Patent ID: 6309468
Filing Date: 2001-10-30
Classification: E04H

Abstract:
A method for cleaning a swimming pool using a cleaning device that moves backwards and forwards in the swimming pool, and has a drive mechanism that can be switched to forward or backward travel and is actively connected to drive wheels or drive tracks, a respective motor for each of a left-hand-side and a right hand-side part of the drive mechanism, a control apparatus for controlling the drive mechanism, and contact means arranged at the front and rear to generate control signals in the event that the cleaning device approaches a swimming pool wall or an obstacle, and wherein the control apparatus possesses, for each part of the drive mechanism, a speed regulating apparatus and means for the differential control of the speed of the two motors, said method comprising individually measuring the respective distances (d.sub.1,d.sub.2) covered in forward or backward movement by each part of the drive mechanism and, using the control apparatus, calculating and differentially controlling angles (R.sub.1, R.sub.2) of change of direction for the travelling cleaning device based on the measured distances (d.sub.1, d.sub.2) covered and an offset width (v) of the respective travel tracks.