Pool cleaner with laser range finder system and method

Patent metadata

Field	Value
Publication number	US-11047146-B2
Application number	US-201816038032-A
Country	US
Kind code	B2
Filing date	Jul 17, 2018
Priority date	Jun 27, 2012
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

A swimming pool cleaner includes a chassis that supports a motor and a camera that is associated with the chassis and configured to identify at least one object. A controller is in communication with the camera and is configured to control movement of the pool cleaner based on output from the camera.

First claim

The invention claimed is:

1. A pool cleaner, the pool cleaner comprising:
a chassis that supports a motor;
a scrubber assembly;
a camera associated with the chassis and configured to acquire at least one image of an underwater environment; and
a controller in communication with the camera and configured to:
receive the at least one image from the camera;
process the at least one image to remove any distortions;
determine a distance between the pool cleaner and debris in the underwater environment;
optimize a cleaning route based on the distance between the pool cleaner and the debris in the underwater environment; and
navigate the pool cleaner along the cleaning route to clear the debris and track the cleared debris.

2. The pool cleaner of claim 1 , wherein the distance between the pool cleaner and the debris is determined at multiple locations within the underwater environment.

3. The pool cleaner of claim 2 , wherein the controller determines the distance with an absolute error of about 10% of an actual distance of the debris.

4. The pool cleaner of claim 1 , wherein the controller is further configured to track the cleared debris to ensure that the entire underwater environment has been traversed.

5. The pool cleaner of claim 1 , wherein the controller further includes a processor and a storage medium with a stored program code.

6. The pool cleaner of claim 5 , wherein the stored program code can be executed by the processor to retrieve data from the camera.

7. The pool cleaner of claim 6 , wherein the data retrieved from the camera includes visual odometry data.

8. The pool cleaner of claim 1 further comprising a sensor assembly.

9. The pool cleaner of claim 8 , wherein the sensor assembly is configured to map a surrounding environment of the pool cleaner and track the pool cleaner's position within the surrounding environment.

10. An autonomous robotic pool cleaner for an underwater swimming pool environment, the pool cleaner comprising:
a chassis that supports a motor;
a sensor assembly designed to map the underwater swimming pool environment; and
a controller in communication with the sensor assembly and configured to:
receive an input from the sensor assembly;
determine a distance between the pool cleaner and debris in the underwater swimming pool environment based on the input from the sensor assembly;
optimize a cleaning route based on the distance between the pool cleaner and the debris in the underwater swimming pool environment; and
navigate the pool cleaner along the cleaning route to clear the debris.

11. The pool cleaner of claim 10 , wherein the sensor assembly includes a camera.

12. The pool cleaner of claim 11 , wherein the camera is configured to capture at least one image of the underwater swimming pool environment.

13. The pool cleaner of claim 10 , wherein the controller determines the distance with an absolute error of about 10% of an actual distance of the debris.

14. The pool cleaner of claim 10 , wherein the controller is further configured to track the cleared debris to ensure that the entire underwater swimming pool environment has been traversed.

15. A swimming pool cleaner, the swimming pool cleaner comprising:
a chassis that supports a motor;
a camera associated with the chassis and configured to capture at least one image of an underwater environment;
a sensor assembly coupled to the chassis; and
a controller in communication with the sensor assembly and the camera, the controller configured to:
receive an input from the sensor assembly or the camera;
determine a distance between the pool cleaner and one or more objects in the underwater environment based on the input from the sensor assembly or the camera;
optimize a cleaning route based on the distance between the pool cleaner and one or more objects in the underwater environment; and
navigate the pool cleaner along the cleaning route to clear one or more objects from the underwater environment.

16. The swimming pool cleaner of claim 15 , wherein the controller determines the distance with an absolute error of about 10% of an actual distance of one or more objects.

17. The swimming pool cleaner claim 15 , wherein the controller maps at least one cleaning route through the underwater environment.

18. The swimming pool cleaner of claim 17 , wherein the swimming pool cleaner maps the underwater environment and determines its location within the underwater environment.

19. The swimming pool cleaner claim 15 , wherein the controller executes one or more distance measuring algorithms based on the input from the sensor assembly or the camera.

20. The swimming pool cleaner of claim 15 , wherein the controller is further configured to track the cleared one or more objects to ensure that the entire underwater environment has been traversed.

Assignees

• Pentair Water Pool & Spa Inc
• Virginia Tech Intellectual Properties Inc

Inventors

• Leonessa Alexander
• Cain Christopher H
• Boothe Brian

Classifications

• G01C15/002

  Active optical surveying means (optical plumbing G01C15/105) · CPC title

• G01C3/08

  Use of electric radiation detectors · CPC title

• E04H4/1654 Primary

  Self-propelled cleaners · CPC title

• G05D1/024

  in combination with a laser (lasers per se H01S) · CPC title

• G05D1/0214

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title