Pool cleaner directional control method and apparatus
First Claim
1. A robotic cleaner for cleaning a pool or tank having a bottom and first and second opposing side walls, said cleaner comprising:
- a housing having opposing first and second ends and opposing first and second sides extending from said first end to said second end;
first and second traction means mounted for independent rotation at said first end, said first traction means being adjacent said first side and said second traction means being adjacent said second side;
third and fourth traction means mounted for independent rotation at said second end, said third traction means being adjacent said first side and said fourth traction means being adjacent said second side;
a first traction motor connected to drive said first and third traction means to cause motion of said cleaner across the bottom of the pool or tank;
a second traction motor connected to drive said second and fourth traction means to cause motion of said cleaner across the bottom of the pool or tank;
at least one signal-generating sensor; and
a programmable electronic controller operatively connected to said at least one sensor and to said first and second traction motors for controlling independent activation and deactivation of said first and second traction motors in response to signal information generated by said at least one sensor, wherein, in a first operation, said controller is responsive, while both said first and second traction motors are activated to cause motion of said cleaner across the bottom toward the first sidewall, to first signal information from said at least one sensor indicating that said first end of said cleaner is proximate the first side wall to deactivate both said first and second traction motors to stop motion of said cleaner;
wherein, in a second operation following said first operation, said controller activates a selected one, of said first and second traction motors while said first end of said cleaner is proximate said first side wall, the second operation bringing said second end of said cleaner proximate said first side wall;
wherein, in a third operation following said second operation, said controller is responsive to second signal information from said at least one sensor indicating that said second end of said cleaner is proximate the first side wall to deactivate the selected one of said first and second traction motors; and
wherein, in a fourth operation following said third operation, said controller activates both of said first and second traction motors to cause motion of said cleaner away from said first side wall.
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Accused Products
Abstract
A pool cleaner and method for its operation provides for the efficient and systematic cleaning of the bottom of a rectilinear pool or tank in a controlled geometric pattern of parallel paths transversed between a pair of opposing sidewalls by having the pool cleaner complete a 180° U-turn at each wall, and when an end wall is reached, to effect a 90° turn and commence a similar pattern of parallel paths between the pair of end walls. A microprocessor, or programmable electronic controller, responds to signal-generating sensors that are activated at the pool'"'"'s sidewalls, and to a program that also repositions the cleaner should it become blocked by a corner or other obstacle.
196 Citations
17 Claims
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1. A robotic cleaner for cleaning a pool or tank having a bottom and first and second opposing side walls, said cleaner comprising:
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a housing having opposing first and second ends and opposing first and second sides extending from said first end to said second end;
first and second traction means mounted for independent rotation at said first end, said first traction means being adjacent said first side and said second traction means being adjacent said second side;
third and fourth traction means mounted for independent rotation at said second end, said third traction means being adjacent said first side and said fourth traction means being adjacent said second side;
a first traction motor connected to drive said first and third traction means to cause motion of said cleaner across the bottom of the pool or tank;
a second traction motor connected to drive said second and fourth traction means to cause motion of said cleaner across the bottom of the pool or tank;
at least one signal-generating sensor; and
a programmable electronic controller operatively connected to said at least one sensor and to said first and second traction motors for controlling independent activation and deactivation of said first and second traction motors in response to signal information generated by said at least one sensor, wherein, in a first operation, said controller is responsive, while both said first and second traction motors are activated to cause motion of said cleaner across the bottom toward the first sidewall, to first signal information from said at least one sensor indicating that said first end of said cleaner is proximate the first side wall to deactivate both said first and second traction motors to stop motion of said cleaner;
wherein, in a second operation following said first operation, said controller activates a selected one, of said first and second traction motors while said first end of said cleaner is proximate said first side wall, the second operation bringing said second end of said cleaner proximate said first side wall;
wherein, in a third operation following said second operation, said controller is responsive to second signal information from said at least one sensor indicating that said second end of said cleaner is proximate the first side wall to deactivate the selected one of said first and second traction motors; and
wherein, in a fourth operation following said third operation, said controller activates both of said first and second traction motors to cause motion of said cleaner away from said first side wall. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method of operating a robotic cleaner for cleaning a pool or tank having a bottom and first and second opposing side walls, the cleaner comprising a housing having opposing first and second ends and opposing first and second sides extending from said first end to said second end, first and second traction means mounted for independent rotation at said first end, said first traction means being adjacent said first side and said second traction means being adjacent said second side, third and fourth traction means mounted for independent rotation at said second end, said third traction means being adjacent said first side and said fourth traction means being adjacent said second side, a first traction motor connected to drive said first and third traction means to cause motion of said cleaner across the bottom of the pool or tank, a second traction motor connected to drive said second and fourth traction means to cause motion of said cleaner across the bottom of the pool or tank, at least one signal-generating sensor, and a programmable electronic controller operatively connected to said at least one sensor and to said first and second traction motors for controlling independent activation and deactivation of said first and second traction motors in response to signal information generated by said at least one sensor, said method comprising the steps of:
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in a first operation, while both said first and second traction motors are activated to cause motion of said cleaner across the bottom toward the first sidewall, causing said controller to be responsive to first signal information from said at least one sensor indicating that said first end of said cleaner is proximate the first side wall to deactivate both said first and second traction motors to stop motion of said cleaner;
in a second operation following said first operation, causing said controller to activate a selected one of said first and second traction motors while said first end of said cleaner is proximate said first side wall, the second operation bringing said second end of said cleaner proximate said first side wall;
in a third operation following said second operation, causing said controller to be responsive to second signal information from said at least one sensor indicating that said second end of said cleaner is proximate the first side wall to deactivate the selected one of said first and second traction motors; and
in a fourth operation following said third operation, causing said controller to activate both of said first and second traction motors to cause motion of said cleaner away from said first side wall. - View Dependent Claims (17)
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Specification