Patent ID: 7621014
Filing Date: 2009-11-24
Classification: E04H

Abstract:
1. A method for removing and preventing undesired twists and coils in a pool cleaner power supply cable extending between a remote power supply and a self-propelled pool cleaner, the pool cleaner moving on the bottom and/or side walls of a swimming pool during a cleaning cycle according to a scanning algorithm directed by a microprocessor on board the pool cleaner, a directional controller on board the pool cleaner for changing the directional heading of the pool cleaner in response to signals from the processor, and a memory device operatively coupled to the processor for storing the scanning algorithm, the method comprising steps of: a. providing the swimming pool cleaner with an electronic compass for determining the directional heading of the moving pool cleaner; b. providing a tilt sensor for sensing the pitch and the roll of the electronic compass that is operatively connected to the processor for determining the actual directional headings of the pool cleaner, the actual directional heading being a pitch and/or roll compensated heading that corrects the directional heading for the effects of any pitch and/or roll experienced by the pool cleaner while moving; c. transmitting an initial reference directional heading of the moving pool cleaner to the memory device as determined by the electronic compass upon initiation of the scanning algorithm; d. transmitting sensed pitch and/or roll data to the microprocessor and calculating an actual directional heading as the pool cleaner moves across the pool surface being cleaned; e. transmitting a series of actual directional headings of the moving pool cleaner to the memory device during the cleaning cycle; f. comparing each of the series of actual directional headings of the pool cleaner with the reference directional heading and transmitting to the memory device for storage the result of each comparison in the form of a positive or negative value to represent, respectively, a right or left deviation value in degrees from the reference directional heading; g. registering the completion of an entire turn either in a number of right turns or a number of left turns depending upon the left or right deviation from the reference directional heading, when the cumulative difference between the subsequent actual directional headings and the reference directional heading is equal to, or greater than 360°; and h. turning the pool cleaner to the left when the number of right turns is greater than a predetermined number of left turns and turning the pool cleaner to the right when the number of right turns is less than a predetermined number of left turns, until the number of the right and left turns are equalized, thereby minimizing undesired twists and coils in the pool cleaner power supply cable.