Water jet reversing propulsion and directional controls for automated swimming pool cleaners

An improved method of propelling a robotic pool cleaning apparatus over the bottom and side wall surfaces of a pool by means of a water jet, where the apparatus comprises a pump outlet for delivery of a stream of pressurized water, and where the improvement comprises:

• (a) discharging a jet of water received from the pump outlet in a first predetermined direction;
• (b) continuing the discharge of the water jet in the first predetermined direction for a period of time;
• (c) terminating the flow of the water jet in the first predetermined direction;
• (d) discharging the water jet in a second predetermined direction;
• and
• (e) continuing the flow of the water jet in the second predetermined direction for a period of time,
• whereby the pool cleaning apparatus is propelled in directions which change in response to the changes in the direction of the discharged of the water jet.

A self-propelled apparatus for cleaning the submerged bottom surfaces of a pool or tank in a predetermined regular pattern, the apparatus comprising:

• (a) reversible drive means for propelling the apparatus in opposite directions corresponding to the longitudinal axis of the apparatus;
• and
• (b) a housing formed by a top wall, depending front and rear walls and depending side walls, the side walls defining the periphery of the apparatus;
• and
• (c) at least one projecting pivot member extending from a side wall of the housing, whereby the end of the projecting pivot member serves as a pivot point in contact with a side wall of the pool to change the orientation of the apparatus with respect to the side wall of the pool.

A self-propelled apparatus for cleaning the submerged sidewall and bottom surfaces of a pool in a predetermined scanning pattern, the apparatus comprising:

• (a) a housing formed by a top wall and depending side walls;
• (b) reversible drive means for propelling the apparatus in opposite directions, which directions correspond generally to the longitudinal axis of the apparatus;
• and
• (c) a pair of wheels assembled to each of the opposite longitudinal ends of the apparatus, where the improvement comprises mounting at least one of said pair of wheels at an angle that is acute to the longitudinal axis of the apparatus when the apparatus is moving in at least one direction.