# US 11,306,500 B2 · Swimming pool cleaning system with image capture device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,306,500 B2 - Document ID: US11306500B2 - Status: Granted - Kind: B2 - Application number: 15/764,471 - Filed: 2016-09-28 - Published: 2018-09-20 - Granted: 2022-04-19 - Earliest claimed: 2015-10-01 - Assignees: Zodiac Pool Care Europe - Applicants: Zodiac Pool Care Europe - Inventors: Philippe Pichon - Web page: https://patentgrep.com/patent/US11306500B2 ## CPC - E04H 4/1654: {Self-propelled cleaners} - G05D 1/0206: {specially adapted to water vehicles} - G05D 1/49: Control of attitude, i.e. control of roll, pitch or yaw - H04N 23/00: Cameras or camera modules comprising electronic image sensors; Control thereof - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - E04H: BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL (foundations E02D) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract The invention relates to a swimming pool cleaning system comprising a cleaning apparatus (10) to be immersed in the pool, the system further comprising at least one moving image acquisition means (30) secured to a float (31) via a flexible tie (32). ## Claims ### Claim 1 A system for cleaning a swimming pool, comprising: a. a cleaning device comprising: i. a body defining an inlet and an outlet; ii. wheels, disposed laterally with respect to the body, for moving the body on a submerged surface in the swimming pool; iii. a motor driving at least one of the wheels; and iv. a filter basket positioned in a flow path between the inlet and the outlet of the body; b. a float configured to remain at a waterline of the swimming pool; c. a camera secured to the float; d. a flexible tie connecting the cleaning device to at least one of the camera and the float so that, as the body moves on the submerged surface, the body tows the camera and the float at the waterline; e. means for detecting, utilizing images supplied by the camera and regardless of an orientation of the float, an orientation and direction of movement of the cleaning device moving on the submerged surface; and f. means for electronically controlling the motor of the cleaning device for controlling movement of the cleaning device based on the images supplied by the camera. ### Claim 2 (depends on 1) The system of claim 1, wherein the body of the cleaning device further comprises a plurality of markers to assist with detecting the orientation and the direction of movement of the cleaning device. ### Claim 3 (depends on 1) The system of claim 1, wherein the camera is secured to the float at an adjustable angle. ### Claim 4 (depends on 1) The system of claim 1, wherein the flexible tie connects the cleaning device to the at least one camera and the float such that an orientation of the float relative to the cleaning device is adjustable in at least two directions. ### Claim 5 (depends on 1) The system of claim 1, wherein the means for electronically controlling movement of the cleaning device comprise means for controlling at least one of the wheels or the motor of the cleaning device based on the images supplied by the camera. ### Claim 6 A system for cleaning a swimming pool, comprising: a. a cleaning device comprising: i. a body defining an inlet and an outlet; ii. wheels, disposed laterally with respect to the body, for moving the body on a submerged surface in the swimming pool; iii. a motor; iv. a filter basket positioned in a flow path between the inlet and the outlet of the body; and v. an orientation calibration feature on the body of the cleaning device; b. a float configured to remain at a waterline of the swimming pool; c. a camera secured to the float; d. a flexible tie connecting the cleaning device to at least one of the camera and the float so that, as the body moves on the submerged surface, the body tows the camera and the float at the waterline; e. means for determining, utilizing images supplied by the camera, an orientation and direction of movement of the cleaning device moving on the submerged surface based on a detection of the orientation calibration feature by the camera; and f. means for electronically controlling movement of the cleaning device based on the determined orientation and direction of movement of the cleaning device. ### Claim 7 (depends on 6) The system of claim 6, wherein the flexible tie connects the cleaning device to the at least one camera and the float such that an orientation of the float relative to the cleaning device is adjustable in at least two directions. ### Claim 8 (depends on 6) The system of claim 6, wherein the means for electronically controlling movement of the cleaning device comprise means for controlling at least one of the wheels or the motor of the cleaning device based on the images supplied by the camera. ### Claim 9 A system for cleaning a swimming pool, comprising: a. a cleaning device comprising: i. a body defining an inlet and an outlet; ii. wheels for moving the body on a submerged surface in the swimming pool; iii. a motor; and iv. a filter basket positioned in a flow path between the inlet and the outlet of the body; b. a float configured to float in the swimming pool; c. a camera secured to the float; d. a flexible tie connecting the cleaning device to at least one of the camera and the float so that, as the body moves on the submerged surface, the body tows the camera and the float, and the float is selectively submergible below a waterline; e. means for determining, utilizing images supplied by the camera, an orientation and direction of movement of the cleaning device moving on the submerged surface; and f. means for electronically controlling movement of the cleaning device based on the determined orientation and direction of movement of the cleaning device. ### Claim 10 (depends on 9) The system of claim 9, wherein the camera is secured to the float and with an orientation angle relative to the float, and wherein the camera is adjustable relative to the float such that the orientation angle is adjustable. ### Claim 11 (depends on 9) The system of claim 9, wherein the flexible tie connects the cleaning device to the at least one camera and the float such that an orientation of the float relative to the cleaning device is adjustable in at least two directions. ### Claim 12 (depends on 9) The system of claim 9, wherein the means for electronically controlling movement of the cleaning device comprise means for controlling at least one of the wheels or the motor of the cleaning device based on the images supplied by the camera. ### Claim 13 (depends on 9) The system of claim 9, further comprising an orientation calibration feature on the body of the cleaning device, and wherein the means for determining the orientation and direction of movement of the cleaning device moving on the submerged surface comprise means for determining based on a detection of the orientation calibration feature by the camera.