Cleaning and liquid contact with solids – Processes – Using solid work treating agents
Reexamination Certificate
1999-04-01
2001-10-09
Chin, Randall E. (Department: 1744)
Cleaning and liquid contact with solids
Processes
Using solid work treating agents
C015S001700, C015S049100
Reexamination Certificate
active
06299699
ABSTRACT:
FIELD OF THE INVENTION
This invention relates to the control of the pattern and direction of movement of robotic swimming pool and tank cleaners.
BACKGROUND OF THE INVENTION
Pool and tank cleaners of the prior art generally operate in a random pattern of movement across the bottom of the pool or tank. The forward or advancing end of the cleaner can either be stopped and reversed at the sidewall of the pool, or be designed to climb the sidewall until the leading edge of the advancing end is at the waterline, after which the cleaner reorients itself and descends the sidewall and moves across the bottom of the pool along a different line of travel. By criss-crossing the pool for a sufficient period of time and along a sufficient number of varied paths, all, or substantially all, of the bottom of the pool is by the passing cleaner.
In very large rectangular pools, e.g., Olympic-sized pools maintained by educational institutions, water parks and municipalities, a substantial amount of time is required to assure that the cleaner following a random pattern will clean the entire bottom surface of the pool. It can arise that the cleaning cycle is longer than the time that can be allotted for this maintenance activity.
One solution that has been offered to expedite the cleaning of the pool is to join two or even three individual pool cleaners into a unitary parallel assembly in order to cover a path that is twice the width (for the double assembly) as would be covered by a single moving cleaner. This cleaner is also designed to operate in a random pattern. However, there are difficulties associated with the handling, transportation, storage and control of these double (or larger) units that present drawbacks to their use. These oversized units are heavy and can be difficult to remove from the pool due to their bulk and weight. The floating power cord is also necessarily long and heavy and subject to twisting and can interfere with the programmed pattern of the cleaner.
Another solution that has been developed for producing a more or less predictable scanning pattern by a pool cleaner is a gyroscopically controlled guidance system. This system is expensive to construct and must also be oriented at a prescribed starting point. Thereafter the unit follows a series of straight lines, the drive motors being controlled by the gyroscope, which result in a zig-zag pattern. The principal drawback is the cost of the unit.
It is therefore an object of this invention to provide a method and apparatus for controlling the direction and pattern of a pool cleaner across the bottom of a pool or tank in order to minimize the time required to clean the entire bottom surface of the pool.
It is another object of this invention to provide a pool cleaner that follows a regular geometric pattern that is parallel to the sidewalls of a rectilinear pool, and also a pattern in which subsequent paths traversing the area between the sidewalls are not only parallel, but also closely spaced to each other.
Yet another object of the invention is to provide a method and apparatus in which the pool cleaner first traverses a plurality of parallel paths from side to side, and then when it reaches an end wall, turns and begins traversing a plurality of parallel, closely-spaced paths that extend from one end of the pool to the other.
Another object of the invention is to provide a method an apparatus for controlling the movement of a robotic pool cleaner so that the cleaner's regular pattern is not interrupted or adversely affected by its encounters with the corners or other obstructions in or along the side walls of the pool being cleaned.
A still further object of the invention is to provide a robotic pool cleaner that is programmed to clean a rectilinear pool or tank in the most efficient manner possible, and to thereby reduce operating and maintenance expenses.
Yet another object of the invention is to provide a robotic pool cleaner that follows a regular geometric pattern and whose motion is controlled so that the power supply cord does not interfere with the intended pattern due to a twisting or coiling of the cord.
It is yet another object of the invention to provide a pool cleaner that can accomplish the above objects at a cost that is relatively less expensive than the prior art gyroscopically-controlled cleaners.
SUMMARY OF THE INVENTION
The above objects, as well as other advantages, are achieved with the improved pool cleaner of the invention in which a robotic pool cleaner comprising a pair of separate traction means disposed at either end of the cleaner housing has each of the traction means mounted for independent rotation and each set of traction means on the opposing side of the cleaner are powered by separate first and second traction motors. The speed and/or direction of rotation of each of the separate motors is directed by a programmable controller, the controller also being responsive to sensor signals received from one or more sensors mounted on, or in, the cleaner. In one preferred embodiment, the controller comprises the following means to accomplish the indicated functions:
means for activating the traction motors to move the cleaner across the bottom of a pool or tank;
means responsive to a signal from said one or more sensors to stop the traction motors when the forward end of the cleaner is adjacent a first sidewall of the pool;
means for activating the first traction motor while the cleaner is proximate the first sidewall;
means responsive to a signal from said one or more sensors to stop the first traction motor when the advancing opposite end of the cleaner is proximate the first sidewall; and
means for activating both traction motors to move the cleaner in a direction away from the first sidewall towards another sidewall.
It an especially preferred embodiment of the invention described above, the controller also comprises the following:
means for activating the second traction motor to move the traction means in a direction opposite to the direction of the first traction motor for a prescribed period of time until the cleaner has turned approximately 90° from the side wall; and
means responsive to a timer for stopping the second traction motor when the cleaner has turned approximately 90°.
In another preferred embodiment, where the pool cleaner is adapted to climb the side wall of the pool the controller further comprises:
means responsive to said one or more sensors to stop the traction motor when the cleaner is at a prescribed angle from the horizontal;
means for activating both traction motors to return to cleaner to the bottom wall of the pool;
means responsive to said one or more sensors to stop the traction motors when the cleaner is on the bottom wall of the pool; and
means as described above to activate the traction motors to turn the cleaner and move it in a direction away from the first side wall towards another side wall.
It is to be understood that in the context of this description the pool cleaner is of generally symmetrical construction and that the traction means are mounted for rotation on axles that are positioned at opposite ends of the cleaner. As used herein, the term “advancing end” refers to the end of the cleaner in the direction of movement. This will include the pivoting or rotating motion of the cleaner as it turns to reverse its orientation along a given sidewall. Thus, once the cleaner has come to a stop proximate a sidewall, what had previously been the trailing or after end becomes the advancing end for the purposes of the turn.
The power source can be batteries contained in a floating water-tight battery container connected by a power cord. In order to clean a large, e.g., Olympic-sized pool, a conventional electrical power source external to the pool is likely to be required. As will be apparent to one of ordinary skill in the art, the random turning of the cleaner over a prolonged period of time can cause the floating power cord to become tightly coiled and/or twisted to such an extent that it acts as a tether and interferes with the movement of the clea
Hanan Eitan
Hebel Michael
Porat Joseph
Abelman ,Frayne & Schwab
Aqua Products Inc.
Chin Randall E.
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