# US 8,771,504 B2 · Apparatus for cleaning an immersed surface provided with an accelerometer device which detects gravitational acceleration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,771,504 B2 - Document ID: US8771504B2 - Status: Granted - Kind: B2 - Application number: 12/971,269 - Filed: 2010-12-17 - Published: 2011-08-18 - Granted: 2014-07-08 - Earliest claimed: 2009-12-22 - Assignees: Zodiac Pool Care Europe - Applicants: Emmanuel Mastio; Thierry Michelon - Inventors: Emmanuel Mastio; Thierry Michelon - Web page: https://patentgrep.com/patent/US8771504B2 ## CPC - E04H 4/1654: {Self-propelled cleaners} - E04H 4/16: specially adapted for cleaning - E04H: BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL (foundations E02D) ## Abstract The invention relates to an apparatus for cleaning an immersed surface, comprising a hollow body, guiding and driving members, a filtration chamber which is provided in the hollow body and which has at least one liquid inlet, at least one liquid outlet and a hydraulic circuit for circulation of liquid through a filtering device. An accelerometer device is fixedly joined to the hollow body and which is adapted to provide instantaneous measurements of at least one acceleration component of the terrestrial gravity in at least one fixed direction which is fixed relative to the hollow body, and a processing unit for processing the acceleration measurements supplied by the accelerometer device. ## Claims ### Claim 1 An automatic swimming pool cleaning apparatus comprising: a. a body (i) configured in use to be submerged by water contained within a swimming pool and to move therein and (ii) defining a water inlet; b. a debris filter carried by the body; c. means for drawing pool water into the water inlet of the body in use for passage into the debris filter; and d. an accelerometer (i) carried by the body and (ii) configured in use to measure a characteristic of position of the body within the swimming pool. ### Claim 2 (depends on 1) An automatic swimming pool cleaning apparatus according to claim 1 in which: a. the body is configured in use to climb a generally vertically-oriented wall of the swimming pool; and b. the accelerometer is configured in use to provide instantaneous measurements of a component of gravitational acceleration in a height axis (Z) generally parallel to the wall. ### Claim 3 (depends on 2) An automatic swimming pool cleaning apparatus according to claim 2 further comprising a processing unit configured in use to process instantaneous measurements of the component of gravitational acceleration in the height axis (Z). ### Claim 4 (depends on 3) An automatic swimming pool cleaning apparatus according to claim 3 further comprising: a. at least one drive motor configured in use to move the body within the swimming pool; and b. a control configured in use to command acceleration of the at least one drive motor when the instantaneous measurements of the component of gravitational acceleration in the height axis (Z) indicate the body is climbing the wall. ### Claim 5 (depends on 4) An automatic swimming pool cleaning apparatus according to claim 4 in which the control is further configured in use to command deceleration of the at least one drive motor when the instantaneous measurements of the component of gravitational acceleration in the height axis (Z) indicate the body is descending the wall. ### Claim 6 (depends on 2) An automatic swimming pool cleaning apparatus according to claim 2 in which the accelerometer is fixed to the body. ### Claim 7 (depends on 2) An automatic swimming pool cleaning apparatus according to claim 2 in which the body comprises a water inlet, a water outlet, and a circuit for circulation of water between the water inlet and the water outlet. ### Claim 8 (depends on 2) An automatic swimming pool cleaning apparatus according to claim 2 in which the swimming pool has a surface generally perpendicular to the wall and the accelerometer is further configured in use to provide instantaneous measurements of components of gravitational acceleration in longitudinal (X) and lateral (Y) axes both generally parallel to the surface. ### Claim 9 (depends on 1) An automatic swimming pool cleaning apparatus according to claim 1 in which the accelerometer is configured in use to measure a characteristic of position of the body within the swimming pool requiring adaptation or modification of the movement of the body. ### Claim 10 (depends on 9) An automatic swimming pool cleaning apparatus according to claim 9 in which the measured characteristic of position of the body within the swimming pool indicates a functional anomaly selected from the group consisting of a blockage, an inversion, a risk of cable entanglement, contact with a base wall, contact with a vertical wall, movement over an inclined wall, arrival of the body at the water line of the swimming pool, or an intake of air at the water line of the swimming pool. ### Claim 11 (depends on 1) An automatic swimming pool cleaning apparatus according to claim 1 further comprising means, cooperating with the accelerometer, for measuring the characteristic of position of the body within the swimming pool. ### Claim 12 (depends on 11) An automatic swimming pool cleaning apparatus according to claim 11 in which the means that cooperates with the accelerometer comprises a processing unit. ### Claim 13 (depends on 1) An automatic swimming pool cleaning apparatus according to claim 1 in which the characteristic of position of the body which the accelerometer is configured in use to measure is selected from the group consisting of: orientation on an immersed surface of the swimming pool, movement on an immersed surface of the swimming pool, location within the swimming pool, speed on an immersed surface of the swimming pool, acceleration on an immersed surface of the swimming pool, rotational sliding on an immersed surface of the swimming pool, and impact with the water of or an object within the swimming pool. ### Claim 14 An automatic swimming pool cleaning apparatus comprising a body (a) configured in use to be submerged by water contained within a swimming pool and self-propelling therein, (b) defining water inlet, (c) carrying a debris filter, and (d) having (i) means for drawing pool water into the water inlet in use for passage into the debris filter and (ii) an accelerometer therein or thereon configured in use to measure a characteristic of position of the body within the swimming pool. ### Claim 15 (depends on 14) An automatic swimming pool cleaning apparatus according to claim 14 further comprising means, cooperating with the accelerometer, for measuring the characteristic of position of the body within the swimming pool. ### Claim 16 (depends on 15) An automatic swimming pool cleaning apparatus according to claim 15 in which the means that cooperates with the accelerometer comprises a processing unit. ### Claim 17 (depends on 14) An automatic swimming pool cleaning apparatus according to claim 14 in which the characteristic of position of the body which the accelerometer is configured in use to measure is selected from the group consisting of: orientation on an immersed surface of the swimming pool, movement on an immersed surface of the swimming pool, location within the swimming pool, speed on an immersed surface of the swimming pool, acceleration on an immersed surface of the swimming pool, rotational sliding on an immersed surface of the swimming pool, and impact with the water of or an object within the swimming pool.