# US 11,112,799 B2 · Intelligent solar powered pool skimming robot

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,112,799 B2
- Document ID: US11112799B2
- Status: Granted
- Kind: B2
- Application number: 15/164,566
- Filed: 2016-05-25
- Published: 2017-01-26
- Granted: 2021-09-07
- Earliest claimed: 2015-05-25
- Assignees: Skimdevil Pure, LLC
- Applicants: Milan Simik
- Inventors: Milan Simik; Miroslav Kremecek
- Web page: https://patentgrep.com/patent/US11112799B2

## CPC

- G05D 1/0206: {specially adapted to water vehicles}
- C02F 1/001: {Processes for the treatment of water whereby the filtration technique is of importance (C02F1/44 takes precedence; construction of filters in general B01D24/00 - B01D41/00)}
- C02F 1/008: {Control or steering systems not provided for elsewhere in subclass C02F}
- E04H 4/1263: {Floating skimmers}
- G05D 1/43: Control of position or course in two dimensions [2D]
- B63B 35/32: for collecting pollution from open water
- C02F 2103/42: from bathing facilities, e.g. swimming pools
- C02F 2201/008: Mobile apparatus and plants, e.g. mounted on a vehicle
- C02F 2201/009: Apparatus with independent power supply, e.g. solar cells, windpower or fuel cells
- C02F 2209/001: Upstream control, i.e. monitoring for predictive control
- C02F 2209/005: Processes using a programmable logic controller [PLC]
- C02F 2209/02: Temperature
- C02F 2209/055: Hardness
- C02F 2209/06: pH
- C02F 2209/07: Alkalinity
- C02F 2209/10: Solids, e.g. total solids [TS], total suspended solids [TSS] or volatile solids [VS]
- C02F 2209/11: Turbidity
- C02F 2303/24: Separation of coarse particles, e.g. by using sieves or screens
- Y02A 20/212: Solar-powered wastewater sewage treatment, e.g. spray evaporation
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- C02F: TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE (separation in general B01D; special arrangements on waterborne vessels of installations for treating water, waste water or sewage, e.g. for producing fresh water, B63J; adding materials to water to prevent corrosion C23F; treating radioactively-contaminated liquids G21F9/04; regeneration of reactants for recirculation into processes, see the relevant places for the processes)
- E04H: BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL (foundations E02D)
- B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06)
- Y02A: TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE

## Abstract

Systems and methods can support an autonomous pool skimming system. The pool skimming system may have a body with two or more hulls. Two or more paddlewheels may be coupled to the body. An independent motor may drive each paddlewheel. The motors may be independently controllable to support steering. The pool skimming system may have one or more processing units, two or more distance sensors, one or more solar cells, and a power supply operable to power the processing units and the motors from energy supplied by the solar cells. One or more processing modules may configure the processing units to plan and execute a traversal path across the surface of a body of water, such as a swimming pool, to collect debris into a removable basket. A portion of the traversal path may be established according to signals from distance sensors.

## Claims

### Claim 1

An autonomous water skimming system for a pool having a perimeter wall, comprising:
a body comprising two or more hulls;
one or more processing units;
two or more paddlewheels coupled to the body, each paddlewheel driven by an independent motor, wherein the motors are independently controllable by the one or more processing units to support steering;
two or more distance sensors;
one or more solar cells;
a power supply operable to power the one or more processing units and the motors from energy supplied by the one or more solar cells; and
one or more processing modules, wherein the one or more processing units are configured by the one or more processing modules to navigate a circumference associate with a surface edge of a body of water according to signals associated with the two or more distance sensors, develop a model for a surface geometry of the body of water in response to the navigated circumference, plan a series of traversals across the model for the surface geometry of the body of water, and execute the planned series of traversals across the body of water in order to collect debris into a removable basket,
wherein the signals associated with the two or more distance sensors are processed to establish an approach angle with respect to the perimeter wall of the pool.

### Claim 2 (depends on 1)

The autonomous water skimming system of claim 1, further comprising a backwash flap.

### Claim 3 (depends on 1)

The autonomous water skimming system of claim 1, further comprising one or more rechargeable battery cells.

### Claim 4 (depends on 1)

The autonomous water skimming system of claim 1, further comprising a user interface.

### Claim 5 (depends on 1)

The autonomous water skimming system of claim 1, further comprising a wireless communications interface.

### Claim 6 (depends on 1)

The autonomous water skimming system of claim 1, wherein developing the model for the surface geometry of the body of water comprises establishing a model of a circumference geometry of the body of water.

### Claim 7 (depends on 1)

The autonomous water skimming system of claim 1, wherein the paddlewheels comprise a side hub geometry comprising a central void.

### Claim 8 (depends on 1)

The autonomous water skimming system of claim 1, wherein the one or more processing units comprise a semiconductor microcontroller.

### Claim 9 (depends on 1)

The autonomous water skimming system of claim 1, further comprising one or more navigation sensors comprising one or more of a compass, gyroscope, accelerometer, and GPS.