Pool cleaning system and method to automatically clean surfaces of a pool using images from a camera

• US 9,995,051 B2
• Filed: 07/11/2016
• Issued: 06/12/2018
• Est. Priority Date: 07/10/2012
• Status: Active Grant

• Current Assignee: Zodiac Pool Systems, LLC (Fluidra, S.A.)
• Original Assignee: Aqua Products Incorporated
• Inventors: Durvasula, Kameshwar, Correa, William Londono
• Primary Examiner(s): Wong, Allen
• Application Number:
  US15/207,065
• Publication Number:
  US 20160319559A1
• Time in Patent Office: 701 Days
• Field of Search: 348114
• CPC Class Codes: E04H 4/06 Safety devices; Coverings for baths
• CPC Class Codes: E04H 4/1281 Devices for distributing chemical products in the water of swimming pools
• CPC Class Codes: E04H 4/1654 Self-propelled cleaners
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/22 Command input arrangements
• CPC Class Codes: G05D 1/221 Remote-control arrangements
• CPC Class Codes: G05D 1/223 Command input arrangements on the remote controller, e.g. joysticks or touch screens
• CPC Class Codes: G05D 1/249 from positioning sensors located off-board the vehicle, e.g. from cameras
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 7/001 using an image reference approach
• CPC Class Codes: G06T 7/90 Determination of colour characteristics
• CPC Class Codes: H04N 23/555 for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/66 Remote control of cameras or camera parts, e.g. by remote control devices
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A pool cleaning system for cleaning debris from a submerged surface of a swimming pool includes a self-propelled pool cleaner having rotatably-mounted supports for supporting and guiding the cleaner on the pool surface; an electric motor for enabling the rotation of the rotatably-mounted supports on the pool surface; at least one camera to capture imagery of the pool surface; a controller, in electronic communication with the at least one camera, to determine a cleanliness characteristic of the pool surface on which the cleaner has passed based on the camera imagery and generate a control signal to direct movement of the cleaner based on the cleanliness characteristic of the pool surface, wherein the control signal directs movement of the cleaner to reclean a portion of the pool surface where the cleanliness characteristic fails to satisfy a predefined threshold.

Claims

1. A pool cleaning system for cleaning debris from a submerged surface of a swimming pool comprising:

a self-propelled pool cleaner having rotatably-mounted supports for supporting and guiding the cleaner on the pool surface;

a filter configured to retain the debris collected from the submerged surface of the swimming pool;

an electric motor for enabling the rotation of the rotatably-mounted supports on the pool surface;

at least one camera to capture imagery of the pool surface;

a controller, in electronic communication with the at least one camera, to determine a cleanliness characteristic of the pool surface on which the cleaner has passed based on the camera imagery and generate a control signal to direct movement of the cleaner based on the cleanliness characteristic of the pool surface, wherein the control signal directs movement of the cleaner to reclean a portion of the pool surface where the cleanliness characteristic fails to satisfy a predefined threshold.

2. The system of claim 1, wherein the at least one camera is carried by the cleaner.

3. The system of claim 1, wherein the controller is carried by the cleaner.

4. The system of claim 1, wherein the electric motor is mechanically connected to at least one of the rotatably-mounted supports.

5. The system of claim 1, wherein the controller is operable to execute one or more cleaning programs for cleaning the submerged surfaces of the pool.

6. The system of claim 1, wherein the captured imagery from the at least one camera is digitally processed by the controller to determine the cleanliness characteristic of the pool surface.

7. The system of claim 1, wherein the captured imagery from the at least one camera is digitally processed by a remote processor to determine the cleanliness characteristic of the pool surface.

8. The system of claim 1 further comprising at least one sensor to detect the cleanliness characteristic of the pool surface on which the cleaner has passed.

9. The system of claim 8, wherein the at least one sensor is carried by the cleaner.

10. The system of claim 1, wherein the control signal causes the cleaner to drive in the direction of the portion of the pool surface to be recleaned.

11. The system of claim 1, wherein the control signal causes the cleaner to steer in the direction of the portion of the pool surface to be recleaned.

12. The system of claim 1 further comprising a dry station located remotely from the cleaner and in communication with the cleaner, wherein the dry station includes the controller.

13. The system of claim 1 further comprising a dry station located remotely from the cleaner and in communication with the cleaner, wherein the controller is located remotely from the cleaner and the dry station.

14. The system of claim 1 further comprising a portable electronic device having a display, wherein the portable electronic device is configured to present a graphic on the display, the graphic depicting the submerged surface of the pool and those portions of the surface that remain uncleaned as the cleaner traverses the pool surface.

15. The system of claim 1, wherein the controller controls electric power provided to the electric motor.

16. A pool cleaning system for cleaning debris from a submerged surface of a swimming pool comprising:

a self-propelled pool cleaner having rotatably-mounted supports for supporting and guiding the cleaner on the pool surface;

an electric motor for enabling the rotation of the rotatably-mounted supports on the pool surface;

a filter configured to retain the debris collected from the submerged surface of the swimming pool;

at least one camera to capture imagery of the pool surface;

at least one sensor to detect a cleanliness characteristic of the pool surface on which the cleaner has passed;

a controller in electronic communication with the at least one camera and the at least one sensor to a generate a control signal to direct movement of the cleaner based on the cleanliness characteristic of the pool surface; and

wherein the control signal directs movement of the cleaner to reclean a portion of the pool surface where the cleanliness characteristic fails to satisfy a predefined threshold.

17. The system of claim 16, wherein the at least one camera and at least one sensor are carried by the cleaner.

18. The system of claim 16, wherein the controller is operable to execute one or more cleaning programs for cleaning the submerged surfaces of the pool.

19. The system of claim 16, wherein the at least one camera captures the imagery during a pass of the cleaner on the submerged surface and the captured imagery from the at least one camera is utilized to determine the cleanliness characteristic of the pool surface.

20. The system of claim 16, wherein the captured imagery from the at least one camera is digitally processed by the controller to determine the cleanliness characteristic of the pool surface.

21. The system of claim 16, wherein the control signal causes the cleaner to drive in the direction of the portion of the pool surface to be recleaned.

22. The system of claim 16, wherein the controller controls electric power provided to the electric motor.