	US 12,013,685 B2
	Systems and methods for mitigating cable twists for underwater cleaners
Graham Hayes, Bermuda Run, NC (US); Patrick Caty, Lewisville, NC (US); Michael Armes, Lincoln, RI (US); and Michael Padberg, West Warwick, RI (US)
Assigned to Hayward Industries, Inc., Charlotte, NC (US)
Filed by Hayward Industries, Inc., Charlotte, NC (US)
Filed on Oct. 29, 2021, as Appl. No. 17/514,644.
Claims priority of provisional application 63/107,364, filed on Oct. 29, 2020.
Prior Publication US 2022/0137599 A1, May 5, 2022
Int. Cl. G05B 19/4155 (2006.01); E04H 4/16 (2006.01); G05D 1/00 (2006.01); G05D 1/617 (2024.01); G05D 109/30 (2024.01)

CPC G05B 19/4155 (2013.01) [E04H 4/1654 (2013.01); G05D 1/0214 (2013.01); G05D 1/0875 (2013.01); G05D 1/617 (2024.01); G05D 2109/38 (2024.01)]

24 Claims

1. A method for mitigating cable twists in an underwater cleaner, comprising the steps of:

retrieving by a processor a sequence of cleaner orientations;

comparing by the processor the sequence of cleaner operations to one or more pre-defined sequences known to contribute to cable twists;

determining by the processor whether the sequence of cleaner orientations matches the one or more pre-defined sequences;

incrementing by the processor a twist angle accumulator with a pre-defined twist angle corresponding to the one or more pre-defined sequences if the sequence of cleaner orientations matches the one or more pre-defined sequences;

determining by the processor whether the cleaner initiates a turn on a surface of a pool or spa; and

if the cleaner initiates a turn, controlling by the processor turning of the cleaner during the turn using the twist angle accumulator and adjusting the twist angle accumulator.