined by said signal-detecting means together with said signal producing means; and transmission means located on the ground in proximity to said pool and comprising a detector processing logic to receive and process data from said detecting means for transmission to said microprocessor means; wherein the actual location of said robot is determined by triangulation of said stationary triangulation base comprising said at least two spaced-apart signal-producing means and the mobile triangle apex. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification