ES2804524T3 - Automatic pool cleaner to clean a pool with minimal power consumption and method thereof - Google Patents

Abstract

An automatic pool cleaner (10), comprising: a pump unit (230); a sensor unit (150) comprising a sensor (60), the sensor (60) configured to detect foreign objects; and, a control unit (280) coupled to the sensor unit (150) and the pump unit (230), wherein the control unit (280) is configured to activate the pump unit (230) in a first power level that is less than full power when the sensor (60) does not detect a foreign object, characterized in that the control unit (280) is further configured to automatically activate the pump unit (230) at a second power level , which is greater than the first power level, in response to a signal from the sensor unit (150) indicating the detection of a foreign object.

Description

DESCRIPTION

Automatic pool cleaner to clean a pool with minimal power consumption and method thereof

Field of the invention

The invention relates to automatic swimming pool cleaners, in particular the invention relates to automatic battery operated swimming pool cleaners and their method of operation.

Background

Automatic pool cleaners are used to clean surfaces, including underwater surfaces in commercial and residential pools. Some automatic pool cleaners are self-contained and battery operated to allow flexibility in cleaning options. Automatic pool cleaners in swimming pools require a pump unit to suck water through a filter unit that traps foreign objects - including dirt or debris, but allows water to pass through the filter unit back into the pool. pool. Typically the pump unit consumes a significant part of the power of an automatic pool cleaner.

Many automatic pool cleaners are corded, receiving power from an external power source through a cable, requiring a power source near the pool. Cables tend to be heavy and can tend to tangle. Additionally, cables add to the overall weight of automatic pool cleaners. The cables also create a hazard outside the pool, with the possibility of people tripping over the cable. Cables make the side of the pool look messy.

Some automatic pool cleaners draw their power from onboard batteries. Battery operated automatic pool cleaners typically do not need external power cables. However, battery powered automatic pool cleaners may need frequent charging due to the energy consumed by cleaning mechanisms, frequent charging depletes the overall life of the battery. Additionally, battery life between charges is typically limited, limiting the amount of cleaning an automatic pool cleaner can do between charges.

With the pump unit consuming a significant portion of on-board battery power, it may be possible to reduce power consumption to a minimum by reducing the amount of time the pump unit is running during the standard cleaning time of a automatic pool cleaner; for example, running the pump only when on-board sensors detect foreign objects. Automatic pool cleaners that consume less power typically require fewer charges, and can clean more between charges, consequently requiring less human intervention in their long-term and daily operations, and allowing for longer battery life.

Document EP 0811432 describes a device preferably for cleaning large water tanks that includes a machine provided with a pump unit whose inlet is connected to a vertically adjustable cone-shaped nozzle with a large suction width and whose outlet by means of a hose carries sucked material into a container or into a sewer outside the tank. The vehicle has headlights, a video camera, and sonar. The machine is maneuvered on the bottom and the walls of the tank by an operator by means of information from the video camera and sonar.

Document US 5205174 describes an apparatus with a scrub / suction system arranged at the front of its chassis including a scrub system designed to mechanically break down sediment on the surface below the apparatus and a suction system to remove sediment and fluid that contains sediment under the appliance. An inspection system works to inspect the newly cleaned surface with either ultrasound, optics, or a combination of both.

US 2006/0225771 describes cleaning accumulated silt from the soil of a percolation basin with an underwater terrain vehicle (UTV) that moves along the basin floor and carries blades that cut and lift the accumulated silt and a vacuum head for sucking up the silt and conveying the silt through a vacuum hose to a location where the silt particles are separated from the water. The UTV carries sonar to continuously scan the basin floor and guide the UTV. A remote operator guides the UTV from a coastal location.

Document JP 2001/029910 describes a cleaning robot provided with a suction part for sucking precipitate on the bottom of a water tank together with water and capable of traveling on the inner bottom. An operating part provided outside the water tank monitors and controls the translation and cleaning operation of the robot cleaner.

EP 1041220 describes cleaning the bottom of a rectilinear pool by a pool cleaner in a controlled geometric pattern of parallel paths traversed between a pair of opposite side walls. A programmable electronic controller responds to signal-generating sensors that are activated in the walls sides of the pool, since a program that also repositiones the cleaner is blocked by a corner or other obstacle.

Compendium of the invention

Therefore an object of the present invention is to provide an automatic pool cleaner according to claim 1, which includes, a pump unit, a sensor unit comprising a sensor, the sensor configured to detect foreign object, and a unit of control coupled to the sensor unit and the pump unit, the control unit configured to activate the pump unit at a first power level that is less than full power when the sensor does not detect a foreign object, and further configured to activate automatically the pump unit at a second power level, which is higher than the first power level, in response to a signal from the sensor unit indicating the detection of a foreign object.

Furthermore, according to some embodiments of the present invention, said sensor unit is mounted to have a detected region located below the automatic pool cleaner.

Furthermore, according to some embodiments of the present invention, said sensor unit is mounted to have a detected region located along a current anticipated movement path of the automatic pool cleaner.

Furthermore, according to some embodiments of the present invention, said sensor unit comprises an optical sensor.

Furthermore, according to some embodiments of the present invention, said pump unit is powered by an external power source. Furthermore, according to some embodiments of the present invention, said control unit is further configured to operate the automatic pool cleaner at fixed times.

Further provided, according to some embodiments of the present invention, a method according to claim 7 for cleaning a swimming pool with minimal power consumption, the method includes configuring an automatic pool cleaner to traverse a surface while operating one or more sensors, to detecting foreign objects, operating an automatic pool cleaner pump unit at a first power level, less than full power, when no foreign object is detected, and operating the pump unit at a second power level, which is greater than the first power level, when a foreign object is detected.

Furthermore, according to some embodiments of the present invention, said automatic pool cleaner is configured to operate the pump to maintain a straight course despite asymmetry.

Furthermore, according to some embodiments of the present invention, said one or more sensors are configured to provide a sensed region along a current anticipated motion path of the automatic pool cleaner.

Furthermore, according to some embodiments of the present invention, said one or more sensors are configured to provide a detected region located below the automatic pool cleaner.

Furthermore, according to some embodiments of the present invention, said one or more sensors comprise one or more optical sensors.

Furthermore, according to some of the embodiments of the present invention, said method includes activating the automatic pool cleaner at a regular fixed time interval to traverse the surface.

Brief description of the drawings

In order to better understand the present invention, and appreciate its practical applications, the following figures are provided and referenced hereinafter. It should be noted that the Figures are given as embodiments only. Like components are denoted by like reference numerals.

Figure 1 is a schematic illustration of an automatic pool cleaner according to some embodiments of the present invention;

Figure 2A is a schematic illustration of an automatic pool cleaner in accordance with some embodiments of the present invention;

Figure 2B is a schematic illustration of a bottom side of an automatic pool cleaner in accordance with some embodiments of the present invention;

Figure 3A is a schematic illustration of a sensor unit according to some embodiments of the present invention;

Figure 3B is a schematic illustration of a sensor unit according to one embodiment of the present invention;

Figure 4 is a flow chart of a method for operating the automatic pool cleaner, according to one embodiment of the present invention; Y,

Figure 5 is a flow chart of a method for operating an automatic pool cleaner, according to one embodiment of the invention.

It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures are not necessarily drawn to scale. For example, the dimensions of some of the items may be exaggerated relative to other items for clarity. Furthermore, where appropriate, reference numerals may be repeated between the figures to indicate corresponding or analogous elements.

Detailed description of the realizations

In the following detailed description, numerous specific details are presented in order to provide a thorough understanding of the methods and apparatus. However, those skilled in the art will understand that the present methods and apparatus can be practiced without these specific details. In other cases, well known methods, procedures and components have not been described in detail so as not to cloud the present methods and apparatus.

Although the embodiments described and discussed herein are not limited in this regard, the terms "plurality" and "a plurality" as used herein may include, for example, "multiple" or "two or more." The terms "plurality" or "a plurality" may be used throughout the specification to describe two or more components, devices, elements, units, parameters, or the like. Unless explicitly stated, the method embodiments described herein are not restricted to a particular order or sequence. Additionally, some of the method embodiments or elements thereof described may occur or be performed at the same instant.

Unless specifically stated otherwise, as will be apparent from the following discussions, it will be appreciated that throughout the specification, discussions that use terms such as "add", "associate", "select", "evaluate" , "Process", "compute", "calculate", "determine", "designate", "assign" or something similar, refer to the actions and / or processes of a computer, computer processor or computer system, or Similar electronic computing device, that manipulates, executes and / or transforms data represented as physical quantities, such as electronic ones, within the records of the computing system and / or memories into other data represented in a similar way as physical quantities within memories of the computer system, registers or other devices for storing, transmitting or displaying information.

Figure 1 is a schematic illustration of an automatic pool cleaner 10 according to some embodiments of the present invention. The automatic pool cleaner 10 typically comprises a housing 80, a battery charging connection 20, a battery, within the housing 80, the battery is described below with reference to Figure 2A, drive wheels 30, and tracks 40 for moving the automatic pool cleaner 10, one or more sensor assemblies 50, one or more sensors 60, a brush 70 for uses known in the art, a handle 90 for uses known in the art, and a pump outlet 100 for a unit pump unit, the pump unit described below with reference to FIG. 2A.

In some embodiments, the pump outlet can be configured to eject water sucked into the automatic pool cleaner through an inlet, the inlet is described below with reference to Figure 2B.

Normally through the intake water enters the automatic pool cleaner. Then the water can pass through a filter unit, the filter unit is described with reference to Fig. 2A. The water can then pass through the pump unit, and exit the pump outlet 100, while foreign objects - including dirt or debris - are trapped in the filter unit.

Housing 80, sensor assembly 50, and battery charging connection 20 may be watertight.

The control unit, as described, for example, below with reference to Figure 2A, may be configured to activate the automatic pool cleaner 10 at set intervals. In some embodiments of the present invention, the automatic pool cleaner 10 can be configured to be activated by the control unit at regular or fixed time intervals, eg, between 2 and 10 times per week, e.g. eg, once every 24 hours.

Sufficient light is normally required for some types of sensors 60 to function, typically image sensors. When the pool is in darkness or low light, the automatic pool cleaner 10 can be set to cease all operations. In some embodiments of the present invention, the automatic pool cleaner 10 may have an additional sensor, described below, to determine ambient light.

When activated on a regular or fixed time interval, the automatic pool cleaner 10 can be normally programmed to run a cleaning cycle for a set fixed time interval. In some embodiments of the present invention, the automatic pool cleaner 10 can be programmed to run from 30 minutes to 120 minutes, e.g. eg, 45 minutes to 90 minutes. The automatic pool cleaner can normally be configured to autonomously pass through pool surfaces during a cleaning cycle. Numerous algorithms are known in the art for autonomous operation of pool cleaners.

The automatic pool cleaner 10 can run continuously during cleaning cycles. Typically, when the automatic pool cleaner 10 is employing an image sensor, the automatic pool cleaner 10 can continue on a straight path until the automatic pool cleaner 10 reaches a wall. In some examples, the automatic pool cleaner 10 changes direction, and / or rotates, if an obstacle is encountered.

In some examples, the automatic pool cleaner executes spins according to a pre-programmed algorithm as is known in the art, such as, for example, the algorithm described in US Patent 6,815,918.

In some examples the control unit will activate the pump after each turn the robot makes, if the image sensor detects foreign objects. In other examples, the control unit would activate the pump in another way, if there are no foreign objects within the sensor's field of view.

In some embodiments of the present invention, the control unit may also modify the operation of the drive wheels 30 of the automatic pool cleaner 10, for example, by moving the wheels more slowly, or backing up on a foreign object discovered by the pool. sensor 60.

Sensor 60 can typically be a component of sensor unit 150, described with reference to Figures 3a and 3b. The automatic pool cleaner 10 may have one or more sensor units 150 connected to the control unit. Sensor 60 can be coupled to a control unit as described below with reference to FIG. 2A.

Sensor 60 may have a detected region, the detected region being a field of view of sensor 60, when sensor 60 is an optical sensor, or the extent of the observable area about which sensor 60 can extract information at any given time, when sensor 60 is any other kind of sensor known in the art.

Typically, sensor 60 can be an optical sensor that is known in the art. Examples of sensors include, but are not limited to, color sensors, reflectivity sensors, and image sensors. Sensor 60 can be configured to scan a pool surface for foreign objects, that is, traversing a surface while operating one or more sensors to detect foreign objects, and send data to the control unit regarding the results of the pool. scanning, scanning not limited to optical scans but may include scans made by other non-optical sensors known in the art. In some embodiments, the sensor may be another type of sensor capable of determining if there may be a foreign object in the path of the automatic pool cleaner 10, or in the vicinity of the automatic pool cleaner 10.

Typically, the automatic pool cleaner 10 does not have an absolute front or rear; it travels both forward and backward. The automatic pool cleaner can have a relative front and a relative back, where the relative front faces the current anticipated movement path of the automatic pool cleaner and the relative rear faces the opposite direction of the movement path. current advance of the automatic pool cleaner. Typically the sensor 60 is mounted on the automatic pool cleaner such that the sensor provides a sensed region directed in the area in front of the relative front of the automatic pool cleaner 10, that is, facing the current anticipated movement path of cleaner automatic pool. In some applications, one second the sensor 60 is mounted on the automatic pool cleaner such that the sensor 60 provides a sensed region directed in the area behind the automatic pool cleaner opposite the current anticipated movement path of the automatic pool cleaner. pool, that is, the sensor can be mounted on the relative rear of the automatic pool cleaner 10. The detected region of the sensor 60 may not be limited to fields of view of the optical sensors, but may include other fields of view of other sensors non-optical known in the art.

The automatic pool cleaner 10 may have at least one motor, as described below with reference to Figure 2A. Typically, the automatic pool cleaner 10 may have two motors, described below with reference to FIG. 2A. At least one of the motors can be configured to be connected to the control unit and further connected to the drive wheels 30.

In some embodiments, a motor can be configured to be coupled to pump unit 230, described below with reference to FIG. 2A. The control unit, in response to a signal from the sensor 60, indicating the presence of foreign objects, can send a signal to the motor to power the pump unit 230. Typically, the pump unit can include an axial type pump Powered by brushless or brushed DC motor. Other types of pumps and motors known in the art can also be used.

Typically, a hysteresis measure can be included in the drive of the pump unit to prevent frequent start / stop operation when dirt, debris and foreign objects in the pool are scattered or unevenly distributed.

Figure 2a is a schematic illustration that includes internal components of the automatic pool cleaner. Typically, the automatic pool cleaner 10 has an inlet, as described below with reference to Figure 2B, on a lower side of the automatic pool cleaner, configured to draw water into a filter unit 220. In some embodiments of the In the present invention, the filter unit 220 may include a filter bag or a filter cartridge. Typically, the filter unit 220 can be configured to be periodically removed and emptied of foreign objects. In some embodiments, the filter unit 220 can be periodically discarded and replaced.

Normally, water and foreign objects can be sucked through the intake and into the filter unit 220 by means of vacuum suction created by the pump unit 230. The pump unit 230 can be powered normally by the motor 240. In some embodiments of the present invention, motor 250 can power wheels 30. Motors 240 and 250 are normally connected to control unit 280. Control unit 280 typically contains a microcontroller.

The motor 240, and in some embodiments, the motor 240 that can power the pump unit and the motor 250 that can power the wheels 30, can be powered by one or more batteries 260. In some embodiments of the present invention, the batteries 260 are rechargeable. Typically, 260 batteries can be Nickel Metal Hydride (NiMH), Lithium Ion (Li-ion), Lithium-Iron-Phosphate (LiFePO4), or Lithium-ion Polymer (Li-ion Polymer), or other batteries. known in the art. In some embodiments, motor 240 and or more motor 250 are powered by an external power source.

In some embodiments of the present invention, the motor 240 powers the pump unit 230. The motor 240 can be completely shut down unless the motor 240 receives a signal from the control unit 280 to power the pump unit 230. In some In embodiments, the pump unit can be powered at a first power level to maintain a straight course despite asymmetry. Typically uneven pool surfaces or uneven wear on the cleaner tracks or wheels create instances of asymmetry for the automatic pool cleaner 10. Another form of asymmetry known in the art may also require that a powered pump unit maintain a straight course. for automatic pool cleaner. In some applications, the pump unit can be powered to maintain any course known in the art for automatic pool cleaners. When partially powered, the pump unit 230 uses between 0% and 50% power, e.g. eg 30% power.

In some embodiments, pump unit 230 may be powered at a second power level, the second power level may equal full power, in response to control unit 280 sending a signal to power pump unit 230 when sensor 60 detects foreign objects. In other embodiments, when powered at a second power level, the pump can be powered only partially, the power level depending on factors relevant to cleaning the pool surfaces.

In some applications of the present invention, the automatic pool cleaner 10 may have a sensor 305 to determine ambient light conditions. Sensor 305 may send a signal to control unit 280 to either stop or delay operation until there is enough light for sensor 60 to be effective. In some applications, sensor 305 may send a signal to control unit 280 to operate a light source 300. Light source 300 may be a high-brightness light-emitting diode (LED) or multiple LEDs, or other. lighting form. The light source 300 can provide sufficient ambient light for the sensor 60 to function even when the ambient light outside the pool is too low for the sensor 60 to function.

Figure 2B is a schematic illustration of a bottom side of the automatic pool cleaner 10. The bottom side 400 can be positioned to be close enough to a pool surface so that the robot cleaner 10 can suck up foreign objects via the unit. pump 230 as described, p. eg, in this memory.

In some embodiments of the present invention, the automatic pool cleaner 10 may have wheels 30 and tracks 40, and at least one intake 410 on the underside of the automatic pool cleaner 10. Typically the intake 410 is configured to be far enough away from the pool. sensor 60 so that pump unit 230 has sufficient time to feed and suck foreign objects in response to the foreign object detected by sensor 60.

In some embodiments, the sensed region of sensor 60 is directed toward the current anticipated direction of movement of automatic pool cleaner 10. In some embodiments of the present invention, automatic pool cleaner 10 may have at least one sensor 60 connected to the underside. 400. In other embodiments, the sensed region of sensor 60 may be below automatic pool cleaner 10, and may be wider, narrower, or equal to the width of automatic pool cleaner 10. In some embodiments, they may also be used. other non-optical sensors known in the art.

Figure 3A is a schematic illustration of a sensor unit 150. Typically, the sensor unit 150 can be configured to be removable from the automatic pool cleaner 10. In some embodiments of the present invention, the sensor unit 150, or Sensors 60 within sensor unit 150 may be encapsulated or in a resin-filled enclosure. In some embodiments, a second sensor unit can be connected to the automatic pool cleaner 10 after removing the sensor unit 150. In some embodiments, a further sensor unit can be connected to the automatic pool cleaner 10 without removing the sensor unit. sensor 150.

The sensor unit 150 can be configured to be connected to the automatic pool cleaner 10 with a water tight seal. In some embodiments, sensor unit 150 can be connected to housing 80 of the automatic pool cleaner 10, typically via connector 160. Sensor unit 150 may typically have a cable 170 configured to connect control unit 280, described with reference to Figure 2A, to sensor 60. Sensor unit 150 may also include a sensor housing 180, the sensor housing configured to house the sensor 60, the sensor configured to be in communication with the control unit via cable 170. Data can normally be sent to the control unit 280 in the automatic pool cleaner 10 from the sensor unit 150 via a serial data link.

Cable 170 can also be configured to supply power to sensor unit 150 from a power source in automatic pool cleaner 10. Typically batteries 260, as described with reference to Figure 2A, provide power to the sensor unit. sensor 150. Sensor unit 150 can also have thread 180. Thread 180 can be configured to securely connect sensor unit 150 to automatic pool cleaner 10.

The sensor unit can be connected to the control unit 280 via an industry standard M12 connector. Normally this connection can be watertight. In other applications, other connectors known in the art can also be used.

Typically, sensor unit 150 may include electronic circuit, 165. Electronic circuit 165 may include microcontroller.

Figure 3B is a schematic drawing of the sensor unit 150 described above with reference to Figure 3A with noted exceptions. Sensor unit 150 may include a linear array optical sensor 190. In some embodiments of the present invention, linear array optical sensor 190 may be housed within sensor housing 180. Sensor housing 180 may be transparent. In some applications, the sensor housing 180 may also contain an illumination source 205 (eg, a white light source). Illumination source 205 may be similar to light source 300 previously described with reference to FIG. 2A. Sensor housing 180 may also contain electronic circuitry 165, and color sensor 155, the color sensor may include an array of color detectors and filters combined with a light source. In some embodiments, sensor housing 180 can house an array of color sensors. Electronic circuit 165, as described with reference to Figure 3A, can be configured to decode and format information derived from sensors, and is further configured to connect to a digital data bus to send data to control unit 280 in the automatic pool cleaner 10.

In some embodiments of the present invention, the sensor unit 150 includes an image sensor 185, for example an active pixel sensor (APS), a complementary metal oxide semiconductor (CMOS) sensor, or a coupled device sensor. to load (CCD). Other sensors that can be used in digital cameras, or other sensor devices that are known in the art, can also be used. The image sensor can normally be configured to determine the cleanliness status of the pool, in particular a surface within the pool. In some embodiments, the image sensor 185 can be configured to determine color unevenness on the pool floor, and to distinguish foreign objects that result in a detected uniformity that is different from the uniformity represented in a reference image.

The image sensor can provide an image to an image processor 195, which can be configured to compare the current image to a reference image, typically with respect to color and texture. The image processor can facilitate the identification of foreign objects that are on the surface of the pool. Typically, the image processor can take advantage of the uniform coloration of most residential pools by comparing a current image to a reference image. The image processor may also not need to know the exact location of the automatic pool cleaner 10 in the pool to determine if the sensor has detected a foreign object, given the relative uniform coloration typically found in most residential pools.

Sensor housing 180 may also contain one or more other optical sensors; optical sensors can include those that are known in the art. Sensor unit 150 may also include sensor window 200 in sensor housing 180.

Figure 4 is a flow chart of a method for operating the automatic pool cleaner, according to one embodiment of the present invention.

In some embodiments of the invention, the automatic pool cleaner 10 can clean a pool with minimal power consumption, wherein the automatic pool cleaner 10 traverses a surface while operating one or more sensors 60, to detect foreign objects, as shown represents in block 500. The automatic pool cleaner can pass through the pool on a first power level. The automatic pool cleaner 10 may employ sensors 60 as it traverses the pool to search or examine foreign objects, shown as diamond 505. The automatic pool cleaner 10 may not detect or find a foreign object. As it traverses the pool, the automatic pool cleaner 10 may operate the pump unit 230 at a first power level, less than full power, when a foreign object is not detected, as shown at block 510. The automatic cleaner Pool 10 can find and / or detect a foreign object. The automatic pool cleaner can operate the pump unit 230 at a second power level, which is higher than the first power level, when a foreign object is detected, as depicted at block 520.

In some embodiments of the invention, the automatic pool cleaner 10 may operate at regular and / or fixed time intervals, for example, as described above. In some embodiments of the invention, the automatic pool cleaner 10 may not operate at regular and / or fixed time intervals.

Figure 5 is a flow chart of a method for operating an automatic pool cleaner, according to one embodiment of the invention.

In some embodiments of the invention, a method of cleaning a pool with minimal power consumption includes activating an automatic pool cleaner for a fixed time interval to traverse a surface while operating one or more sensors to detect foreign objects, depicted as table 600.

The method may further include configuring the automatic pool cleaner to determine if there is a foreign object on the surface by comparing a current image of the surface with a reference image obtained by said one or more sensors, represented as diamond 610.

When no foreign object is detected, box 630 represents the portion of the method that may include setting the automatic pool cleaner to employ a pump unit on a first power level. The first power level can be 0% power.

When a foreign object is detected, the method may include setting the automatic pool cleaner to move towards the foreign object on the surface, shown as frame 620. In some embodiments of the inventions, the automatic pool cleaner may employ algorithms to move towards the foreign object. The algorithms can determine an optimal path to reach the foreign object. The algorithms can determine an optimal path for the automatic pool cleaner 10 to advance over the foreign object to aspirate the foreign object. Algorithms to determine the size, shape, orientation, and other characteristics of the foreign object can be used to determine how the automatic pool cleaner should move toward, reach, and pass over the foreign object.

The automatic pool cleaner can move towards the foreign object on a first power level and vacuum the foreign object on a second power level. The automatic pool cleaner can move towards a suspicious foreign object at one power level, and when it reaches the suspicious foreign object change the power levels in response to newly discovered characteristics of the foreign object, including, in some embodiments of the invention, false positive.

Frame 640 represents a part of the method where the automatic pool cleaner may employ the pump unit at a second power level in response to sensing and / or moving toward the foreign object. The second power level can be higher than the first power level. The second power level can be optimized given the detected characteristics of the foreign object. The second power level can be one or a plurality of power levels depending on characteristics associated with the foreign object, including, in some embodiments of the invention, the distance from the automatic pool cleaner.

Examples of the present invention may include apparatus for performing the operations described herein. Such apparatuses can be specially constructed for the desired purposes, or they can comprise computers or processors selectively activated or reconfigured by a computer program stored in the computers. Such computer programs may be stored on a non-transient computer-readable or processor-readable storage medium, any type of disk, including floppy disks, optical disks, CD-ROMs, magnetic-optical disks, read-only memory (ROM), random access memories (RAM), electrically programmable read-only memories (EPROM), electrically erasable and programmable read-only memories (EEPROM), magnetic or optical cards, or any other type of suitable means for storing electronic instructions. It will be appreciated that a variety of programming languages can be used to implement the teachings of the invention as described herein. Examples of the invention may include an item such as a processor or computer readable non-transient storage medium, such as for example a memory, hard disk, or USB flash memory that encodes, includes or stores instructions, e.g. eg, computer-executable instructions, which when executed by a processor or controller, cause the processor or controller to carry out methods described herein. Instructions can cause the processor or controller to execute processes that carry out methods described in this specification.

Different embodiments are described in this specification. Features of certain embodiments can be combined with features of other embodiments; thus certain embodiments may be combinations of features from multiple embodiments. The foregoing description of embodiments of the invention has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form described. Those skilled in the art should appreciate that many modifications, variations, substitutions, changes, and equivalents are possible in light of the above teaching. Therefore, it should be understood that the appended claims are intended to cover all such modifications and changes.

Claims (12)

1. An automatic pool cleaner (10), comprising: a pump unit (230); a sensor unit (150) comprising a sensor (60), the sensor (60) configured to detect foreign objects; Y, a control unit (280) coupled to the sensor unit (150) and the pump unit (230), wherein the control unit (280) is configured to activate the pump unit (230) at a first power level that is less than full power when the sensor (60) does not detect a foreign object, characterized in that the The control (280) is further configured to automatically activate the pump unit (230) at a second power level, which is greater than the first power level, in response to a signal from the sensor unit (150) that indicates the detection of a foreign object. 2. An automatic pool cleaner (10) according to claim 1, wherein the sensor unit (150) is mounted to have a sensed region located below the automatic pool cleaner (10). An automatic pool cleaner (10) according to claim 1 or claim 2, wherein the sensor unit (150) is mounted to have a sensed region located along a current anticipated motion path of the automatic pool cleaner. pool (10). 4. An automatic pool cleaner according to any one of claims 1 to 3, wherein the sensor unit (150) comprises an optical sensor. An automatic pool cleaner according to any one of claims 1 to 4, wherein the pump unit (230) is powered by a battery or an external power source. An automatic pool cleaner according to any one of claims 1 to 5, wherein the control unit (280) is further configured to operate the automatic pool cleaner (10) at fixed time intervals. 7. A method of cleaning a pool with minimal power consumption comprising: configuring an automatic pool cleaner (10) according to claim 1 to traverse a surface while operating one or more sensors (60), to detect foreign objects; characterized by operating a pump unit (230) of the automatic pool cleaner (10) at a first power level, less than full power, when no foreign object is detected; Y, operating the pump unit (230) at a second power level, which is higher than the first power level, when a foreign object is detected. A method according to claim 7, wherein the automatic pool cleaner (10) is configured to operate the pump unit (230) to maintain a straight course despite asymmetry. A method according to claims 7 or 8, wherein said one or more sensors (60) are configured to provide a detected region along a current anticipated motion path of the automatic pool cleaner (10). A method according to any one of claims 7 to 9, wherein said one or more sensors (60) are configured to provide a sensed region located below the automatic pool cleaner (10). A method according to any one of claims 7 to 10, wherein said one or more sensors (60) comprise one or more optical sensors. A method according to any one of claims 7 to 11 comprising: activating the automatic pool cleaner (10) at a regular fixed time interval to traverse the surface.