Patent ID: 8752226
Filing Date: 2014-06-17
Classification: E04H

Abstract:
1. A self-propelled robotic cleaning apparatus for cleaning a submerged surface of a pool or tank comprising: a housing having a front portion, an opposing rear portion and adjoining side portions defining the periphery of the apparatus, and a base with at least one water inlet; a water pump configured to draw water and debris from the pool or tank through the at least one water inlet for filtering and discharging filtered water through at least one water-discharge outlet; rotationally-mounted supports coupled proximate the front and rear portions of the housing, said rotationally-mounted supports including a pair of rotationally-mounted supports each of which is coupled to an opposing end of an axle, the opposing axle ends being slidable along the housing in a forward and rearward direction relative to the directional path of the cleaner; a controller having a memory for storing a cleaning program and a processor electrically coupled to the memory, the cleaning program being executable by the processor and operable to automatically control positioning of each end of the axle relative to the housing to steer the cleaning apparatus while the cleaner is moving in a forward or reverse direction; and a steering assembly for directing movement of the opposing axle ends in response to control signals received from the controller, the steering assembly comprising an upright flange guide positioned proximate to each of the respective opposing axle ends and having a top surface that selectively engages with and disengages from the corresponding axle end.