Abstract: A drive module for submersible autonomous vehicles is disclosed. The drive module includes a propulsion element configured to engage and rotate against a surface, a motor configured to drive the propulsion element, and a controller configured to cause the motor to drive the propulsion element. The drive module also includes a housing configured to be removably, releasably coupled to the exterior of a submersible autonomous vehicle. The motor and the controller are disposed within the housing.

Abstract: A pool cleaning system for cleaning debris from a submerged surface of a swimming pool includes a self-propelled pool cleaner having rotatably-mounted supports for supporting and guiding the cleaner on the pool surface; an electric motor for enabling the rotation of the rotatably-mounted supports on the pool surface; at least one camera to capture imagery of the pool surface; a controller, in electronic communication with the at least one camera, to determine a cleanliness characteristic of the pool surface on which the cleaner has passed based on the camera imagery and generate a control signal to direct movement of the cleaner based on the cleanliness characteristic of the pool surface, and a portable electronic device configured to present a graphic on a display, the graphic depicting the submerged surface of the pool and those portions of the surface that remain uncleaned as the cleaner traverses the pool surface.

Abstract: A floating platform dimensioned and configured to receive and transport an automated pool cleaner on the surface of the water is disclosed. For convenience, the floating platform is referred to as a pontoon. The pontoon is also configured to control the retrieval of the pool cleaner. The pontoon includes a buoyant housing having a first end and a second end. An inclined platform or ramp is positioned in the pontoon housing at an angle from the first end towards the second end. The pontoon includes a winch for winding and unwinding a cable connected to the pool cleaner to thereby selectively release and retrieve the cleaner.

Abstract: A brake module for submersible autonomous vehicles is disclosed. The brake module is operatively coupled to a fluid propulsion system of an autonomous vehicle and includes a braking mechanism configured to selectively engage a wheel of the autonomous vehicle. The braking mechanism allows or restricts the wheel to rotate when the fluid propulsion system operates with an operating parameter above a parameter threshold.

Abstract: An endless track belt for a submersible, autonomous vehicle is disclosed. The track belt includes an outer surface with raised track elements that are configured to both engage a supporting surface and selectively receive external grip elements configured to engage the supporting surface. The track belt also includes an inner surface with continuous, annular ridges. The continuous ridges are configured to secure the endless track belt to a drive pulley in a manner that prevents lateral movement while allowing for some longitudinal slip during rotational movement of the belt.

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

Abstract: A self-propelled robotic pool cleaner for cleaning a swimming pool having a bottom surface, and a vertical sidewall terminating at a deck. The cleaner includes an interior chamber with a water pump and a filter. Water beneath the cleaner is drawn through an inlet and flows into the interior chamber, and filtered water is discharged through an outlet. Rotationally-mounted supports support and guide the cleaner along a pool surface. An electric motor mounted in the interior chamber is configured to move the cleaner on the pool surface. An arm assembly includes a first arm member having a distal end which is selectively extendible beyond a front end of the housing. A support member projecting from the distal end is configured to extend over and directly contact the deck to support the cleaner while the pool cleaner advances up the vertical sidewall of the pool.

Abstract: A docking station which can releasably engage and hold a robotic pool cleaner, the docking station optionally including a pre-filter for coarse debris, the pool cleaner including an internal filter and a pump to suction in, filter and eject filtered water while the pool cleaner is coupled to the docking station. The pool cleaner's pump creates water jets to provide propulsion for the pool cleaner and to aid in decoupling the pool cleaner from the docking station.

Abstract: A robotic pool cleaner can operate while submerged to clean floor and side wall surface areas of the pool. A second embodiment of the pool cleaner can clean debris while skimming water along the top surface of the pool water. A third embodiment of the pool cleaner when inverted from submerged cleaning mode into skimmer mode, exposes on its bottom surface solar panels by which the pool cleaner's internal batteries can be recharged. A fourth embodiment of the pool cleaner includes different combinations of the submerged cleaning mode, the skimming mode and the battery charging mode.

Abstract: A drive module for submersible autonomous vehicles is disclosed. The drive module includes a propulsion element configured to engage and rotate against a surface, a motor configured to drive the propulsion element, and a controller configured to cause the motor to drive the propulsion element. The drive module also includes a housing configured to be removably, releasably coupled to the exterior of a submersible autonomous vehicle. The motor and the controller are disposed within the housing.

Abstract: A modular pool cleaning robot is disclosed. The pool cleaning robot includes easily replaceable and/or interchangeable parts and allows for various end-user selectable configurations without the use of tools and without complex and time-consuming large-scale disassembly. Among these parts are a chassis and drive assembly. The drive assembly is removable securable to the chassis via a snap engagement effectuated by pressing the drive assembly against the chassis, without the use of any external fasteners or any tools. The drive assembly detaches from the chassis when a lateral force is exerted on the drive assembly.

Abstract: A drive module for submersible autonomous vehicles is disclosed. The drive module includes a propulsion element configured to engage and rotate against a surface, a motor configured to drive the propulsion element, and a controller configured to cause the motor to drive the propulsion element. The drive module also includes a housing configured to be removably, releasably coupled to the exterior of a submersible autonomous vehicle. The motor and the controller are disposed within the housing.

Abstract: An onboard control system of an electrically powered pool cleaner (3) is disclosed. The disclosed system is configured to operate the pool cleaner in accordance with a setup (A, B, C) of the onboard control system (350). The pool cleaner is configured for receiving electrical power via a cable (2) connecting the pool cleaner (3) to a power source (1). A method for modifying the setup of the control system is also disclosed and comprises: providing setup data (B) to the power source (1), and modifying the setup of the onboard control system from the power source (1) via the cable (2), based on the setup data (B).

Abstract: A robotic pool or tank cleaner is propelled by water jets, the direction of which is controlled by the direction of rotation of a reversible pump motor that is horizontally mounted in the pool cleaner housing that has a propeller attached to either end of the motor drive shaft which projects from opposing ends of the motor body, each of the propellers being positioned in, or near a water jet discharge conduit that terminates in discharge ports at opposite ends of the housing. Each discharge conduit has a pressure-sensitive flap valve downstream of the respective propellers. When the propellers rotate in one direction, the water is drawn through one or more openings in the base plate, passes through one or more filter assemblies associated with the pool cleaner and is discharged through one of the discharge ports as a water jet of sufficient force to propel the pool cleaner.

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

Abstract: A pool cleaning vehicle is described comprising a body mounted on wheels such that it can roll over a surface. The body carries a water inlet port and a water outlet port with the inlet port being located on the bottom of the body. It also has a filter mechanism interposed between the inlet and outlet ports. An electric motor mounted is on the body between the two sides of the body with a shaft extending out of it with a propeller mounted on the shaft. The motor is mounted such that the propeller expels water out of the outlet port. A roller brush extends between the same two sides of the body generally transverse to the direction of travel of the vehicle and the roller brush is rotated by the electric motor via a linkage.

Abstract: A self directed pool cleaning vehicle comprising a body carrying water inlet and outlet ports with the inlet port being located on the bottom of the body with the body containing a filter is described. A drive mechanism propels the vehicle in two generally opposed directions. Two axles which each carry two wheels support the body and control its direction of movement. One axle is mounted to the body via slots that extend in the directions of motion such that this axle can move toward either end of the slots. A steering structure is provided with a portion that moves to close a portion of one of the slots and can be locked in a position that prevents one end of an axle from traversing its slot. Thus when this axle is the trialing axle it is held at other than a right angle to the two generally opposed directions.

Abstract: A pool cleaning system utilizes a powered robotic surface cleaning vehicle to travel adjacent water containing surfaces of a pool while submerged within the pool. In one implementation, a camera captures movement of the vehicle. In one implementation, a dry station serve the intermediary across a wide area network between the vehicle and a server which communicates with the portable electronic device.

Abstract: A rotatable brush assembly for a cleaning apparatus includes a cylindrical roller formed by first and second arcuate members. Each arcuate member has an inner longitudinal portion and an opposing longitudinal free end, the inner longitudinal portions being adjacently hinged together. The longitudinal free ends are positioned adjacently when the hinge is in a closed position. A web includes spaced-apart cleaning members extending outward from its external surface. Opposing longitudinal ends substantially conform to the opposing longitudinal free ends of the roller and its width is dimensioned such that an inner surface of the web wraps around and directly covers an outer surface of the cylindrical roller. Each longitudinal end of the web terminates in a U-shaped flange which defines a channel that conforms to and interfaces with one of the longitudinal free ends of the roller. Opposing end caps are disposed over opposing ends of the elongated cylindrical roller.

Abstract: A self directed pool cleaning vehicle comprising a body carrying water inlet and outlet ports with the inlet port being located on the bottom of the body with the body containing a filter is described. A drive mechanism propels the vehicle in two generally opposed directions. Two axles which each carry two wheels support the body and control its direction of movement. One axle is mounted to the body via slots that extend in the directions of motion such that this axle can move toward either end of the slots. A steering structure is provided with a portion that moves to close a portion of one of the slots and can be locked in a position that prevents one end of an axle from traversing its slot. Thus when this axle is the trialing axle it is held at other than a right angle to the two generally opposed directions.