AUTONOMOUS SWIMMING POOL CLEANER

Abstract

A cleaning system includes a remotely operated vehicle configured as an automatic swimming pool cleaner and/or as a supplement to an automatic swimming pool cleaner. The remotely operated vehicle may be capable of moving through an entire volume of a swimming pool or sup with up to six degrees of freedom. The remotely operated vehicle may support and/or perform a variety of functions or purposes related to or associated with the automatic swimming pool cleaner.

Description

FIELD OF THE INVENTION

The invention relates to systems and apparatuses for cleaning water-containing vessels such as swimming pools and spas and more particularly, although not necessarily exclusively, to swimming pool cleaners.

BACKGROUND OF THE INVENTION

Numerous cleaning devices capable of autonomous movement within swimming pools and spas currently exist. The most common of these devices are swimming pool cleaners, which often are either hydraulic or robotic in type. Hydraulic cleaners vary water flow for movement, while robotic cleaners typically employ electric motors to cause motion. Hydraulic pool cleaners, furthermore, subdivide into “pressure-side” and “suction-side” cleaners, with pressure-side cleaners being fluidly connected to outputs of pumps of pool water circulation systems and suction-side cleaners being fluidly connected to inputs of such pumps. U.S. Patent Application Publication No. 2021/0032888 of Lancry, et al. (“Lancry”), whose entire contents are incorporated herein by this reference, details an exemplary robotic pool cleaner useful to clean water of an illustrated swimming pool. In use, a pump on-board the pool cleaner operates to draw pool water into the cleaner, where the water passes through the filter (so as to trap debris entrained in the flowing water) before exiting to return to the pool.

Existing pool cleaners may be difficult to upgrade or customize, may have limited external communication, and may be unable to operate in certain locations or environments (e.g., due to small water depths, adhesion constraints related to the lining of a swimming pool or spa, etc.).

SUMMARY

Embodiments covered by this patent are defined by the claims below, not this summary. This summary is a high-level overview of various embodiments and introduces some of the concepts that are further described in the Detailed Description section below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used in isolation to determine the scope of the claimed subject matter. The subject matter should be understood by reference to appropriate portions of the entire specification of this patent, any or all drawings, and each claim.

According to certain embodiments, a cleaner for a swimming pool or spa may include an associated autonomous pool cleaner or be configured as an autonomous pool cleaner.

In some embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform at least two types of cleaning operations.

In various embodiments, a method of cleaning a swimming pool or spa using the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner.

According to some embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation utilizing at least two brushes.

According to various embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation and the autonomous pool cleaner includes a positive buoyancy.

According to some embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation with a brush while the autonomous pool cleaner is in at least two different orientations.

In certain embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner with an inlet, and the inlet includes a first channel for receiving water from a first direction and a second channel for receiving water from a second direction.

According to various embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation and an induction charging station for charging an on-board power source of the autonomous pool cleaner.

A cleaning system for a swimming pool or spa may include an autonomous pool cleaner configured to perform a cleaning operation. In various embodiments, the autonomous pool cleaner is configured to move in water of the swimming pool or spa and to fly in the air.

A cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation. In certain embodiments, the autonomous pool cleaner is self-propelled for moving independently through water and in the air.

A pool cleaner for a swimming pool or spa may include one or more impellers for displacing water while the pool cleaner is in water and for moving the pool cleaner through the air.

According to certain embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation and a filter washing station. In some embodiments, the autonomous pool cleaner is configured to join to the filter washing station and backwash a filter of the autonomous pool cleaner.

A cleaning system for a swimming pool or spa may include a plurality of autonomous pool cleaners. In various embodiments, each autonomous pool cleaner may be configured to perform a cleaning operation.

According to various embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation. In some cases, the autonomous pool cleaner includes a localizing system for determining a location of the autonomous pool cleaner at least within the swimming pool or spa.

According to some embodiments, a cleaning service for a swimming pool or spa includes an airborne delivery vehicle and an autonomous pool cleaner. In various embodiments, the autonomous pool cleaner may be configured to perform a cleaning operation and the airborne delivery vehicle may be configured to deliver the autonomous pool cleaner to the swimming pool or spa or retrieve the autonomous pool cleaner from the swimming pool or spa.

In certain aspects, the autonomous pool cleaner is capable of moving with up to six degrees of freedom.

A cleaning system for a swimming pool or spa may include an autonomous pool cleaner configured to perform a cleaning operation. In some embodiments, the autonomous pool cleaner includes a buoyancy control system for controlling the floatability of the autonomous pool cleaner in water of the swimming pool or spa.

According to various embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation, and the autonomous pool cleaner includes an inlet for receiving water and an outlet for discharging water from the autonomous pool cleaner. In certain cases, the outlet includes means for minimizing a flow reaction force from a pump of the autonomous pool cleaner.

According to certain embodiments, a cleaning system for a swimming pool or spa includes an autonomous pool cleaner configured to perform a cleaning operation, and the autonomous pool cleaner includes a pump and an outlet. In some embodiments, a flow rate or speed of water exiting the outlet is less than a flow rate or speed of water entering the pump.

Various implementations described herein can include additional systems, methods, features, and advantages, which cannot necessarily be expressly disclosed herein but will be apparent to one of ordinary skill in the art upon examination of the following detailed description and accompanying drawings. It is intended that all such systems, methods, features, and advantages be included within the present disclosure and protected by the accompanying claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The specification makes reference to the following appended figures, in which use of like reference numerals in different figures is intended to illustrate like or analogous components.

FIG. 1 illustrates a cleaning system with an autonomous pool cleaner according to embodiments.

FIG. 2 illustrates a cleaning system with an autonomous pool cleaner according to embodiments.

FIG. 3 illustrates movement of the autonomous pool cleaner of the cleaning system of FIG. 2 according to embodiments.

FIG. 4 is another view of the autonomous pool cleaner of FIG. 2 according to embodiments.

FIG. 5 illustrates a cleaning system with an autonomous pool cleaner according to embodiments, and with the autonomous pool cleaner performing floor cleaning.

FIG. 6 illustrates the autonomous pool cleaner of the cleaning system of FIG. 5 performing wall and/or waterline cleaning.

FIG. 7 illustrates the autonomous pool cleaner of the cleaning system of FIG. 5 performing level cleaning.

FIG. 8 illustrates the autonomous pool cleaner of the cleaning system of FIG. 5 performing level cleaning.

FIG. 9 illustrates the autonomous pool cleaner of the cleaning system of FIG. 5 with buoyancy control.

FIG. 10 illustrates a brushing system of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 11 illustrates a skimming system of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 12 illustrates a filtration system of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 13 illustrates a power supply system of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 14 illustrates charging stations for the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 15 illustrates storage of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 16 illustrates filter washing of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 17 illustrates localization of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 18 illustrates a cleaning service with the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 19 illustrates balancing adjustment of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 20 illustrates flow reaction control of the autonomous pool cleaner of the cleaning system of FIG. 5.

FIG. 21 illustrates the cleaning system of FIG. 5 with a plurality of autonomous pool cleaners.

DESCRIPTION OF THE INVENTION

Described herein are pool cleaners configured as an autonomous pool cleaner and/or as a supplement to a traditional pool cleaner. As used herein, an autonomous pool cleaner may be capable of operating itself without requiring user input and/or control by an operator and/or may be operated by an operator. Non-limiting examples of autonomous pool cleaners include, but are not limited to, autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs). In certain embodiments, autonomous pool cleaners described herein have six degrees of freedom.

Autonomous pool cleaners described herein may allow the system to achieve various advantages. As an example, autonomous pool cleaners may have improved agility and/or propulsion as the autonomous pool cleaners may move through an entire volume of a swimming pool or spa with up to six degrees of freedom (e.g., on and/or about an x-axis, on and/or about a y-axis, on and/or about a z-axis, roll, pitch, and/or yaw). Autonomous pool cleaners may also have improved versatility as the autonomous pool cleaners may be free from adhesion constraints related to the lining of the swimming pool or spa. In some embodiments, autonomous pool cleaners can achieve precise movement within the swimming pool or spa as the autonomous pool cleaners may have improved stabilization using coupling measuring instruments, sensors, algorithms, etc. autonomous pool cleaners may also support or perform a variety of functions or purposes such as but not limited to moving on a surface of water of a swimming pool or spa and skimming the surface and/or moving at a depth under the surface of water (optionally on a fixed horizontal plane) and/or on a surface of the swimming pool or spa. In certain embodiments, autonomous pool cleaners allow for improved modularity, scaling, and/or customization as desired to integrate different technologies to improve cleaning results. As a non-limiting example, autonomous pool cleaners may implement cleaning sub-assemblies as desired, such as a brushing system, a skimming system, etc. In some embodiments, autonomous pool cleaners may have a positive buoyancy (e.g., the autonomous pool cleaner floats to the upper water surface when it is not subjected to downforce), and the buoyancy autonomous pool cleaners may allow for communication with external devices or systems using a wireless connection. In various embodiments, autonomous pool cleaners may have an improved size compared to traditional robots, thereby allowing the autonomous pool cleaners to move over and/or clean areas that traditional pool cleaners cannot accommodate such as areas with small water depths. As one non-limiting example, the autonomous pool cleaners described herein may fit into skimmers of the swimming pool or spa. Various other benefits and advantages may be realized with the devices and methods provided herein, and the aforementioned advantages should not be considered limiting.

As mentioned, the autonomous pool cleaners described herein may be configured as a pool cleaner and/or may be used as a supplement or in conjunction with a traditional pool cleaner. FIG. 1 illustrates an example of an autonomous pool cleaner 12 used as a supplement to a pool cleaner 10 according to embodiments, and FIGS. 2-14 illustrate the autonomous pool cleaner 12 configured as an independent pool cleaner.

When the autonomous pool cleaner 12 is used as a supplement and/or otherwise in conjunction with another pool cleaner such as the pool cleaner 10, the pool cleaner 10 may be various types of pool cleaners as desired and is not limited to the examples disclosed herein. In certain embodiments, and as illustrated in FIG. 1, the autonomous pool cleaner 12 optionally may be tethered to the pool cleaner 10 using tethering mechanisms 18 such as cabling, wiring, and/or other combinations of features or mechanisms as desired. In such embodiments, the autonomous pool cleaner 12 may be independently movable within the pool or spa while remaining tethered to the pool cleaner 10. In the embodiment illustrated in FIG. 1, the pool cleaner 10 generally includes a body 14 and optional motive elements 16. The motive elements 16 may be various suitable devices or structures suitable for enabling movement of the pool cleaner 10 along a surface, including but not limited to wheels, rollers, feet, tracks, combinations thereof, and/or other suitable motive elements 16 as desired. The pool cleaner 10 may include various components on and/or within the body 14 such as a motor block, a filter, a pump, a controller, etc. The pool cleaner 10 optionally may include one or more cleaning elements (e.g., a brush assembly with one or more brushes) suitable for cleaning a surface and/or directing debris into the pool cleaner 10 and/or towards a filter of the pool cleaner 10. However, as mentioned, the pool cleaner 10 illustrated should not be considered limiting as the autonomous pool cleaner 12 described herein may be used with other types of pool cleaners with fewer, additional, or various other combinations of features as desired, and in other embodiments the autonomous pool cleaner 12 itself may be configured as a pool cleaner as described below. Other non-limiting examples of pool cleaners 10 may include those described in U.S. Pat. Nos. 10,316,534, 9,488,154, 8,578,538, and U.S. Patent Publication No. 2014/0303810, all of which are hereby incorporated by reference in their entireties.

Referring to FIG. 2, the autonomous pool cleaner 12, either as a supplement or configured itself as a pool cleaner, generally includes a housing or chassis 20 having first (or nominally front) side 24 and a second (or nominally rear) side 26. An axis 28 of the autonomous pool cleaner 12 extends in a direction from the first side 24 to the second side 26. The particular shape and profile of the autonomous pool cleaner 12 illustrated in FIG. 2 should not be considered limiting.

The autonomous pool cleaner 12 includes one or more propulsion devices 22 (i.e., thrusters, propellers, etc.). In the embodiment illustrated, the propulsion devices 22 are propellers. In certain embodiments, the one or more propulsion devices 22 are on and/or at opposing sides 24, 26 of the autonomous pool cleaner 12 and/or on and/or at a top side of the autonomous pool cleaner 12 (see, e.g., FIG. 5). In certain embodiments, the one or more propulsion devices 22 are exterior or outside of a main chamber or cavity within the body of the autonomous pool cleaner 12 (e.g., through which water may flow to be filtered by a filter). In this regard, in certain cases, the propulsion devices 22 optionally may be considered external to the housing 20. In other embodiments, the one or more propulsion devices 22 may be at other locations and/or in other configurations as desired. Moreover, the number of propulsion devices 22 illustrated should not be considered limiting. Optionally, and as illustrated in FIGS. 5-21, propulsion devices 22 at the sides 24, 26 may be housed within a cover or propulsion housing 51, which may further facilitate performance of the propulsion devices 22 and/or provide protection to the propulsion devices 22.

The autonomous pool cleaner 12 also may include additional features or devices (or combinations thereof) as desired, such as but not limited to filtration features, skimming features, handles, communication modules, sensors, power sources, brushing systems, one or more inlets, one or more outlets, combinations thereof, and/or other features or devices as desired. In FIG. 2, the autonomous pool cleaner 12 is illustrated with a brushing system 40 having at least one brush 42. Optionally, and as illustrated in FIGS. 2-4, the brushing system 40 and/or at least one brush 42 of the brushing system 40 may extend in a forward direction relative to the front side 24 such that the at least one brush 42 is a forward-most component of the autonomous pool cleaner 12 at the front side 24. In other embodiments, the brushing system 40 and/or the at least one brush 42 may have other configurations as desired. Non-limiting examples of additional features are discussed in greater detail below.

As mentioned, the autonomous pool cleaner 12 includes one or more propulsion devices 22 (i.e., thrusters) for moving the autonomous pool cleaner 12 on and/or within water of the swimming pool or spa. While traditional pool cleaners use the pump as propulsion device(s), in embodiments where the autonomous pool cleaner 12 itself is configured as a pool cleaner, the thrusters of the autonomous pool cleaner 12 may replace the pump as the propulsion device. Such propulsion devices 22 may include electrical propulsion systems, hydraulic propulsion systems, ducted propulsion systems, combinations thereof, and/or other types or combinations of types of propulsion systems as desired. The autonomous pool cleaner 12 may include any suitable number of propulsion devices 22. In the embodiment illustrated in FIG. 2, the autonomous pool cleaner 12 includes at least four propulsion devices 22, with one toward a top of the autonomous pool cleaner 12, one toward a bottom of the autonomous pool cleaner 12, one toward the first side 24 of the autonomous pool cleaner 12, and one toward the second side 26 of the autonomous pool cleaner 12. In this way, the thrusters can orient to move the autonomous pool cleaner 12 in any desired direction. However, the number, location, and type of propulsion device 22 should not be considered limiting.

In various embodiments, the autonomous pool cleaner 12 includes a buoyancy control system, such as but not limited to a buoyancy control mechanism 23, such that the autonomous pool cleaner 12 may float at a surface of the water of the swimming pool or spa (e.g., for skimming, for retrieval by a user, for charging, etc.) or be submerged at a depth of the water as desired, including along a floor or step or other surface of a pool or spa. Optionally, the buoyancy control system includes and/or is in communication with the controller of the autonomous pool cleaner 12. In some embodiments, the buoyancy control systems may control the autonomous pool cleaner 12 to have a positive buoyancy, a negative buoyancy, and/or a variable buoyancy. In some embodiments, a default or “base” buoyancy of the autonomous pool cleaner 12 may be a positive buoyancy, although it need not be in other embodiments. In certain embodiments, the buoyancy control system may automatically control the buoyancy of the autonomous pool cleaner 12 (e.g., based on a desired type of cleaning, cycle, desired cleaning area, desired depth of cleaning, desired orientation of the autonomous pool cleaner 12, based on other inputs, and/or as otherwise determined and/or desired by the autonomous pool cleaner 12). Additionally, or alternatively, the buoyancy control system may receive an input from a user and/or may be manually adjusted by the user.

FIG. 19 illustrates a non-limiting example of a buoyancy control system with a buoyancy control mechanism 23; however, in other embodiments, other types of buoyancy control mechanisms 23 may be utilized by the buoyancy control system of the autonomous pool cleaner 12 as desired.

In some embodiments, the autonomous pool cleaner 12 is configured to be positively buoyant. In such embodiments, the autonomous pool cleaner 12 is capable of naturally floating to the water surface when not subjected to countervailing forces, such as but not limited to downward forces generated by the propulsion devices 22. In use, operation of at least some of the propulsion devices 22 may create a downward force that counteracts the positive buoyancy of the autonomous pool cleaner 12, which causes the autonomous pool cleaner 12 to remain submerged within the water of the pool or spa. When the propulsion devices 22 are deactivated, re-oriented, and/or otherwise controlled such that the downward force is removed, the autonomous pool cleaner 12 will float to the water surface. FIG. 2 illustrates how positive buoyancy of the autonomous pool cleaner 12 allows the autonomous pool cleaner 12 to float to a water surface. Other non-limiting examples of positive buoyancy include those described in U.S. Pat. No. 10,968,651, which is hereby incorporated by reference in its entirety.

Referring to FIG. 19, in some embodiments, the buoyancy control mechanism 23 includes a chamber 90 on and/or within the autonomous pool cleaner 12 for receiving water of the swimming pool or spa. In various embodiments, the buoyancy control mechanism 23 includes a volume adjuster 92 for adjusting a volume of the chamber 90. The volume adjuster 92 may be various suitable devices or mechanisms for adjusting the volume of the chamber 90 as desired. In some embodiments, the volume adjuster 92 is manually adjusted (e.g., a user may manually position the volume adjuster 92 as desired by engaging the volume adjuster 92 and/or as otherwise desired). Additionally, or alternatively, the volume adjuster 92 may be automatically adjusted by the autonomous pool cleaner 12. In certain embodiments, decreasing or minimizing the volume of the chamber 90 using the volume adjuster 92 may allow the autonomous pool cleaner 12 to float and/or be at a shallow depth within the water, and increasing the volume of the chamber 90 allows the autonomous pool cleaner 12 to dive. In some embodiments, automatic adjustment of the buoyancy may allow for the autonomous pool cleaner 12 to float at the waterline of the pool or spa without energy consumption and to dive when the autonomous pool cleaner 12 needs to be submerged (e.g., to clean a submerged surface of the pool). In certain embodiments, autonomous pool cleaner 12 may automatically adjust the buoyancy during a cleaning cycle to clean different areas of the swimming pool or spa. FIG. 3 (discussed below) illustrates additional non-limiting examples of control of the autonomous pool cleaner 12 using the buoyancy control mechanism 23.

Referring to FIG. 3, the propulsion devices 22 and/or the buoyancy control mechanism 23 allow for movement of the autonomous pool cleaner 12 within the entire volume of the swimming pool or spa and may allow for the autonomous pool cleaner 12 to be at various orientations as desired. In certain embodiments, the propulsion devices 22 and/or the buoyancy control mechanism 23 allow for up to six degrees of freedom (i.e., movement along an x-axis, rotation about the x-axis (i.e., roll), movement along a y-axis, rotation about the y-axis (i.e., pitch), movement along a z-axis, and/or rotation about the z-axis (i.e., yaw)). In some embodiments, both the propulsion devices 22 and the buoyancy control mechanism 23 may be utilized to perform six degrees of freedom, although both need not be utilized in other embodiments.

Referring to autonomous pool cleaners 12A-B in FIG. 3, as one non-limiting example, the propulsion devices 22 may be activated to submerge the autonomous pool cleaners 12A-B to various depths (and/or to counteract the positive buoyancy) such that the autonomous pool cleaners 12A-B may perform a cleaning operation at a desired depth, which may or may not be on the floor of the pool or spa. In some embodiments, the propulsion devices 22 may provide a balanced downward force (represented by equal sized arrows with autonomous pool cleaner 12A) such that the axis 28 is maintained generally horizontal. In other embodiments, the propulsion devices 22 may provide an unbalanced downward force (represented by different sized arrows with autonomous pool cleaner 12B) such that the axis 28 is angled relative to horizontal. As a further non-limiting example, the propulsion devices 22 may provide a downward force such that the axis 28 is generally vertical. The propulsion devices 22 and/or buoyancy control mechanisms 23 may be controlled such that the autonomous pool cleaners are at any orientation as desired while submerged, including allowing for a change in orientation while the autonomous pool cleaners 12 are submerged. Similarly, the propulsion devices 22 and/or the buoyancy control devices may be controlled such that the autonomous pool cleaner 12 is at various orientations as desired while performing various operations, such as but not limited to a cleaning operation with a brush assembly and/or a skimming operation.

As another non-limiting example and referring to autonomous pool cleaners 12C-E in FIG. 3, in some embodiments the propulsion devices 22 and/or buoyancy control mechanisms 23 are controlled such that the propulsion devices generate forces in a direction opposite from a surface of the pool or spa and the autonomous pool cleaner is pushed against the surface. As examples, the surface may be a wall 34 (autonomous pool cleaner 12C, with the pushing force represented by the arrows pointing away from the wall 34), a floor 36 (autonomous pool cleaner 12D, with the pushing force represented by the arrows pointing away from the floor 36), a step 38 (autonomous pool cleaner 12E, with the pushing force represented by the arrows pointing away from the step 38), a bench area, a beach area or surface of the pool, a safety ledge, and/or other surface as desired.

As represented by autonomous pool cleaner 12D, the floor 36 may be sloped floor, although in other embodiments the floor may be generally horizontal, have a curvature, and/or other profile as desired.

As represented by the different sized arrows with autonomous pool cleaner 12E, in some embodiments, an unbalanced force may be generated by the propulsion devices 22 such that the autonomous pool cleaner 12E is pushed against the surface. As an example, the positive buoyancy of the autonomous pool cleaner 12E naturally raises the autonomous pool cleaner 12E, and to maintain contact with the step 38, a maximum force may be applied by the propulsion devices 22 proximate to the step 38, and a reduced or balancing force may be provided by the propulsion devices 22 just to counteract the positive buoyancy. As further represented by autonomous pool cleaner 12E, the autonomous pool cleaner need not be completely on a surface to perform an operation (e.g., cleaning), and the autonomous pool cleaner may hang off of the surface. In such embodiments, the propulsion devices 22 and/or buoyancy control mechanisms 23 may maintain stability and/or orientation of the autonomous pool cleaner as desired. As an example, such control by the propulsion devices 22 may allow for the autonomous pool cleaner 12 to perform level cleaning along a surface regardless of whether the entire autonomous pool cleaner 12 is on such surface.

Optionally, and as represented by the up and down arrows with autonomous pool cleaner 12C, the propulsion devices 22 may apply forces in additional directions to maintain a position of the autonomous pool cleaner 12C at a particular location on the surface.

In other non-limiting examples, the propulsion devices 22 and/or buoyancy control mechanisms 23 are controlled such that the autonomous pool cleaner 12 hovers at a distance offset from a surface. In such embodiments, the propulsion devices 22 optionally provide less than maximum force or thrust. Optionally, the autonomous pool cleaner 12 may include a sensor such as but not limited to a distance sensor, proximity sensor, etc. to keep the autonomous pool cleaner 12 a certain distance offset from the surface, or to otherwise help influence movement of the autonomous pool cleaner 12.

Various other control of the propulsion devices 22 and/or buoyancy control mechanisms 23 may be employed as desired, and autonomous pool cleaners 12A-E are only provided for illustrative purposes.

The autonomous pool cleaner 12 may be a modular component allowing for the integration, removal, and/or replacement of various features as desired. In such embodiments, the autonomous pool cleaner 12 may improve cleaning results and/or other operations compared to traditional pool cleaners. Non-limiting examples of features that may be included with the autonomous pool cleaner 12 are discussed in detail below.

In various embodiments, the autonomous pool cleaner 12 includes one or more sensors or measuring instruments and/or a controller (e.g., processor and/or memory) communicatively coupled with the one or more sensors, propulsion devices, and/or buoyancy control mechanisms 23. The one or more sensors may sense a position, depth, orientation, etc. of the autonomous pool cleaner 12. The controller may use the information from the sensors, other components of the autonomous pool cleaner 12, and/or other control algorithms to control the propulsion means and/or buoyancy mechanisms, thereby providing precise movement and improved stability to the autonomous pool cleaner 12. As non-limiting examples, the controller may control the autonomous pool cleaner 12 to float and move on the surface of the water of the swimming pool or spa (e.g., to skim the water), and/or the controller may control the autonomous pool cleaner 12 to move along a fixed, submerged path (within the pool or along a wall or floor of the pool) or just above a floor of the pool, for example at a predetermined distance relative to the wall or floor. As a further non-limiting example, the controller may control the autonomous pool cleaner 12 to have a positive buoyancy, a negative buoyancy, and/or a variable buoyancy (e.g., based on a desired cleaning area, a cycle time, and/or as otherwise desired).

In some non-limiting examples, the autonomous pool cleaner 12 includes devices or features for mapping of the pool and/or for localizing the autonomous pool cleaner 12. In various embodiments, mapping of the pool by the autonomous pool cleaner 12 may ensure that the autonomous pool cleaner 12 is covering the entire pool. Non-limiting examples of mapping features or systems and/or localizing features or systems include GPS, LIDAR, optical sensors, ToF sensors, cameras, combinations thereof, and/or other suitable devices or features as desired.

As a further non-limiting example, the autonomous pool cleaner 12 may include one or more sensors for gathering information about the swimming pool or spa, environmental conditions, and/or other information as desired, and such information may be used to control a cleaning cycle of the autonomous pool cleaner 12 and/or the pool cleaner 10.

As another non-limiting example, the autonomous pool cleaner 12 may include a communication module allowing for wireless communication (e.g., Bluetooth, Wi-Fi, etc.) with external devices such as external control devices, smartphones, other user devices, etc.

As another non-limiting example, the autonomous pool cleaner 12 may accommodate one or more cleaning sub-assemblies such that the autonomous pool cleaner 12 performs one or more cleaning functions. Cleaning sub-assemblies may include, but are not limited to, brushing features, skimming features, etc. In various embodiments, the autonomous pool cleaner 12 may be controlled to provide improved cleaning results based on the type of cleaning sub-assembly on the autonomous pool cleaner 12 or the pool cleaner 10. As a non-limiting example, the autonomous pool cleaner 12/pool cleaner 10 may be controlled to move along the surface of the water for skimming, and the autonomous pool cleaner 12/pool cleaner 10 with the brushing system may be controlled to move on a fixed horizontal plane at a submerged depth to clean planar areas of the pool or spa (e.g., steps, safety ledges, floors, etc.).

Additionally, or alternatively, the autonomous pool cleaner 12 may have an improved size compared to traditional robots, thereby allowing the autonomous pool cleaner 12 to move over areas (e.g., for cleaning, etc.) that traditional robots cannot accommodate. In one non-limiting example, the autonomous pool cleaner 12 may fit within a traditional skimmer of a swimming pool or spa.

Referring to FIG. 4, the autonomous pool cleaner 12 optionally includes one or more spacing devices 44 for spacing the chassis 20 of the autonomous pool cleaner 12 apart from a surface when the autonomous pool cleaner 12 is pushed against the surface (e.g., via the propulsion devices 22). The spacing devices 44 may be various devices as desired, including ribs, wheels, legs, and/or other features as desired. Optionally, the spacing devices 44 allow for movement along the surface, although they need not in other embodiments.

The autonomous pool cleaner 12 illustrated in FIGS. 5-14 illustrates additional combinations of features, such as handles 46, one or more sensors 48, one or more inlets 50, one or more outlets 52, another embodiment of the brushing system 40 (FIG. 10), a filtration assembly 54 (FIG. 12), a power supply 56 (FIG. 13), and a charging station 58 (FIG. 14).

The autonomous pool cleaner 12 may be controlled to perform a cleaning operation at various locations in the pool as desired, including but not limited to along a floor (FIG. 5), along a wall (FIG. 6), along a step (FIGS. 7 and 8), at a water line (FIG. 11), at a submerged depth offset from the water line and a surface, and/or as otherwise desired. As illustrated in FIG. 8, the propulsion devices 22 and/or buoyancy control mechanism 23 may allow for the autonomous pool cleaner 12 to perform a cleaning operation on various surfaces (e.g., pebble, tile, vinyl, plaster, stone, etc.) that may otherwise cause adhesion problems for traditional pool cleaners.

As illustrated in FIG. 9, the autonomous pool cleaner 12 may have positive buoyancy as the buoyancy control mechanism 23 such that the autonomous pool cleaner 12 naturally floats to the water line absent a downward force from the propulsion devices 22. The positive buoyancy of the autonomous pool cleaner 12 may facilitate certain sensing or measuring performed by the autonomous pool cleaner 12 (e.g., using cameras 60, GPS or other geolocation devices 62, and/or other sensors or measuring devices). The positive buoyancy of the autonomous pool cleaner 12 may also facilitate communication with an external device, such as but not limited to via Wi-Fi 66 and/or other types of wireless communication as desired.

Referring to FIG. 10, the brushing system 40 optionally is a modular feature that may be attached to the chassis 20 using various mechanisms as desired. In certain embodiments, the brushing system 40 includes one or more brushes 42, and in the embodiment illustrated in FIG. 10, the brushing system 40 includes two brushes 42. The brushes 42 may be various types of brushes as desired, such as but not limited to nylon brushes, PVC brushes, plastic, aluminum, etc. Optionally, and as best illustrated in FIGS. 5 and 7, the brushing system 40 and/or at least one brush 42 of the brushing system 40 may extend forward relative to the front side 24 of the autonomous pool cleaner 12, optionally such that at least one brush 42 is at and/or forward of an inlet 50 at the front side 24. In other embodiments, the brush 42 and/or brushing system 40 need not be forward of the inlet 50.

In certain embodiments, because the autonomous pool cleaner 12 does not require and/or omits a traction system, a plurality of brushes 42 may be utilized. However, in other embodiments, the autonomous pool cleaner 12 may include a traction system, such as motive elements 16 (e.g., wheels, tracks, rollers, combinations thereof, and/or other systems as desired). Additionally, or alternatively, because the autonomous pool cleaner 12 does not require and/or omits a traction system, the brushes 42 may be counter-rotation brushes (i.e., rotate in opposite direction as represented by arrows in FIG. 10), which may lift debris off of a surface and towards the inlet 50, reduce a force required to pull debris into the autonomous pool cleaner 12, and/or reduce motion perturbation. In certain embodiments, and as represented by autonomous pool cleaners 12A and 12C in FIG. 3, the brush 42 is provided at an end of the autonomous pool cleaner 12 such that the autonomous pool cleaner 12 can clean a surface while the autonomous pool cleaner 12 is in various orientations. As an example, in FIG. 3, the autonomous pool cleaners 12A and 12C may both clean the vertical wall 34, and the autonomous pool cleaner 12A can clean the vertical wall 34 with the brush 42 while the autonomous pool cleaner 12A is in a horizontal orientation, and the autonomous pool cleaner 12C can clean the vertical wall 34 with the brush 42 while the autonomous pool cleaner 12C is in a vertical orientation.

Referring to FIG. 11, in certain embodiments the chassis defines the inlet 50, and water may flow through the inlet 50 and into a filter 68 of the filtration assembly 54. Optionally, the inlet 50 includes a first channel 70 and a second channel 72—the first channel 70 may allow for water to flow into the inlet 50 from a first direction, and the second channel 72 may allow for water to flow into the inlet 50 from a second direction different from the first direction. In one non-limiting example, the first channel 70 may be front-facing for receiving water during a skimming operation, and the second channel 72 may be downward-facing for receiving water from the brush system 40 and/or during surface or other cleaning. Optionally, the autonomous pool cleaner 12 includes a diverter 74 to selectively obstruct one of the channels depending on a cleaning operation and such that water flows in through only one channel. As an example, the diverter 74 may be controlled such that during a skimming operation, the second (downward-facing) channel 72 is obstructed, and during a surface cleaning operation, the first (front-facing) channel 70 is obstructed. In certain embodiments, a forward-most brush 42 of the brushing system 40 may extend forward and be a forward-most component of the autonomous pool cleaner 12 relative to the first channel 70, although it need not in other embodiments.

Optionally, and as best illustrated in FIG. 7, the inlet 50 (and/or the first channel 70 of the inlet 50 at the front side 24) may be sloped inward and downward to facilitate channeling and/or directing of debris into the inlet 50. In these embodiments, an edge of the inlet 50 more proximate to a top side of the autonomous pool cleaner 12 may extend forward relative to an edge of the inlet 50 more proximate to a bottom side of the autonomous pool cleaner 12. In other embodiments, the inlet 50 at the front side 24 need not be sloped and/or may have other arrangements or configurations as desired. Optionally, rotation of the forward-most brush 42 and the sloped inlet 50 may facilitate channeling and/or directing of debris into the inlet 50.

Optionally, and as best illustrated in FIG. 10, the second channel 72 may be between the brushes 42 of the brushing system 40. In such embodiments, opposite or counter rotation of the brushes 42 (e.g., the forward-most brush 42 rotating in a clockwise direction and the rear-most brush 42 rotating in a counter-clockwise direction) may facilitate levitation of debris from a surface towards the second channel 72 and/or may otherwise facilitate channeling and/or directing debris into the second channel 72. Optionally, one or more sensors 48 may be provided proximate to the second channel 72 and/or between the brushes 42 of the brushing system 40. Such sensors 48 at such a location may be various types of sensors as desired, such as but not limited to a debris sensor, a turbidity sensor, a flow sensor, a temperature sensor, a pressure sensor, a distance sensor, combinations, thereof, and/or other sensors as desired. Optionally, the data gathered by the sensor 48 provided proximate to the second channel 72 and/or between the brushes 42 of the brushing system 40 may be utilized to gather information about debris entering the second channel 72 and/or control operation of the brushing system 40 and/or the second channel 72. As a non-limiting example, the sensor 48 may detect obstruction of the second channel 72 and/or data from the sensor 48 may indicate a skimming operation and/or surface cleaning operation, and the diverter 74 based on such data from the sensor 48.

Referring to FIG. 11, in various embodiments, the positive buoyancy of the autonomous pool cleaner 12 may allow for the autonomous pool cleaner 12 to perform the skimming operation while requiring less energy. As an example, the positive buoyancy of the autonomous pool cleaner 12 will cause the autonomous pool cleaner 12 to naturally float to the water line where the skimming is performed, and the autonomous pool cleaner 12 may only control a subset of the propulsion devices 22 to move the autonomous pool cleaner 12 at the water line.

Referring to FIG. 12, the filtration assembly 54 includes the filter 68. In certain embodiments, the filtration assembly 54 is selectively removable from the autonomous pool cleaner 12 as desired. In some embodiments, the filter 68 may have a reduced volume, which further may allow for the autonomous pool cleaner 12 to have a compact size as desired. Optionally, the autonomous pool cleaner 12 may self-clean the filter 68 such that the autonomous pool cleaner 12 provides improved cleaning regardless of the size of the filter 68. As an example, when the filter 68 is full, the autonomous pool cleaner 12 may go into the skimmer of the pool and empty the filter 68 by inverting thrusters while inside the skimmer. In other embodiments, the filter 68 may be cleaned using other techniques as desired.

In some embodiments, and referring to FIG. 13, the autonomous pool cleaner 12 may include the on-board power supply 56, such as but not limited to an on-board battery. In certain embodiments, the power supply 56 is rechargeable, and the charging station 58 (FIG. 14) may be provided for selectively recharging the battery or other power supply 58 as desired. In one non-limiting example, the charging station 58 is an induction charging station, although other charging techniques may be used as desired. In such embodiments, the charging station 58 includes one or more inductive elements for generating an electromagnetic field and wirelessly transferring electrical energy to the autonomous pool cleaner 12, and the autonomous pool cleaner 12 includes one or more inductive elements for receiving the transfer of electrical energy from the one or more inductive elements of the charging station 58. As an example, when the autonomous pool cleaner 12 is positioned relative to the charging station 58, an electromagnetic field is generated by the one or more inductive elements, and energy may be wirelessly transferred from the one or more inductive elements of the charging station 58 to the one or more inductive elements of the autonomous pool cleaner 12. The charging station 58 may be provided outside of the pool (e.g., on a pool deck) and/or within the pool. Optionally, providing the charging station 58 within the pool as illustrated in FIG. 14 may allow for the autonomous pool cleaner 12 to always remain within the pool (or as otherwise desired) and to navigate to and dock itself on or proximate the charging station 58.

Referring to FIG. 15, in certain embodiments, the autonomous pool cleaner 12 may be independently movable (e.g., self-propelled) both in water (see autonomous pool cleaner 12 at position A) and in the air (see autonomous pool cleaner 12 at position B). In some embodiments, the autonomous pool cleaner 12 may include water motive features and airborne motive features that are different from the water motive features. Optionally, the water motive features may not be utilized while the autonomous pool cleaner 12 is airborne, and similarly the airborne motive features may not be utilized while the autonomous pool cleaner 12 is in the water. However, in other embodiments, the autonomous pool cleaner 12 includes one or more components for both water and airborne movement. As a non-limiting example, the autonomous pool cleaner 12 may include one or more impellers for displacement or movement of the autonomous pool cleaner 12 in the water as well as for movement in the air. Other features or combinations of features may be utilized as desired such that the autonomous pool cleaner 12 is movable both in water and in the air.

Autonomous movement of the autonomous pool cleaner 12 may optionally allow for the autonomous pool cleaner 12 to automatically perform actions such as landing on a dock 80 for storage, charging of on-board power sources (e.g., similar to the charging station 58), washing a filter, etc.

In some embodiments, and referring to FIG. 16, a filter washing station 82 may be provided as part of a cleaning system for the swimming pool or spa in addition to the autonomous pool cleaner 12. The filter washing station 82 may be provided at various locations as desired, and any number of filter washing stations 82 may be utilized. In various embodiments, the autonomous pool cleaner 12 may be configured to dock and/or otherwise join with and/or position itself relative to the filter washing station 82 such that the filter on-board the autonomous pool cleaner 12 may be washed (e.g., via backwashing). In such embodiments, the filter of the autonomous pool cleaner 12 may be washed without requiring a user to remove the filter and/or without requiring the autonomous pool cleaner 12 to be removed from the swimming pool or spa.

As previously mentioned, the autonomous pool cleaner 12 may include various systems or features for mapping of the pool and/or localizing the autonomous pool cleaner 12. Referring to FIG. 17, in one non-limiting example, the autonomous pool cleaner 12 may include a GPS module for determining a location of the autonomous pool cleaner 12 using GPS technology. Optionally, such localizing of the autonomous pool cleaner 12 may be performed while the autonomous pool cleaner 12 is floating, although it need not be in other embodiments. Moreover, in other embodiments, other localizing systems may be utilized as desired.

Referring to FIG. 18, in some embodiments, a cleaning service 84 for a swimming pool or spa may include an autonomous delivery vehicle 86 for delivering the autonomous pool cleaner 12 to the swimming pool or spa and/or retrieving the autonomous pool cleaner 12 from the swimming pool or spa. In the embodiment illustrated in FIG. 18, the delivery vehicle 86 is an airborne delivery vehicle, although it need not be airborne in other embodiments. The delivery vehicle 86 includes a support device 88 for engaging and/or supporting the autonomous pool cleaner 12 during transit. In the embodiment of FIG. 18, the support device 88 is a tether for removably connecting to the autonomous pool cleaner 12. The cleaning service 84 with autonomous delivery vehicle 86 may facilitate delivery of the autonomous pool cleaner 12 to a customer and/or retrieval of the autonomous pool cleaner 12 from a customer (e.g., to be brought back to a servicer for repair or replacement). In other embodiments, the cleaning service may include an airborne unmanned autonomous vehicle such as those disclosed in U.S. Patent Application Publication No. 2020/0377213 to Goldman et al. (“Goldman”), whose entire contents are incorporated herein by this reference.

Referring to FIG. 20, in various embodiments, one or more outlets 52 of the autonomous pool cleaner 12 optionally include various flow reaction control devices or mechanisms for minimizing, orienting, and/or cancelling a flow reaction force created by a pump of the autonomous pool cleaner 12. Such flow reaction control devices or mechanisms may include various features as desired, such as but not limited to a flow path having an enlarged cross-sectional shape, flow paths having other shapes, obstacles within the flow path, combinations thereof, and/or other features as desired. In the embodiment illustrated, the flow reaction control mechanism includes a flow path 94 defined by the outlet 52 having an enlarged cross-sectional area downstream from an impeller 96 of the pump. The enlarged flow path downstream from the impeller 96 and compared to the flow path upstream from the impeller 96 may reduce the flow rate or speed of water exiting the pump, thereby reducing the flow reaction force. As mentioned, other devices or features may be utilized as the flow reaction control mechanism to minimize, cancel, and/or orient the flow reaction force.

Referring to FIG. 21, in certain embodiments, a plurality of autonomous pool cleaners 12 may be utilized to perform various operations within the swimming pool or spa. In such embodiments, the autonomous pool cleaners 12 may perform a same type of cleaning operation or a plurality of types of cleaning operations as desired. In certain embodiments, the autonomous pool cleaners 12 optionally may communicate with each other to further coordinate cleaning of the swimming pool or spa. In some embodiments, one autonomous pool cleaner 12 may adjust itself (e.g., cleaning path, pattern, direction, etc.) based on communication with one or more other autonomous pool cleaners 12 within the swimming pool or spa.

The aforementioned features and technologies are for illustrative purposes only and should not be considered limiting, and in other embodiments, other types of features and/or technologies may be provided with the autonomous pool cleaner 12 as desired.

Exemplary concepts or combinations of features of the invention may include:

• • A. A pool cleaner for a swimming pool or spa, the pool cleaner (i) including an associated autonomous pool cleaner or (ii) configured as an autonomous pool cleaner, wherein the autonomous pool cleaner comprises six degrees of freedom and propellers for propulsion of the autonomous pool cleaner.
  • B. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner comprises a communication module for wireless communication.
  • C. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner comprises one or more cleaning features.
  • D. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the one or more cleaning features comprise a brushing assembly or an opening at a front side of the pool cleaner for skimming.
  • E. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the one or more cleaning features are modular.
  • F. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner comprises one or more propulsion devices.
  • G. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner is configured to move on a surface of water of the swimming pool or spa and also at a depth under the surface of the water.
  • H. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner is capable of moving on a fixed horizontal plane at a depth under the surface of the water.
  • I. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner is capable of moving with up to six degrees of freedom.
  • J. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner comprises a removable battery.
  • K. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner comprises a rechargeable or chargeable on-board power source.
  • L. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner is chargeable or rechargeable via induction charging.
  • M. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner or the pool cleaner comprises a filter assembly, wherein the filter assembly is removable from the autonomous pool cleaner or the pool cleaner.
  • N. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform at least one type of cleaning operation.
  • O. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner is configured to perform at least two types of cleaning operations.
  • P. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the at least one type of cleaning operation comprises a skimming operation, a surface cleaning operation, and/or other operations as desired.
  • Q. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner is a pool cleaner.
  • R. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner is associated with a pool cleaner.
  • S. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner comprises a housing, an inlet, and an outlet, wherein water is directed into the inlet, through the housing, and out the outlet during the one or more cleaning operations.
  • T. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner comprises a filter assembly at least partially within the housing, and optionally, wherein the filter assembly is removable from the autonomous pool cleaner.
  • U. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the inlet comprises a first channel for receiving water from a first direction and a second channel for receiving water from a second direction.
  • V. The cleaning system of any preceding or subsequent statement or combination of statements, further comprising a diverter for selectively obstructing the first channel or the second channel depending on the one or more cleaning operations.
  • W. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner further comprises a brush assembly comprising at least one brush.
  • X. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the at least one brush comprises two brushes, and wherein the two brushes are counter rotation brushes.
  • Y. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner has a positive buoyancy.
  • Z. The cleaning system according to any of any preceding or subsequent statement or combination of statements, wherein the cleaning operations comprise a surface cleaning operation or a skimming operation.
  • AA. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner is capable of moving with up to six degrees of freedom.
  • BB. A method of cleaning a swimming pool or spa using the autonomous pool cleaner or the pool cleaner configured as the autonomous pool cleaner (collectively “autonomous pool cleaner” in the following statements) according to any preceding statement, wherein the autonomous pool cleaner comprises six degrees of freedom and optionally includes a propeller as a propulsion device.
  • CC. The method of any preceding or subsequent statement or combination of statements comprising controlling propulsion devices of the autonomous pool cleaner to perform a cleaning operation.
  • DD. The method of any preceding or subsequent statement or combination of statements, wherein controlling the propulsion devices comprises causing a balanced or unbalanced downward thrust causing the autonomous pool cleaner to submerge.
  • EE. The method of any preceding or subsequent statement or combination of statements, wherein controlling the propulsion devices comprises causing a maximum thrust in a direction opposite from a surface to be cleaned such that the autonomous pool cleaner is pushed at least partially against the surface to be cleaned.
  • FF. The method of any preceding or subsequent statement or combination of statements, wherein the surface to be cleaned is a wall, a floor, a bench, a step, or a sloped surface.
  • GG. The method of any preceding or subsequent statement or combination of statements, wherein controlling the propulsion device comprises controlling the thrust from the propulsion devices such that the autonomous pool cleaner performs level cleaning.
  • HH. The method of any preceding or subsequent statement or combination of statements, wherein controlling the propulsion devices comprises allowing the autonomous pool cleaner to float at a water line and controlling a subset of the propulsion devices and/or at a reduced thrust such that the autonomous pool cleaner skims the water line.
  • II. The method of any preceding or subsequent statement or combination of statements, wherein controlling the propulsion devices comprises controlling the thrust to maintain an orientation of the autonomous pool cleaner and/or to change an orientation of the autonomous pool cleaner.
  • JJ. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation utilizing at least two brushes.
  • KK. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the at least two brushes are counter rotation brushes.
  • LL. The cleaning system of any preceding or subsequent statement or combination of statements, wherein at least one of the at least two brushes is a nylon brush.
  • MM. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner further comprises an inlet or a channel of the inlet between the two brushes.
  • NN. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the inlet or the channel of the inlet between the two brushes is downward-facing.
  • OO. The cleaning system of any preceding or subsequent statement or combination of statements, further comprising a sensor between the two brushes.

PP. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, the autonomous pool cleaner comprising a positive buoyancy.

• • QQ. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, the autonomous pool cleaner comprising buoyancy control.
  • RR. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner is controllable to have positive buoyancy, negative buoyancy, variable buoyancy, and/or automatic buoyancy.
  • SS. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation with a brush while the autonomous pool cleaner is in at least two different orientations.
  • TT. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner comprising an inlet, the inlet comprising a first channel for receiving water from a first direction and a second channel for receiving water from a second direction.
  • UU. The cleaning system of any preceding or subsequent statement or combination of statements, further comprising a diverter for selectively obstructing the first channel or the second channel depending on a cleaning operation of the autonomous pool cleaner.
  • VV. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the first direction is forward-facing and the second direction is downward-facing.
  • WW. The cleaning system of any preceding or subsequent statement or combination of statements, further comprising a diverter for selectively obstructing the first channel or the second channel depending on the one or more cleaning operations.
  • XX. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the diverter is controlled based on data from one or more sensors.
  • YY. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the second channel is between two brushes of a brushing system.
  • ZZ. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the two brushes are counter rotation brushes.
  • AAA. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner further comprises a buoyancy control system for controlling the floatability of the autonomous pool cleaner in water of the swimming pool or spa.
  • BBB. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation and an induction charging station for charging an on-board power source of the autonomous pool cleaner.
  • CCC. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, wherein the autonomous pool cleaner is configured to move in water of the swimming pool or spa and to fly in the air.
  • DDD. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, wherein the autonomous pool cleaner is self-propelled for moving independently through water and in the air.
  • EEE. A pool cleaner for a swimming pool or spa, the pool cleaner comprising one or more impellers for displacing water while the pool cleaner is in water and for moving the pool cleaner through the air.
  • FFF. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation and a filter washing station, wherein the autonomous pool cleaner is configured to join to the filter washing station and backwash a filter of the autonomous pool cleaner.
  • GGG. A cleaning system for a swimming pool or spa, the cleaning system comprising a plurality of autonomous pool cleaners, each autonomous pool cleaner configured to perform a cleaning operation.
  • HHH. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, the autonomous pool cleaner comprising a localizing system for determining a location of the autonomous pool cleaner at least within the swimming pool or spa.
  • III. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the localizing system comprises a GPS module for localizing the autonomous pool cleaner using GPS technology.
  • JJJ. A cleaning service for a swimming pool or spa, the cleaning service comprising an airborne delivery vehicle and an autonomous pool cleaner, wherein the autonomous pool cleaner configured to perform a cleaning operation and the airborne delivery vehicle configured to deliver the autonomous pool cleaner to the swimming pool or spa or retrieve the autonomous pool cleaner from the swimming pool or spa, the autonomous pool cleaner is capable of moving with up to six degrees of freedom.
  • KKK. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, the autonomous pool cleaner comprising a buoyancy control system for controlling the floatability of the autonomous pool cleaner in water of the swimming pool or spa.
  • LLL. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the buoyancy control system controls the floatability during a cleaning cycle and/or to clean different areas of the swimming pool or spa.
  • MMM. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the buoyancy control system allows the autonomous pool cleaner to float at a waterline without energy consumption and to dive when the autonomous pool cleaner needs to clean a pool surface.
  • NNN. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the buoyancy control system comprises a water chamber and a device for adjusting a volume of the water chamber.
  • OOO. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the buoyancy control system is configured to control the buoyancy based on information from one or more sensors.
  • PPP. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the buoyancy control system is configured to control the buoyancy to be a positive buoyancy, a negative buoyancy, or a variable buoyancy.
  • QQQ. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the buoyancy control system is configured to automatically control the buoyancy.
  • RRR. The cleaning system of any preceding or subsequent statement or combination of statements, wherein a base buoyancy of the autonomous pool cleaner is a positive buoyancy.
  • SSS. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner comprises six degrees of freedom and comprises propellers as propulsion devices.
  • TTT. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, the autonomous pool cleaner comprising an inlet for receiving water and an outlet for discharging water from the autonomous pool cleaner, wherein the outlet comprises means for minimizing a flow reaction force from a pump of the autonomous pool cleaner.
  • UUU. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the means comprise an enlarged flow path defined by the outlet.
  • VVV. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the means comprise a flow path defined by the outlet having a larger cross-sectional area than a flow path upstream from the pump.
  • WWW. The cleaning system of any preceding or subsequent statement or combination of statements, wherein the means comprise one or more obstacles in a flow path defined by the outlet.
  • XXX. A cleaning system for a swimming pool or spa, the cleaning system comprising an autonomous pool cleaner configured to perform a cleaning operation, the autonomous pool cleaner comprising a pump and an outlet, wherein a flow rate or speed of water exiting the outlet is less than a flow rate or speed of water entering the pump.
  • YYY. A pool cleaner for a swimming pool or spa, the pool cleaner (i) including an associated autonomous pool cleaner or (ii) configured as an autonomous pool cleaner, wherein the autonomous pool cleaner is configured to perform a cleaning operation and comprises (a) six degrees of freedom and (b) at least one of a buoyancy control system or a propeller for performing such movement.
  • ZZZ. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the autonomous pool cleaner comprises both the buoyancy control system and the one or more propellers.
  • AAAA. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the one or more propellers are on an exterior of a housing of the autonomous pool cleaner.
  • BBBB. The pool cleaner of any preceding or subsequent statement or combination of statements, wherein the one or more propellers comprises two propellers on opposite sides of the autonomous pool cleaner.

These examples are not intended to be mutually exclusive, exhaustive, or restrictive in any way, and the invention is not limited to these example embodiments but rather encompasses all possible modifications and variations within the scope of any claims ultimately drafted and issued in connection with the invention (and their equivalents). For avoidance of doubt, any combination of features not physically impossible or expressly identified as non-combinable herein may be within the scope of the invention.

The subject matter of embodiments is described herein with specificity to meet statutory requirements, but this description is not necessarily intended to limit the scope of the claims. The claimed subject matter may be embodied in other ways, may include different elements or steps, and may be used in conjunction with other existing or future technologies. This description should not be interpreted as implying any particular order or arrangement among or between various steps or elements except when the order of individual steps or arrangement of elements is explicitly described. Directional references such as “up,” “down,” “top,” “bottom,” “left,” “right,” “front,” and “back,” among others, are intended to refer to the orientation as illustrated and described in the figure (or figures) to which the components and directions are referencing. Throughout this disclosure, a reference numeral with a letter refers to a specific instance of an element and the reference numeral without an accompanying letter refers to the element generically or collectively. Thus, as an example (not shown in the drawings), device “12A” refers to an instance of a device class, which may be referred to collectively as devices “12” and any one of which may be referred to generically as a device “12”. In the figures and the description, like numerals are intended to represent like elements. As used herein, the meaning of “a,” “an,” and “the” includes singular and plural references unless the context clearly dictates otherwise.

Further, although applicant has described devices and techniques for use principally with pool cleaners, persons skilled in the relevant field will recognize that the present invention conceivably could be employed in connection with other objects and in other manners. Finally, references to “pools” and “swimming pools” herein may also refer to spas or other water containing vessels used for recreation, training, or therapy and for which cleaning of debris is needed or desired.

Claims

1. An autonomous pool cleaner for a swimming pool or spa, wherein the autonomous pool cleaner is configured to perform a cleaning operation and comprises six degrees of freedom and at least one of a buoyancy control system or one or more propellers for performing such movement.

2. The autonomous pool cleaner of claim 1, wherein the autonomous pool cleaner comprises both the buoyancy control system and the one or more propellers.

3. The autonomous pool cleaner of claim 1, wherein the buoyancy control system comprises a water chamber and a device for adjusting a volume of the water chamber.

4. The autonomous pool cleaner of claim 1, wherein the buoyancy control system is configured to control the buoyancy to be a positive buoyancy, a negative buoyancy, or a variable buoyancy.

5. The autonomous pool cleaner of claim 1, wherein the buoyancy control system is configured to automatically control the buoyancy.

6. The autonomous pool cleaner of claim 1, wherein the one or more propellers are on an exterior of a housing of the autonomous pool cleaner.

7. The autonomous pool cleaner of claim 1, wherein the one or more propellers comprises two propellers on opposite sides of the autonomous pool cleaner.

8. The autonomous pool cleaner of claim 1, wherein the autonomous pool cleaner further comprises an inlet for receiving water and an outlet for discharging water from the autonomous pool cleaner, wherein the outlet comprises means for minimizing a flow reaction force from a pump of the autonomous pool cleaner.

9. The autonomous pool cleaner of claim 1, wherein the autonomous pool cleaner further comprises an inlet, the inlet comprising a first channel for receiving water from a first direction and a second channel for receiving water from a second direction.

10. An autonomous pool cleaner for a swimming pool or spa, wherein the autonomous pool cleaner is configured to perform a cleaning operation and comprises six degrees of freedom and a buoyancy control system for performing such movement.

11. The autonomous pool cleaner of claim 10, wherein the buoyancy control system comprises a water chamber and a device for adjusting a volume of the water chamber.

12. The autonomous pool cleaner of claim 10, wherein the buoyancy control system is configured to control the buoyancy to be a positive buoyancy, a negative buoyancy, or a variable buoyancy.

13. The autonomous pool cleaner of claim 10, wherein the buoyancy control system is configured to automatically control the buoyancy.

14. The autonomous pool cleaner of claim 10, wherein the autonomous pool cleaner further comprises an inlet for receiving water and an outlet for discharging water from the autonomous pool cleaner, wherein the outlet comprises means for minimizing a flow reaction force from a pump of the autonomous pool cleaner.

15. The autonomous pool cleaner of claim 10, wherein the autonomous pool cleaner further comprises an inlet, the inlet comprising a first channel for receiving water from a first direction and a second channel for receiving water from a second direction.

16. An autonomous pool cleaner for a swimming pool or spa, wherein the autonomous pool cleaner is configured to perform a cleaning operation and comprises six degrees of freedom and one or more propellers for performing such movement.

17. The autonomous pool cleaner of claim 16, wherein the one or more propellers are on an exterior of a housing of the autonomous pool cleaner.

18. The autonomous pool cleaner of claim 16, wherein the one or more propellers comprises two propellers on opposite sides of the autonomous pool cleaner.

19. The autonomous pool cleaner of claim 16, wherein the autonomous pool cleaner further comprises an inlet for receiving water and an outlet for discharging water from the autonomous pool cleaner, wherein the outlet comprises means for minimizing a flow reaction force from a pump of the autonomous pool cleaner.

20. The autonomous pool cleaner of claim 16, wherein the autonomous pool cleaner further comprises an inlet, the inlet comprising a first channel for receiving water from a first direction and a second channel for receiving water from a second direction.