# US 12,000,169 B2 · Drive controls principally for automatic swimming pool cleaners

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- Number: US 12,000,169 B2
- Document ID: US12000169B2
- Status: Granted
- Kind: B2
- Application number: 16/966,575
- Filed: 2020-07-16
- Published: 2023-03-23
- Granted: 2024-06-04
- Earliest claimed: 2019-07-18
- Assignees: Zodiac Pool Care Europe
- Applicants: Zodiac Pool Care Europe
- Inventors: Florent Dallet; Simon Duffaut
- Web page: https://patentgrep.com/patent/US12000169B2

## CPC

- E04H 4/1654: {Self-propelled cleaners}
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 2105/10: for cleaning, vacuuming or polishing
- G05D 2107/29: {Swimming pools}
- G05D 2109/15: Climbing vehicles
- G05D 2111/52: {generated by inertial navigation means, e.g. gyroscopes or accelerometers}
- 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

## Abstract

Apparatus and methods for counteracting, e.g., drift of automatic swimming pool cleaners are detailed. In particular, a drifting cleaner may recover its movement by altering traction speed of the motive element(s) on one side of its body. Such alteration may occur when the cleaner is travelling along a generally horizontally-oriented pool bottom, climbing up or down a wall, or otherwise moving within a pool.

## Claims

### Claim 1

An automatic swimming pool cleaner comprising:
a. a body;
b. an orientation sensor;
c. a controller;
d. at least one drive mechanism;
e. a first motive element on a first side of the body; and
f. a second motive element on a second side of the body opposite the first side; and in which the at least one drive mechanism is configured to drive the first motive element at a different speed than the second motive element upon command of the controller when the orientation sensor senses that the body is oriented in a manner other than planned while the automatic swimming pool cleaner is climbing a wall.

### Claim 2

A method of causing an automatic swimming pool cleaner having a body to counteract a deviation from an intended course while the automatic swimming pool cleaner is climbing a wall.

### Claim 3 (depends on 2)

A method according to claim 2 in which counteraction of the deviation from the intended course occurs by driving a first motive element on a first side of the body at a different speed than a second motive element on a second side of the body opposite the first side.