SELF-PROPELLED ROBOTIC SWIMMING POOL CLEANER WITH EXTENDIBLE ARMS FOR CLIMBING OUT OF A SWIIMING POOL
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.
This patent application claims the benefit of U.S. Provisional Application No. 62/168,069, filed May 29, 2015, the content of which is incorporated by reference herein in its entirety.
FIELD OF INVENTIONThis invention relates to self-propelled robotic pool cleaners, and more specifically, to a self-extracting robotic pool cleaner and a method for automatically climbing out of a swimming pool.
BACKGROUND OF INVENTIONSelf-propelled robotic pool cleaners include one or more drive motors to move or otherwise propel the cleaner over a surface of a pool being cleaned. Electric power to the cleaner is provided by an external power supply via a power cable, which is typically fabricated from two wire conductors having sufficient length to enable the cleaner to move over the bottom and side surfaces of the pool. The power supply provides electrical power to drive one or more electric motors that propel the cleaner over the pool surfaces. For example, the one or more motors can rotate the wheels, roller brushes, and/or tracks via a gear/belt drive assembly. Alternatively, a pump motor having one or more propellers can be used to discharge a pressurized stream of filtered water in the form of a water jet that also propels the cleaner in a direction opposite the water jet. The incoming power from the power cable can also be directed to an on-board controller that includes a microcontroller, logic circuity and/or programs to control the movement of the cleaner. The movement of the cleaner can be random, but is preferably in accordance with a predetermined cleaning pattern.
The robotic pool cleaner includes one or more inlets formed at the bottom of the cleaner housing through which water and debris are drawn into the housing interior for filtering. The filtered water is then discharged from the cleaner back into the pool.
Once the pool has been cleaned, the cleaner is typically removed manually from the swimming pool by lifting the cleaner out and placing it on a pool deck or a cart brought near the edge of the pool. The power cable is often pulled or otherwise “reeled in” by a user from the edge of the pool until the cleaner can be grasped by hand and manually lifted out of the pool.
Pool cleaners are generally configured to be essentially neutrally buoyant when submerged in the water. However, once the cleaner is adjacent the sidewall of the pool and being lifted out, the cleaner becomes heavier and more difficult to extract due to the weight of the cleaner itself plus any pool water that does not quickly drain from its interior chamber. As some individuals find that manually removing the pool cleaner from the pool can be time consuming and physically demanding, it would be advantageous to provide a robotic pool cleaner that can automatically climb up a vertical sidewall and self-extract itself out of the swimming pool.
SUMMARY OF INVENTIONThe disadvantages heretofore associated with the prior art are overcome by the present invention of a method of extracting a self-propelled robotic pool cleaner from a swimming pool, the robotic pool cleaner configured to ascend a generally vertical sidewall of the swimming pool, the cleaner comprising a housing including a front end and an upper portion disposed over a lower portion to define an interior chamber, the lower portion including a water inlet and the housing having a water discharge port for discharging filtered water, rotationally-mounted supports for supporting and guiding the cleaner on a pool surface, a filter assembly for filtering water drawn through the water inlet, and an electric motor mounted in the interior chamber and configured to move the cleaner on the pool surface, the method comprising the steps of: advancing the cleaner to ascend the sidewall of the pool and generating a first signal when a portion of the front end of the cleaner is in proximity of the waterline on the sidewall of the pool; extending a first arm assembly a predetermined distance from the front end of the housing in response to the first signal; and providing a support member from the first arm assembly to a position above the deck, the support member being configured to support the cleaner directly from a deck surface of the pool.
In one aspect, extending the first arm assembly comprises extending a distal end of said first arm assembly beyond the waterline of the pool. In another aspect, the method further comprises: positioning the support member over the deck surface; and retracting the first arm assembly while maintaining the support member at its position over the deck surface to thereby provide support for the cleaner along the sidewall. In another aspect, extending the first arm assembly further comprises extending the first arm assembly laterally outward from a side portion of the cleaner prior to extending the first arm assembly beyond the front end of the housing.
In one aspect, providing a support member comprises positioning a second arm member from the first arm assembly in a direction towards the sidewall of the pool. In yet another aspect, positioning the second arm member comprises the steps of moving the second arm member relative to the first arm assembly in the direction of the advancing cleaner; and rotating the second arm member from the first arm assembly over the deck surface about the pool. In still another aspect, the method further comprises retracting the first arm assembly in a rearward direction; and maintaining the second arm member over the deck surface.
In another aspect the method further comprises rotating one or more of the rotatably-mounted supports to ascend the sidewall of the pool; maintaining, by the second arm member, a downwardly directed force on the deck surface until the cleaner is extracted from the pool; and retracting the first arm assembly and second arm member once the cleaner is extracted from the pool. In still another aspect, the method comprises the step of moving the cleaner to a predetermined location outside of the pool.
In one aspect, the method further comprises performing a pool cleaning operation on a bottom surface of the swimming pool prior to the step of causing the cleaner to ascend a sidewall of the pool.
In another embodiment, a robotic pool cleaner for cleaning a swimming pool having a bottom surface, a sidewall having a lower portion adjoining at the bottom surface of the pool and an upper portion terminating at a deck extending generally horizontally about the pool is provided. The cleaner comprises a housing including an upper portion disposed over a lower portion to define an interior chamber, the lower portion including a water inlet, and a water discharge port in the housing for discharging filtered water; rotationally-mounted supports for supporting and guiding the cleaner on the pool surface; a filter assembly for filtering water drawn through the water inlet; an electric motor mounted in the interior chamber and configured to move the cleaner on a pool surface; and an arm assembly including an extendible and retractable first arm assembly having a distal end which is selectively extendible from the housing a predetermined distance beyond a front portion of the housing and configured to support the cleaner directly from the deck while the pool cleaner is positioned on the sidewall of the swimming pool.
In one aspect, the housing has a longitudinal axis that is substantially normal to the front portion, and the extendible arm assembly is configured for movement normal to the longitudinal axis. In another aspect, the housing has a longitudinal axis extending substantially normal through the front portion, and the extendible arm assembly moves in a direction of the longitudinal axis.
In yet another aspect, the first arm assembly comprises an elongated rail configured for movement with respect to the housing; and a first electric drive motor that controls the movement of the elongated rail. In still another aspect, the elongated rail includes a first plurality of teeth arranged along a length of the rail, the elongated rail having its longitudinal axis parallel to the longitudinal axis of the cleaner, and the first electric drive motor including a drive gear that rotatably interfaces with the first plurality of rail teeth to move the elongated rail in the direction of the longitudinal axis.
In one aspect, the pool cleaner further comprises a side plate mounted on a side of the housing, the side plate including an elongated channel configured to receive the extendible arm assembly; and the first electric drive motor is configured to move the first arm assembly laterally with respect to the elongated channel. In another aspect, the pool cleaner further comprises a second arm member that is attached to and configured to move along the first arm assembly. In still another aspect, the second arm member is rotatably attached to a second electric drive motor which is movably mounted on the elongated rail. In yet another aspect, the second arm member rotates approximately ninety degrees with respect to the first arm assembly. In one aspect, the second arm member pivots approximately ninety degrees with respect to the first arm assembly upon contacting a projecting stop on the elongated rail.
To further facilitate an understanding of the invention, the same reference numerals have been used, where appropriate, to designate the same or similar elements that are common to the figures. Further, unless otherwise indicated, the features shown in the figures are not drawn to scale, but are shown for illustrative purposes only.
DETAILED DESCRIPTION OF THE INVENTIONThe invention is directed to a self-propelled robotic pool cleaner including one or more extendible arm assemblies to enable the cleaner to climb out of the pool, e.g., after a cleaning operation has been concluded. The cleaner can be programmed to extend one or more arms so that a distal end of the arm will exert a downward force to stabilize itself, i.e., “grasp” and hold onto the upper horizontal surface or deck at the edge of the swimming pool while the cleaner advances up the sidewall and pivotally “pulls” itself out of the pool and onto the deck. Accordingly, the self-propelled robotic pool cleaner is able to remove itself from the pool and onto the pool deck without human intervention or the assistance of an external device, e.g., a lift, cabling, transport vehicle and/or the like.
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The self-propelled robotic cleaner 20 is equipped with a pair of arm assemblies 80 in accordance with an embodiment of the invention, and is shown positioned on the sidewall 14 near the waterline 19 after completing its cleaning cycle. Preferably, the cleaner 20 includes a programmed cleaning routine that implements an extended wall climb to ensure that the cleaner has reached the waterline 19. The right and left arm assemblies 80 are shown in a fully retracted position against corresponding fixed side plates 60 of the cleaner. Each arm assembly 80 includes an elongated rail 82 having a rotatable supporting pivot arm 104 (
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The arm assemblies 80 include one or more drive motors 66, 108 that extend and retract the various arm components and which are preferably controlled by a controller (not shown) which can be mounted onboard the cleaner 20 or remotely with the power supply (not shown). The controller includes a microcontroller and memory/logic circuitry for operating the arm assemblies in accordance with a cleaning operation program. Once the cleaning operation is completed, an extraction routine/program that is stored in the memory of the controller is executed by the microcontroller to self-extract the cleaner from the pool. The cleaner removal program can be included as a sequence at the end of a cleaning program or as a separate program that is executable upon completion of the cleaning program. The cleaner removal program can also include programming that moves the cleaner 20 to a predetermined position on or away from the periphery of the pool deck 16 where it can be parked and/or stored for later use.
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The upper portion 24 and lower portion 26 can be removably fastened with one or more fasteners such as a clasp, latch, spring clip, bolt or other well-known fasteners. A gasket or other seal (not shown) can be inserted between the base 26 and cover 24 to prevent water flowing therebetween into and out of the interior chamber 30. The cover 24 can further include an access panel 28 which can be hinged, latched or otherwise fastened to the cover 24 to permit access to the interior chamber 30 and/or the filter assembly 38 for cleaning and maintenance operations. The cover 24 and base 26 are preferably made of a polymer, such as polyvinylchloride (PVC), polypropylene, among other well-known thermoplastic materials, aluminum and/or alloys thereof, and/or combinations thereof, and/or other corrosion resistant, water impermeable materials. The cleaner 20 is generally configured to be essentially neutrally buoyant when submerged in the water. The housing 22 can include ballast and/or floatation material (not shown) to achieve the desired nearly neutral buoyancy of the cleaner.
The cleaner 20 includes a discharge conduit or port 36 that is formed in the upper portion 24 of the housing 22 and which can be directed normally, at an acute angle, or substantially parallel with respect to the surface beneath the cleaner 20. Since the cleaner is generally neutrally buoyant, a downward thrust or force vector from a water jet discharged from the discharge port 36 serves to stabilize and maintain the cleaner 20 on the surface being cleaned, including vertical surfaces. The location and direction of the discharge conduit or port 36 with respect to the cleaner 20 and/or the surfaces of the pool is discussed for illustrative purposes only and does not form part of the invention.
The robotic pool cleaner 20 is shown equipped with rotationally-mounted supports 32 which are coupled to the housing 22 for moving and guiding the cleaner 200 over the submerged surface of the swimming pool or tank. The rotationally-mounted supports 32 are illustratively drive tracks 33 mounted over two pairs of axially mounted track wheels/pulleys (not shown), each pair of track wheels being mounted at an opposing front/rear end of the cleaner 20. A person of ordinary skill in the art will appreciate that the drive tracks 33 are not to be considered limiting for moving the cleaner 20 and are disclosed herein for illustrative purposes only. For example, the rotationally-mounted supports can be, or include brushes wheels, rollers, caster wheels and the like. As illustrated, the right side and left side tracks 33 can operate independently to control direction and movement of the cleaner 20. For example, the right and left tracks 33 are powered and separately controlled by independent drive motors 46 and corresponding drive gears 47, as shown in
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A brush assembly 40 can be provided at either or both ends of the cleaner to stir up dirt and debris from the surface of the pool. The brush assembly 40 can be an active brush assembly in which a drive mechanism (e.g., electric drive motor 46 and gear/belt assembly) causes the brush 40 to rotate about an axle 43 (See
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During normal cleaning operations of the cleaner 20, the internal water pump 44 creates a low pressure environment at the water inlet 34 to draw the pool water and suspended debris through the inlet(s) 34 and flow into or through the filter assembly 38 where the suspended debris is captured and retained. The water passing through the filter medium is “filtered” water, which is expelled from the cleaner by the water pump 44 as a high-pressure water jet through the discharge conduit/port (outlet) 36. The high pressure water jet at the outlet 36 and low pressure environment at the inlet 34 provide the necessary forces to help maintain the cleaner 20 on the pool surface beneath the cleaner. Although the discharge port 36 is shown as being directed normal (vertical) with respect to the (horizontal) base 26 of or surface beneath the cleaner 20, such orientation of the discharge port or conduit 36 is not considered limiting. For example, the discharge conduit or port 36 can be positioned at an acute angle with respect to the base 26 of or surface beneath the cleaner 20 such that the high-pressure water jet can also propel the cleaner 20 in a forward direction.
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The rails 82 and side plates 60 are dimensioned and configured to minimize drag as the cleaner 20 moves through the water and to avoid damage from possible impact with objects in the pool, e.g., ladders. Other shapes and configurations of extruded or stamped metal and/or engineered polymers can be employed in the construction of the components described.
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Once the arm assembly 80 is extended laterally from the channel 64 as shown in
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As noted above, the movement and rotation of the rotatable arm assembly 102 is preferably controlled by a controller, which can be mounted on-board the cleaner 20 or remotely with the external power supply (not shown). In an embodiment, a timing program initiates movement and rotation of the rotatable arm 104. In another embodiment, location sensors can be implemented that transmits signals to the controller, which in turn sends command signals to activate the motors 66, 108 to extend the rail 82 and/or the rotatable arm 104. For example, a light sensor, float or electro-mechanical switch/circuit can be provided at the forward end of the rail 82 to send a signal to the controller or directly to the arm drive motor 108 to initiate the rotation of the rotatable arm 104 when the end of the cleaner is above the waterline. As well, an air sensor can be provided to detect the amount of air drawn into the chamber by the inlet 34 as a result of the cleaner 20 reaching the waterline 19 of the pool. The location of the sensor/switch/circuit is not considered limiting as one or more such devices can be provided on the side plates 60, the rails 82 or other locations on the cleaner 20. A person of ordinary skill in the art will appreciate that other software programs, sensors, detection circuits, and/or a combination thereof can be implemented to control the time and/or distance the rails 82 are extended/retracted and the distance or degrees of rotation that the rotatable arms 102 are pivoted relative to their respective rails 82.
Although the cleaner is described as having the arm assemblies with rails 82 that extend in a forward direction along the longitudinal axis of the cleaner, such direction of movement is not considered limiting. In an alternative embodiment, each arm assembly could be configured to rotate along an axis which is transverse (normal) to the longitudinal axis, i.e., up and down when the cleaner is positioned upright on the bottom surface 12 of the pool. In one embodiment, each arm assembly is driven by an electric motor to rotate about the transverse axis of the cleaner. Each arm assembly includes a proximate end rotatably attached to the cleaner and a distal free end. The distal free end includes a fixedly or rotatably attached protruding or extendable support member that extends or is rotatably extendable outwardly in a direction substantially normal to the arm assembly. When the cleaner is on the sidewall of the pool proximate the waterline, each arm assembly is rotated about its transverse axis such that the support member will extend over the deck of the pool. The cleaner will then retract the arm assemblies in a manner described above with respect to
While the foregoing is directed to various embodiments of the present invention, other and further embodiments and advantages of the invention will be apparent to those of ordinary skill in the art from this description and without departing from the scope of the invention, which is to be determined by the claims that follow.
Claims
1. A method of extracting a self-propelled robotic pool cleaner from a swimming pool, the robotic pool cleaner configured to ascend a generally vertical sidewall of the swimming pool, the cleaner comprising a housing including a front end and an upper portion disposed over a lower portion to define an interior chamber, the lower portion including a water inlet and the housing having a water discharge port for discharging filtered water, rotationally-mounted supports for supporting and guiding the cleaner on a pool surface, a filter assembly for filtering water drawn through the water inlet, and an electric motor mounted in the interior chamber and configured to move the cleaner on the pool surface, the method comprising the steps of:
- advancing the cleaner to ascend the sidewall of the pool and generating a first signal when a portion of the front end of the cleaner is in proximity of the waterline on the sidewall of the pool;
- extending a first arm assembly a predetermined distance from the front end of the housing in response to the first signal; and
- providing a support member from the first arm assembly to a position above the deck, the support member being configured to support the cleaner directly from a deck surface of the pool.
2. The method of claim 1, wherein the step of extending the first arm assembly comprises extending a distal end of said first arm assembly beyond the waterline of the pool.
3. The method of claim 1, further comprising:
- positioning the support member over the deck surface; and
- retracting the first arm assembly while maintaining the support member at its position over the deck surface to thereby provide support for the cleaner along the sidewall.
4. The method of claim 1, wherein said step of extending the first arm assembly further comprises extending the first arm assembly laterally outward from a side portion of the cleaner prior to extending the first arm assembly beyond the front end of the housing.
5. The method of claim 1, wherein said step of providing a support member comprises positioning a second arm member from the first arm assembly in a direction towards the sidewall of the pool.
6. The method of claim 5, wherein said step of positioning the second arm member comprises the steps of:
- moving the second arm member relative to the first arm assembly in the direction of the advancing cleaner; and
- rotating the second arm member from the first arm assembly over the deck surface about the pool.
7. The method of claim 6, further comprising:
- retracting the first arm assembly in a rearward direction; and
- maintaining the second arm member over the deck surface.
8. The method of claim 7 further comprising the steps of:
- rotating one or more of the rotatably-mounted supports to ascend the sidewall of the pool;
- maintaining, by the second arm member, a downwardly directed force on the deck surface until the cleaner is extracted from the pool; and
- retracting first arm assembly and second arm member once the cleaner is extracted from the pool.
9. The method of claim 8 further comprising the step of moving the cleaner to a predetermined location outside of the pool.
10. The method of claim 1 further comprising performing a pool cleaning operation on a bottom surface of the swimming pool prior to the step of causing the cleaner to ascend a sidewall of the pool.
11. A robotic pool cleaner for cleaning a swimming pool having a bottom surface; a sidewall having a lower portion adjoining at the bottom surface of the pool and an upper portion terminating at a deck extending generally horizontally about the pool, the pool cleaner comprising:
- a housing including an upper portion disposed over a lower portion to define an interior chamber, the lower portion including a water inlet, and a water discharge port in the housing for discharging filtered water;
- rotationally-mounted supports for supporting and guiding the cleaner on the pool surface;
- a filter assembly for filtering water drawn through the water inlet;
- a first electric motor mounted in the interior chamber and configured to move the cleaner on a pool surface;
- a first arm assembly having a distal end which is selectively extendible from the housing a predetermined distance beyond a front portion of the housing, the first arm assembly comprising:
- an elongated rail configured for movement with respect to the housing; and
- a second electric drive motor that controls the movement of the elongated rail, the elongated rail including a plurality of teeth arranged along a length of the rail, the elongated rail having a longitudinal axis extending substantially normal with respect to the front portion of the housing, the second electric drive motor including a drive gear that rotatably interfaces with the plurality of rail teeth to move the elongated rail in the direction of its longitudinal axis; wherein the first arm assembly is configured to support the cleaner directly from the deck while the pool cleaner is positioned on the sidewall of the swimming pool.
12. The pool cleaner of claim 11, wherein the housing has a longitudinal axis that is substantially normal to the front portion, and the first arm assembly is configured for movement normal to the longitudinal axis of the housing.
13. The pool cleaner of claim 11, wherein the housing has a longitudinal axis extending substantially normal through the front portion, and the first arm assembly moves in a direction of the longitudinal axis of the housing.
14. (canceled)
15. (canceled)
16. The pool cleaner of claim 11 further comprising a side plate mounted on a side of the housing, the side plate including an elongated channel configured to receive the first arm assembly.
17. The pool cleaner of claim 11, further comprising a second arm member that is attached to and configured to move along the first arm assembly.
18. The pool cleaner of claim 17, wherein the second arm member is rotatable attached to a third electric drive motor which is movably mounted on the elongated rail.
19. The pool cleaner of claim 18, wherein the second arm member rotates approximately ninety degrees with respect to the first arm assembly.
20. The pool cleaner of claim 17, wherein the second arm member pivots approximately ninety degrees with respect to the first arm assembly upon contacting a projecting stop on the elongated rail.
21. The pool cleaner of claim 16, wherein a third electric drive motor is configured to move the first arm assembly laterally with respect to the elongated channel.
Type: Application
Filed: May 31, 2016
Publication Date: Jun 7, 2018
Inventors: William LONDONO (Wayne, NJ), Ethan HANAN (Teaneck, NJ), Aleksandr KLEBANOV (Bloomfield, NJ), Anthony MELETTA (Little Falls, NJ)
Application Number: 15/577,660