Automatic pool cleaner traction correction
First Claim
Patent Images
1. A pool cleaner comprising:
- a housing;
a means for traversing a pool surface to be cleaned; and
a computing system having a PID control module stored thereon for maintaining a process variable at a setpoint value, the computing system configured to execute the following instructions;
receive the setpoint value for the process variable;
monitor the process variable of the pool cleaner while it is cleaning a pool surface to obtain a present state of the process variable;
calculate the phase difference between the setpoint value of the process variable and the present state of the process variable; and
tune a gain value of the PID control module to account for the pool surface the pool cleaner is cleaning.
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Accused Products
Abstract
A pool cleaner is provided including a top housing, a chassis and a computing system. The computing system can include a PID control module for maintaining a process variable at a setpoint value. The PID control module can receive the setpoint value for the process variable and can monitor the process variable to calculate the phase difference between the setpoint value of the process variable and the present state of the process variable. The PID control module can automatically tune the PID control module to account for the pool surface the pool cleaner is cleaning by using the phase difference previously calculated.
80 Citations
20 Claims
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1. A pool cleaner comprising:
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a housing; a means for traversing a pool surface to be cleaned; and a computing system having a PID control module stored thereon for maintaining a process variable at a setpoint value, the computing system configured to execute the following instructions; receive the setpoint value for the process variable; monitor the process variable of the pool cleaner while it is cleaning a pool surface to obtain a present state of the process variable; calculate the phase difference between the setpoint value of the process variable and the present state of the process variable; and tune a gain value of the PID control module to account for the pool surface the pool cleaner is cleaning. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A pool cleaner comprising:
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a housing; a means for traversing a pool surface to be cleaned; and a computing system having a PID control module stored thereon for maintaining a process variable at a setpoint value, the computing system configured to execute the following instructions; receive the setpoint value for the process variable; monitor the process variable of the pool cleaner while it is cleaning a pool surface to obtain a present state of the process variable; execute a model estimation program to identify a plant model; and analyze the plant model to determine gain values of the PID control module. - View Dependent Claims (14, 15, 16)
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17. A pool cleaner comprising:
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a housing; a means for traversing a pool surface to be cleaned; and a computing system having a PID control module stored thereon for maintaining a process variable at a setpoint value, the computing system configured to execute the following instructions; implement a square wave input for a target angular rate; demux the target angular rate into motor speeds for left and right drivers to provide rotational motion for said means for traversing the pool surface; record an actual angular rate; determine a gain value and a period for a closed loop plant model using a peak detection algorithm; modify a transfer function of the closed loop plant model using the gain value; and using the gain value to tune the PID control module. - View Dependent Claims (18, 19, 20)
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Specification