US 12,287,632 B2
Systems and methods of operating automatic swimming pool cleaners, especially when approaching walls or other objects
Arnaud Besnier, Montrabe (FR); Florent Dallet, Ramonville-Saint-Agne (FR); Simon Duffaut, Castelginest (FR); and E. Keith McQueen, Vista, CA (US)
Assigned to ZODIAC POOL CARE EUROPE, Belberaud (FR)
Filed by ZODIAC POOL CARE EUROPE, Belberaud (FR)
Filed on Aug. 5, 2021, as Appl. No. 17/395,145.
Claims priority of provisional application 63/063,621, filed on Aug. 10, 2020.
Prior Publication US 2022/0043450 A1, Feb. 10, 2022
Int. Cl. G05D 1/02 (2020.01); E04H 4/16 (2006.01); G05D 1/00 (2024.01)
CPC G05D 1/0206 (2013.01) [E04H 4/1654 (2013.01); G05D 1/0088 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An automatic swimming pool cleaner comprising:
a housing;
a sensor configured to detect a pool wall or object while the automatic swimming pool cleaner is travelling within a swimming pool and approaching the pool wall or object; and
a controller configured to determine an orientation of the automatic swimming pool cleaner relative to the detected pool wall or object based on the detected pool wall or object from the sensor and control the automatic swimming pool cleaner such that the determined orientation matches a desired orientation of the automatic swimming pool cleaner relative to the pool wall or object while approaching the pool wall or object.