Patent Publication Number: US-2022220762-A1

Title: Mobile Nozzles And Associated Systems For Cleaning Pools And Spas

Description:
RELATED APPLICATIONS 
     The present application claims the benefit of priority to U.S. Provisional Patent Application No. 63/136,913, filed on Jan. 13, 2021, the entire disclosure of which is expressly incorporated by reference herein. 
    
    
     BACKGROUND 
     Technical Field 
     The present disclosure relates generally to the field of nozzle cleaning systems for pools and spas. More specifically, the present disclosure relates to mobile nozzles and associated systems for cleaning for pools and spas that dislodge debris from the floors and walls thereof, and direct the dislodged debris to one or more outlets for removal and/or filtration. 
     Related Art 
     Swimming pools commonly require a considerable amount of maintenance. Beyond the treatment and filtration of pool water, the bottom wall (the “floor”) and side walls of a pool (the floor and the side walls are referred herein collectively as the “walls” of the pool) must be scrubbed or otherwise cleaned regularly. Additionally, leaves and other debris often elude a pool filtration system and settle on the bottom of the pool. 
     Various devices and systems have been developed to clean swimming pool walls and swimming pool water, e.g., by dislodging and removing dirt and debris from the walls. For example, in-floor nozzle systems have been developed that utilize a series of pipes and nozzles, e.g., pop-up nozzles, that discharge a stream of water to dislodge dirt and debris from pool walls and direct the dirt and debris to a drain. In particular, such systems include multiple pipes and nozzles that are installed in the floor and/or walls of the pool and connected with a pressurized source of water, e.g., a pool pump. The pool pump provides pressurized water to the pipes and, in turn, the nozzles, which discharge the pressurized water across a surface of the pool to dislodge, entrain, and move contaminants, e.g., dirt and debris, from the walls toward a drain that is installed in the floor. The contaminants are then removed from the pool through the drain. However, these systems require pipes and nozzles to be installed either below or within the walls, and cleaning zones/nozzle placement to be developed for each pool to ensure that the entire area of the pool is covered. The materials and labor required to install the piping and nozzles can be costly, and if incorrectly installed, e.g., if the nozzles are incorrectly placed and do not adequately clean the pool walls, can be difficult and expensive to correct. 
     Additionally, various types of automated pool cleaning devices, e.g., swimming pool cleaners, have been developed that traverse the pool walls and skim the pool water surface, cleaning as they go. These pool cleaners are generally categorized by their source of power and include positive pressure pool cleaners, suction (negative pressure) pool cleaners, and robotic/electric pool cleaners. 
     Positive pressure pool cleaners are in fluidic communication with a source of pressurized water. This source of pressurized water could include, for example, a booster pump or pool filtration system. Generally, this requires a hose running from the pump or system to the swimming pool cleaner through which pressurized water is provided to the pool cleaner. Some positive pressure pool cleaners discharge the pressurized water through one or more internal nozzles to create a suction effect at a bottom opening of the swimming pool cleaner, drawing debris through the bottom opening and into a retention device, e.g., a debris bag, of the swimming pool cleaner. Additionally, some positive pressure pool cleaners discharge a portion of the pressurized water externally through one or more nozzles to cause locomotion of the pool cleaner. 
     On the other hand, suction pool cleaners are in fluidic communication with a suction source that draws water from the pool through the suction pool cleaner. This is often achieved through a suction hose that is connected between the suction pool cleaner and the suction source, which can be a wall fitting in communication with the suction side of a pool pump. This suction effect causes water and debris to be drawn through the suction pool cleaner and in turn the suction hose to a filter basket where the debris is collected. Additionally, suction pool cleaners can utilize the water being drawn therethrough to cause the pool cleaner to move across the pool walls. 
     Finally, many robotic/electric pool cleaners utilize electric power provided through an electrical cable or wire from an external power source to move and operate. In particular, the electrical power received by the pool cleaner is often used to power various internal motors and pumps. The motors can be utilized to turn wheels or circulate continuous tracks in order move the pool cleaner along the pool walls. Additionally, the motors and/or pumps can be used to generate a suction effect at a bottom opening of the pool cleaner to draw debris into a container within or on the pool cleaner. 
     However, the hoses and wires implemented with positive pressure, suction, and robotic/electric pool cleaners are visibly distracting and a nuisance to swimmers. Additionally, these swimming pool cleaners must often be removed from the pool between cleanings. Accordingly, there is a need for improvements in pool cleaning devices and systems that are capable of cleaning pool walls without requiring high installation costs and without having the nuisance of hoses or wires. 
     SUMMARY 
     The present disclosure relates to mobile nozzles and associated systems for cleaning pools and spas that dislodge settled debris from pool and spa floors and direct the debris to one or more outlets for removal and/or filtration. 
     According to one embodiment of the present disclosure, a mobile nozzle for expelling pressurized water toward a debris collection zone displaced from the mobile nozzle is provided. The mobile nozzle includes a body, a water intake configured to receive water, a discharge nozzle in fluidic communication with the water intake and configured to expel pressurized water, and a computer system including a memory and a processor. The processor is operable identify the debris collection zone, cause the mobile nozzle to move to a first location in a pool or spa, and cause the pressurized water to be expelled through the discharge nozzle toward the debris collection zone to cause debris to move away from the mobile nozzle and toward the debris collection zone when the mobile nozzle is positioned at the first location. 
     According to certain aspects of the present disclosure, the processor causes the mobile nozzle to move to a second location in the pool or spa and causes the pressurized water to be expelled through the discharge nozzle toward the debris collection zone to cause debris to move away from the mobile nozzle and toward the debris collection zone, when the mobile nozzle is positioned at the second location. According to further aspects, the processor is operable to communicate with a first beacon positioned at the first location, locate a position of the first beacon based on the communication with the first beacon, communicate with a second beacon positioned at the second location, and locate a position of the second beacon based on the communication with the second beacon. According to other aspects, the processor is operable to communicate with a beacon positioned at the debris collection zone, and locate the debris collection zone based on the communication with the beacon. 
     According to other aspects of the present disclosure, the discharge nozzle is positioned on a front of the body and is configured to expel the pressurized water in a generally forward and downward direction. In some aspects, the discharge nozzle can be adjustable and can be rotatable in a sweeping motion. In other aspects, the mobile nozzle is configured to rotate about a pivot point to cause the discharge nozzle to move in a sweeping motion. The mobile nozzle can also include a second discharge nozzle in fluidic communication with the water intake, the second discharge nozzle being configured to expel the pressurized water and cause locomotion of the mobile nozzle. 
     According to certain aspects of the present disclosure, the mobile nozzle includes a lift nozzle positioned at a bottom of the body that is configured to expel the pressurized water away from the bottom of the body. The mobile nozzle can also include a bottom skirt that extends about a perimeter of the body and defines a pressure chamber, the bottom skirt being configured to contain the pressurized water expelled by the lift nozzle within the pressure chamber to cause the mobile nozzle to lift. In some aspects, the mobile nozzle includes a plurality of wheels and in further aspects, the plurality of wheels are retractable. 
     According to other aspects of the present disclosure, the mobile nozzle includes a rechargeable battery and a first inductive power coupling, which includes an inductor circuit and is configured to inductively receive power from a second inductive power coupling and recharge the rechargeable battery when positioned proximate to the second inductive power coupling. The second inductive power coupling can include a charging housing. 
     According to aspects of the present disclosure, the mobile nozzle is configured to be housed within a niche located in one or more of a wall and a floor of the pool or spa and the mobile nizzle further includes a rechargeable battery configured to receive power from a power source of the niche. 
     According to other aspects of the present disclosure, the mobile nozzle includes a means for preventing motion of the mobile nozzle when expelling pressurized water through the discharge nozzle. 
     According to some aspects of the present disclosure, the mobile nozzle includes a pump in fluidic communication with the water intake and the discharge nozzle, which is configured to draw water in through the water intake and expel the water out from the discharge nozzle. In further aspects, the pump can be reversible and configured to draw water in through the discharge nozzle and expel the water out from the water intake. 
     According to aspects of the present disclosure, the processor of the mobile nozzle is operable to automatically determine an optimal position for the first location in the pool or spa. In some aspects, the processor is operable to identify the location of the debris collection zone based on user input. In other aspects, the processor is operable to receive a user defined map of the pool or spa, the user defined map including a position of the debris collection zone and a position of the first location. In further aspects, the processor is configured to receive an indication that a pump in fluidic communication with the debris collection zone is operational and causes pressurized water to be expelled through the discharge nozzle based on the indication. 
     According to other aspects of the present disclosure, the mobile nozzle includes a second discharge nozzle in fluidic communication with the water intake and the discharge nozzle and a valve in fluidic communication with the discharge nozzle, the second discharge nozzle, and the water intake. The valve can be configured to control the flow of water between the discharge nozzle, the second discharge nozzle, and the water intake. 
     According to another embodiment of the present disclosure a method of collecting debris in a debris collection zone using a mobile nozzle is provided. The method includes identifying the debris collection zone, causing the mobile nozzle to move to a first location in a pool or spa, the mobile nozzle comprising a body, a water intake configured to receive water, a discharge nozzle in fluidic communication with the water intake and configured to expel pressurized water, and a computer system including a memory and a processor, and expelling pressurized water through the discharge nozzle of the mobile nozzle toward the debris collection zone to cause debris to move away from the mobile nozzle and toward the debris collection zone when the mobile nozzle is positioned at the first location. 
     According to certain aspects of the present disclosure, the method includes moving to a second location in the pool or spa and expelling pressurized water through the discharge nozzle toward the debris collection zone to cause the debris to move away from the mobile nozzle and toward the debris collection zone when the mobile nozzle is positioned at the second location. In some aspects, the method includes communicating with a first beacon positioned at the first location, locating a position of the first beacon based on the communication with the first beacon, communicating with a second beacon positioned at the second location, and locating a position of the second beacon based on the communication with the second beacon. According to further aspects, the method includes communicating with a beacon positioned at the debris collection zone and locating the debris collection zone based on the communication with the beacon. In still further aspects, the step of identifying the debris collection zone is performed by the processor of the mobile nozzle. 
     According to other aspects of the present disclosure, the discharge nozzle is positioned on a front of the body and configured to expel pressurized water in a generally forward and downward direction. In some aspects, the discharge nozzle is adjustable. In further aspects, the method includes rotating the discharge nozzle in a sweeping motion while expelling pressurized water through the discharge nozzle. In other aspects, the method includes rotating the mobile nozzle about a pivot point to cause the discharge nozzle to move in a sweeping motion while expelling pressurized water through the discharge nozzle. 
     According to certain aspects of the present disclosure, the mobile nozzle includes a second discharge nozzle in fluidic communication with the water intake, and the step of causing the mobile nozzle to move to a first location in a pool or spa includes expelling pressurized water through the second discharge nozzle. In some aspects, the mobile nozzle includes a lift nozzle positioned at a bottom of the body and configured to expel pressurized water away from the bottom of the body and a bottom skirt extending about a perimeter of the body and defining a pressure chamber, the bottom skirt being configured to contain the pressurized water expelled by the lift nozzle within the pressure chamber to cause the mobile nozzle to lift. The mobile nozzle can also include a plurality of wheels and the plurality of wheels can be retractable. 
     According to another aspect of the present disclosure, the mobile nozzle includes a rechargeable battery and a first inductive power coupling including an inductor circuit, the first inductive power coupling being configured to inductively receive power from a second inductive power coupling and recharge the rechargeable battery when positioned proximate to the second inductive power coupling. In some aspects, the method includes moving the mobile nozzle toward the second inductive power coupling, positioning the first inductive power coupling proximate the second inductive power coupling, receiving by the first inductive power coupling power from the second inductive power coupling, and recharging the rechargeable battery with the power received by the first inductive power coupling. The second inductive power coupling can include a charging housing. 
     According to aspects of the present disclosure, the method includes positioning the mobile nozzle within a niche located in one or more of a wall and a floor of the pool or spa. In further aspects, the mobile nozzle receives power from a power source of the niche and the method includes recharging a rechargeable battery of the mobile nozzle with the power received by the mobile nozzle. 
     According to some aspects of the present disclosure, the mobile nozzle includes means for preventing motion of the mobile nozzle when expelling pressurized water through the discharge nozzle. 
     According to another aspect of the present disclosure, the mobile nozzle comprises a pump in fluidic communication with the water intake and the discharge nozzle, the pump being configured to draw water in through the water intake and expel the water out from the discharge nozzle. In some aspects, the pump is reversible and configured to draw water in through the discharge nozzle and expel the water out from the water intake. 
     According to some aspects of the present disclosure, the processor determines an optimal position for the first location in the pool or spa. In further aspects, the step of identifying the debris collection zone is performed based on user input. The method can also include receiving a user defined map of the pool or spa including a position of the debris collection zone and a position of the first location. 
     According to some aspects of the present disclosure, the method includes receiving an indication that a pump in fluidic communication with the debris collection zone is operational and controlling the mobile nozzle to expel the pressurized water through the discharge nozzle of the mobile nozzle, based on the indication received. 
     According to other aspects, the mobile nozzle includes a second discharge nozzle in fluidic communication with the water intake and the discharge nozzle and a valve in fluidic communication with the discharge nozzle, the second discharge nozzle, and water intake. The valve can be configured to control the flow of water between the discharge nozzle, the second discharge nozzle, and the water intake. 
     According to another embodiment of the present disclosure, mobile nozzle for agitating debris in a pool or a spa is provided. The mobile nozzle includes a body, a water intake configured to receive water, a discharge nozzle in fluidic communication with the water intake, the discharge nozzle configured to expel pressurized water, and a computer system including a memory and a processor. The processor is operable to identify a first agitation location in the pool or the spa, cause the mobile nozzle to move to the first agitation location, expel pressurized water through the discharge nozzle to agitate debris at the first agitation location, identify a second agitation location in the pool or the spa, cause the mobile nozzle to move to the second agitation location; and expel pressurized water through the discharge nozzle to agitate debris at the second agitation location. The processor can be further operable to cause the mobile nozzle to move in a navigation pattern, the navigation pattern including the first agitation location and the second agitation location. According to some aspects, the processor is further operable to communicate with a first beacon positioned at the first location, locate a position of the first beacon based on the communication with the first beacon, communicate with a second beacon positioned at the second location, and locate a position of the second beacon based on the communication with the second beacon. 
     According to other aspects of the present disclosure, the discharge nozzle is positioned on a front of the body and is configured to expel the pressurized water in a generally forward and downward direction. In some aspects, the discharge nozzle can be adjustable and can be rotatable in a sweeping motion. In other aspects, the mobile nozzle is configured to rotate about a pivot point to cause the discharge nozzle to move in a sweeping motion. In further aspects, the mobile nozzle is configured to rotate 360 degrees. The mobile nozzle can also include a second discharge nozzle in fluidic communication with the water intake, the second discharge nozzle being configured to expel the pressurized water and cause locomotion of the mobile nozzle. 
     According to certain aspects of the present disclosure, the mobile nozzle includes a lift nozzle positioned at a bottom of the body that is configured to expel the pressurized water away from the bottom of the body. The mobile nozzle can also include a bottom skirt that extends about a perimeter of the body and defines a pressure chamber, the bottom skirt being configured to contain the pressurized water expelled by the lift nozzle within the pressure chamber to cause the mobile nozzle to lift. In some aspects, the mobile nozzle includes a plurality of wheels and in further aspects, the plurality of wheels are retractable. 
     According to other aspects of the present disclosure, the mobile nozzle includes a rechargeable battery and a first inductive power coupling, which includes an inductor circuit and is configured to inductively receive power from a second inductive power coupling and recharge the rechargeable battery when positioned proximate to the second inductive power coupling. The second inductive power coupling can include a charging housing. 
     According to aspects of the present disclosure, the mobile nozzle is configured to be housed within a niche located in one or more of a wall and a floor of the pool or spa and the mobile nizzle further includes a rechargeable battery configured to receive power from a power source of the niche. 
     According to other aspects of the present disclosure, the mobile nozzle includes a means for preventing motion of the mobile nozzle when expelling pressurized water through the discharge nozzle. 
     According to some aspects of the present disclosure, the mobile nozzle includes a pump in fluidic communication with the water intake and the discharge nozzle, which is configured to draw water in through the water intake and expel the water out from the discharge nozzle. In further aspects, the pump can be reversible and configured to draw water in through the discharge nozzle and expel the water out from the water intake. 
     According to certain aspects of the present disclosure, the processor is operable to automatically determine an optimal position for the first agitation location and the second agitation location in the pool or spa. In other aspects, the processor is operable to receive a user defined map of the pool or spa, which can include a position of the first agitation location and a position of the second agitation location. According to further aspects, the processor is configured to receive an indication that a pump in fluidic communication with a pool or spa skimmer is operational, and causes pressurized water to be expelled through the discharge nozzle based on the indication. 
     According to other aspects of the present disclosure, the mobile nozzle includes a second discharge nozzle in fluidic communication with the water intake and the discharge nozzle and a valve in fluidic communication with the discharge nozzle, the second discharge nozzle, and the water intake. The valve can be configured to control the flow of water between the discharge nozzle, the second discharge nozzle, and the water intake. 
     According to another embodiment of the present disclosure, a method of agitating debris in a pool or spa using a mobile nozzle is provided. The method includes identifying a first agitation location in the pool or spa, causing the mobile nozzle to move to the first agitation location, the mobile nozzle comprising a body, a water intake configured to receive water, a discharge nozzle in fluidic communication with the water intake and configured to expel pressurized water, and a computer system including a memory and a processor, expelling pressurized water through the discharge nozzle of the mobile nozzle to agitate debris at the first agitation location, identifying a second agitation location in the pool or spa, causing the mobile nozzle to move to the second agitation location, and expelling pressurized water through the discharge nozzle of the mobile nozzle to agitate debris at the second agitation location. 
     According to certain aspects of the present disclosure, the first agitation location and the second agitation location are a portion of a navigation pattern. In some aspects, the method includes communicating with a first beacon positioned at the first agitation location, locating a position of the first beacon based on the communication with the first beacon, communicating with a second beacon positioned at the second agitation location, and locating a position of the second beacon based on the communication with the second beacon. 
     According to other aspects of the present disclosure, the discharge nozzle is positioned on a front of the body and configured to expel pressurized water in a generally forward and downward direction. In some aspects, the discharge nozzle is adjustable. In further aspects, the method includes rotating the discharge nozzle in a sweeping motion while expelling pressurized water through the discharge nozzle. In other aspects, the method includes rotating the mobile nozzle about a pivot point to cause the discharge nozzle to move in a sweeping motion while expelling pressurized water through the discharge nozzle. in further aspects, the mobile nozzle can be rotated 360 degrees. 
     According to certain aspects of the present disclosure, the mobile nozzle includes a second discharge nozzle in fluidic communication with the water intake, and the step of causing the mobile nozzle to move to a first location in a pool or spa includes expelling pressurized water through the second discharge nozzle. In some aspects, the mobile nozzle includes a lift nozzle positioned at a bottom of the body and configured to expel pressurized water away from the bottom of the body and a bottom skirt extending about a perimeter of the body and defining a pressure chamber, the bottom skirt being configured to contain the pressurized water expelled by the lift nozzle within the pressure chamber to cause the mobile nozzle to lift. The mobile nozzle can also include a plurality of wheels and the plurality of wheels can be retractable. 
     According to another aspect of the present disclosure, the mobile nozzle includes a rechargeable battery and a first inductive power coupling including an inductor circuit, the first inductive power coupling being configured to inductively receive power from a second inductive power coupling and recharge the rechargeable battery when positioned proximate to the second inductive power coupling. In some aspects, the method includes moving the mobile nozzle toward the second inductive power coupling, positioning the first inductive power coupling proximate the second inductive power coupling, receiving by the first inductive power coupling power from the second inductive power coupling, and recharging the rechargeable battery with the power received by the first inductive power coupling. The second inductive power coupling can include a charging housing. 
     According to aspects of the present disclosure, the method includes positioning the mobile nozzle within a niche located in one or more of a wall and a floor of the pool or spa. In further aspects, the mobile nozzle receives power from a power source of the niche and the method includes recharging a rechargeable battery of the mobile nozzle with the power received by the mobile nozzle. 
     According to some aspects of the present disclosure, the mobile nozzle includes means for preventing motion of the mobile nozzle when expelling pressurized water through the discharge nozzle. 
     According to another aspect of the present disclosure, the mobile nozzle comprises a pump in fluidic communication with the water intake and the discharge nozzle, the pump being configured to draw water in through the water intake and expel the water out from the discharge nozzle. In some aspects, the pump is reversible and configured to draw water in through the discharge nozzle and expel the water out from the water intake. 
     According to some aspects of the present disclosure, the processor determines an optimal position for the first agitation location and the second agitation location in the pool or spa. In further aspects, identifying the first agitation location and identifying the second agitation location are performed by the processor based on user input. The method can also include receiving a user defined map of the pool or spa including a position of the first agitation location and a position of the second agitation location. 
     According to some aspects of the present disclosure, the method includes receiving an indication that a pump in fluidic communication with a pool or spa skimmer is operational, and expelling pressurized water through the discharge nozzle of the mobile nozzle, based on the indication received. 
     According to other aspects, the mobile nozzle includes a second discharge nozzle in fluidic communication with the water intake and the discharge nozzle and a valve in fluidic communication with the discharge nozzle, the second discharge nozzle, and water intake. The valve can be configured to control the flow of water between the discharge nozzle, the second discharge nozzle, and the water intake. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing features of the present disclosure will be apparent from the following Detailed Description of the Invention, taken in connection with the accompanying drawings, in which: 
         FIG. 1  is a schematic representation depicting the overall operation of a mobile pool or spa cleaning nozzle, hereinafter referred to as a mobile nozzle, according to the present disclosure; 
         FIG. 2A  is a schematic block diagram illustrating components of the mobile nozzle of  FIG. 1 ; 
         FIG. 2B  is a schematic block diagram illustrating components of another mobile nozzle of the present disclosure; 
         FIG. 2C  is a top view of the mobile nozzle of  FIG. 2B ; 
         FIG. 2D  is a schematic block diagram illustrating components of another mobile nozzle of the present disclosure; 
         FIG. 2E  is a schematic block diagram illustrating components of another mobile nozzle of the present disclosure; 
         FIG. 3  is a block diagram illustrating components of a communication and control system of the mobile nozzle of  FIG. 1 ; 
         FIG. 4A  is a diagram illustrating the mobile nozzle of  FIG. 1  positioned within a floor niche of a pool or spa; 
         FIG. 4B  is a diagram illustrating the mobile nozzle of  FIG. 1  exiting the floor niche of  FIG. 4A ; 
         FIG. 4C  is a diagram illustrating another mobile nozzle of the present disclosure positioned within a wall niche of a pool or spa; 
         FIG. 5  is a diagram illustrating exemplary features of a pool or spa in connection with the mobile nozzle cleaning system of the present disclosure; 
         FIG. 6  is a diagram illustrating a cleaning cycle of the mobile nozzle cleaning system for the pool or spa of  FIG. 5 ; 
         FIG. 7A  is a diagram showing the mobile nozzle cleaning system in a first position of the cleaning cycle of  FIG. 6 ; 
         FIG. 7B  is a diagram showing the mobile nozzle cleaning system in another position of the cleaning cycle of  FIG. 6 ; 
         FIG. 7C  is a diagram showing the mobile nozzle cleaning system in yet another position of the cleaning cycle of  FIG. 6 ; 
         FIG. 8  is a diagram illustrating exemplary features of another pool or spa in connection with another mobile nozzle cleaning system of the present disclosure; 
         FIG. 9  is a diagram illustrating a cleaning cycle of the mobile nozzle cleaning system for the pool or spa of  FIG. 8 ; 
         FIG. 10A  is a diagram showing the mobile nozzle cleaning system in a first position of the cleaning cycle of  FIG. 9 ; 
         FIG. 10B  is a diagram showing the mobile nozzle cleaning system in another position of the cleaning cycle of  FIG. 9 ; 
         FIG. 10C  is a diagram showing the mobile nozzle cleaning system in yet another position of the cleaning cycle of  FIG. 9 ; 
         FIG. 11A  is a diagram of another mobile nozzle of the present disclosure, including a system for preventing movement thereof and positioned in a first configuration; 
         FIG. 11B  is a diagram of the mobile nozzle of  FIG. 11A , positioned in a second configuration; and 
         FIG. 11C  is a diagram of the mobile nozzle of  FIG. 11A , including another system for preventing movement thereof. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure relates to mobile nozzle cleaning systems for pools and spas that dislodge debris from the floors and walls thereof, and direct the dislodged debris to one or more outlets for filtration and/or removal therefrom, as described in detail below in connection with  FIGS. 1-11C . 
     With initial reference to  FIG. 1 , a mobile pool or spa cleaning nozzle device (hereinafter “mobile nozzle”)  10  is provided to dislodge debris from a floor  132 , walls  133 , and other surfaces of a swimming pool or spa  50 . The mobile nozzle  10  includes a water-tight body  12  that is adapted for submersion in the pool or spa  50  and houses one or more of a pump  14 , a nozzle  32 , a propulsion system  16 , wheels  44   a - d , a navigation system  18 , one or more sensors  20 , a nozzle control system  22 , a buoyancy system  24 , a brush system  25 , one or more light sources  26 , and a communication and control system  28 . Additional aspects of the foregoing systems and/or components of the mobile nozzle  10  are discussed in greater detail herein. 
       FIG. 2A  is a schematic diagram illustrating hardware and software components of the mobile nozzle  10  in greater detail. As shown, the pump  14  is adapted for drawing water into the mobile nozzle  10  and expelling a stream of pressurized water from the nozzle  32  thereof. The propulsion system  16  can include one or more motive systems, such as wheels  44   a - d , that enable the mobile nozzle  10  to move about the pool or spa  50 . The navigation system  18  is configured to receive and process information from one or more sensors  20  and transmit navigational commands to the propulsion system  16 . The nozzle control system  22  is configured to control the orientation of the nozzle  32 . The buoyancy system  24  is provided for monitoring and altering the buoyancy of the mobile nozzle  10 . The brush system  25  includes a brush and can include means for actuating said brush to “scrub” the floor  132  and/or walls  133  of the pool or spa  50  as the mobile nozzle  10  travels therealong. The one or more light sources  26  are provided for illuminating the pool or spa  50  and allow the mobile nozzle  10  to function as a submerged mobile lighting system that is viewable by a user or swimmer. The communication and control system  28  can be configured to provide communication between, and control of, one or more of the foregoing systems and one or more remote devices or computer systems. The power system  30  is configured to provide electrical energy to one or more of the foregoing systems and/or components. The pump  14 , the propulsion system  16 , the navigation system  18 , the sensors  20 , the nozzle control system  22 , the buoyancy system  24 , the light sources  26 , and/or the power system  30  can be communicatively coupled to the communication and control system  28  and can therefore communicate with each other. Additional aspects of the foregoing systems and/or components of the mobile nozzle  10  are discussed in greater detail herein. It is also noted that or more of the foregoing systems and/or components may not be located within the body  12 , but can be positioned on the exterior of the body  12 , or can extend from an interior of the body  12  to an exterior thereof, such as the wheels  44   a - d  of the propulsion system  16 . 
     The nozzle  32  can be positioned on an underside of a bottom wall  34  of the mobile nozzle  10  and is in fluid communication with the pump  14 . The pump  14  can include a motor  36  configured to rotatably drive an impeller  38 , which, when rotatably driven, draws water from the pool or spa  50  into an inlet  40  positioned on a sidewall  54  of the body  12 , through a water supply conduit  42 , into the pump  14 , and expels the water through the nozzle  32  as a pressurized stream of water  70  that dislodges debris that has settled on the pool or spa  50  floor (e.g., floor  132  described in connection with  FIGS. 4A and 4B ). Alternatively, the nozzle  32 , or one or more additional nozzles, can be positioned on other sidewalls  54  of the body  12 , such as for example, a front wall  55  (see  FIG. 2B ). Similarly, the inlet  40  could be positioned on other walls of the body  12 , such as for example, on a bottom wall  34  (see  FIG. 2C ), or elsewhere. 
     The motor  36  can also be configured to rotatably drive the impeller  38  in a reverse direction in order to expel any debris (e.g., leaves or other pool/spa debris) that has been drawn into the inlet  40 , which would otherwise hinder performance of the mobile nozzle  10  if not removed. For example, when the motor drives the impeller  38  in a reverse direction, water is drawn from the pool or spa  50  through the nozzle  32 , into the pump  14 , through the water supply conduit  42 , and expelled through the inlet  40 , along with debris that may have been lodged within the mobile nozzle  10 . The mobile nozzle  10  can reverse the direction of the motor  36  periodically (e.g., per a predetermined maintenance schedule) or upon detecting a blockage due to debris (e.g., by detecting that the motor  36  is drawing increased current, indicating a blockage). 
     The nozzle  32  can be fixed in a single orientation and/or direction relative to the body  12 . Alternatively, the nozzle  32  can be rotatable and/or pivotable between one more different orientations and/or directions relative to the body  12 . For example, the nozzle  32  can be fixed in a substantially vertical orientation (such as the vertical orientation shown in  FIG. 2A ) such that it expels the pressurized stream of water directly toward and normal to the floor  132  of the pool or spa  50  to dislodge and/or agitate debris that has settled thereon, or the nozzle  32  can be fixed in a substantially horizontal orientation (such as the horizontal orientation shown in  FIGS. 11A and 11B ) such that it expels the pressurized stream of water generally parallel with the floor  132  of the pool or spa  50  to dislodge the debris from the floor  132  and “push” the debris toward a desired location, such as a drain or collection zone, as will be discussed in greater detail herein in connection with  FIGS. 5-10C . Alternatively, the nozzle  32  can be rotatable and/or pivotable, or otherwise movable, between the vertical and horizontal positions described above. However, it should also be understood that the nozzle  32  can be movable to a plurality of orientations relative to the body  12  other than the above described vertical and horizontal positions, allowing the mobile nozzle  10  to agitate or push debris in a plurality of directions while remaining stationary. 
     For example, as shown in  FIG. 2A , the nozzle  32  can be fluidly coupled to the pump  14  by way of a spherical, or other infinitely variable, fitting  46  and can be pivoted in the direction of arrows A and rotated in the direction of arrows B, thereby providing for adjustment of the nozzle  32  in a plurality of orientations with respect to the bottom wall  34  of the body  12 . As but one example, the nozzle  32  can perform a sweeping motion as it rotates back and forth in the direction of arrows B. The fitting  46  can also be coupled to the nozzle control system  22 , which can include mechanical and/or electrical means for selectively altering the orientation of the nozzle  32 , such as one or more motors, gearing, positional sensors, and the like. Those of ordinary skill in the art will understand that additional means for selectively controlling and/or altering the orientation of the nozzle  32  can be employed without departing from the spirit and scope of the present disclosure. 
     The propulsion system  16  includes one or more motive systems that move the mobile nozzle  10  about the pool or spa  50 . For example, as shown in  FIG. 2A , the mobile nozzle  10  can include wheels  44   a - d  that are driven and controlled by the propulsion system  16 , which can include a motor, gearing, etc. In this exemplary configuration, the propulsion system  16  can cause two or more of the wheels to move in the same direction and speed in order to move in a linear (e.g., forward or reverse) direction. Similarly, the propulsion system  16  can cause two or more of the wheels to move in different directions and/or speeds in order to cause the mobile nozzle  10  to change orientation (e.g., turn or pivot). Those of ordinary skill in the art will understand that the wheels  44   a - d  are but one example of a motive system that can be implemented to move the mobile nozzle  10  about the pool or spa  50 , and other motive systems can be employed without departing from the spirit and scope of the present disclosure, such as one or more continuous treads, or propulsion by way of a pressurized stream of water, discussed in connection with  FIG. 2B . 
     The navigation system  18 , in combination with the propulsion system  16  and the one or more sensors  20 , can control movement of the mobile nozzle  10  about the pool or spa  50 . For example, the navigation system  18  can receive information from the one or more sensors  20 , process the sensor information to determine a current and/or desired orientation and position, and can transmit an instruction to the propulsion system  16  (e.g., change orientation x degrees, move forward y feet, etc.), which carries out the instruction to arrive at the desired orientation and position. The sensors  20  can include one or more optical sensors, proximity sensors, RFID sensors, acoustic (e.g., sonar) sensors, inductive loop sensors, and the like. In the case of acoustic sensors, frequencies in the range of 3-300 Hz are ideally suited for underwater communication, but it should be understood that frequencies exceeding 300 Hz can also be used. According to some embodiments of the present disclosure, one or more navigational beacons can positioned in the pool or spa. Accordingly, the sensors  20  can include one or more devices capable of detecting and/or communicating with the beacons, which the navigation system  18  can communicate with in determining a desired orientation and position for the mobile nozzle  10 . According to further embodiments of the present disclosure, the navigation system  18  can also include, and/or be in communication with one or more vision systems and/or sensors capable of identifying debris within the pool or spa  50 , such that the mobile nozzle  10  can identify the location of debris and travel thereto. Additional aspects of the navigation system  18  are discussed in greater detail herein. 
     As referenced above, the power system  30  is configured to provide electrical energy to one or more of the systems and/or components of the mobile nozzle  10  and can include one or more of a rechargeable battery, capacitor, or other replenishable energy storage device  48  (hereinafter “battery  48 ”) and can be adapted to receive energy from an inductive power coupling  52 . In this regard, the inductive power coupling  52  can be configured to inductively receive electrical power from a corresponding inductive power coupling  136  that is connected to and receives power from a power source  140  (see  FIGS. 4A and 4B ), thereby enabling the mobile nozzle  10  to traverse the pool or spa  50  without being tethered to an external power source. The coupling  52  includes a water-tight housing  56  containing an inductor circuit which allows for the inductive reception of electrical power. The housing  56  could be made of a plastic material such as polyvinyl chloride (PVC) or any other sturdy waterproof material that does not interfere with electrical field transmission, and which is an electrical insulator. It should be understood that other materials could be utilized in constructing the housing  56 . As shown in  FIG. 2A , one or more inductive couplings  52  can be disposed through one or more sidewalls  54 , or other surfaces, of the mobile nozzle  10  and can be sealingly attached thereto, so as to maintain the water-tight integrity of the body  12 . Additionally and/or alternatively, the one or more inductive couplings  52  can be positioned on other sidewalls  54  of the body  12 , such as for example, the bottom wall  34 . Additional aspects of the power system  30 , with specific regard to features of the inductive power coupling, are discussed in greater detail in connection with  FIGS. 4A and 4B . Alternatively or in addition to the battery  48  and the inductive power coupling  52 , the power system  30  can be directly coupled to, and receive power from the power source  140  by way of a cord, cable, power conduit, or other means for conducting electrical energy. 
     According to embodiments of the present disclosure, the power system  30  can provide electrical energy to one or more of the systems and/or components of the mobile nozzle  10  via the communication and control system  28  or the power system  30  can provide electrical energy to one or more of the systems and/or components of the mobile nozzle  10  via a direct connection thereto. For example, the power system  30  can provide power to low-power systems, such as one or more of the sensors  20 , via the communication and control system  28 , and the power system  30  can provide power to one or more high-power systems, such as the motor  36 , via a direct electrical connection thereto. 
       FIGS. 2B and 2C  are schematic diagrams illustrating hardware and software components of another mobile nozzle  10   a  of the present disclosure. Specifically,  FIG. 2B  is a partial cross-sectional diagram of the mobile nozzle  10   a  and  FIG. 2C  is a top view of the mobile nozzle  10   a . The mobile nozzle  10   a  can be substantially similar in construction to the mobile nozzle  10  described in connection with  FIGS. 1 and 2A . Accordingly, the mobile nozzle  10   a  can include one or more of the pump  14 , nozzle  32 , propulsion system  16 , wheels  44   a - d , navigation system  18 , sensors  20 , nozzle control system  22 , buoyancy system  24 , brush system  25 , light sources  26 , communication and control system  28 , and power system  30 , as shown and described in connection with mobile nozzle  10  and  FIG. 2A . The mobile nozzle  10   a  can also include a second nozzle  32   a  (e.g., in addition to, or in place of, the nozzle  32 ). Similar to the operation of nozzle  32 , the pump  14  can include the motor  36  configured to rotatably drive the impeller  38 , which, when rotatably driven, draws water from the pool or spa  50  into the inlet  40 , through water supply conduit  42 , into the pump  14 , and through a water conduit  42   a , and expels the water through the nozzle  32   a  as a pressurized stream of water  70   a.    
     As shown in  FIG. 2B , the nozzle  32   a  can be fluidly coupled to the pump  14  by way of a spherical, or other infinitely variable, fitting  46   a  and can be pivoted in the direction of arrows G, rotated in the direction of arrows H, and swept in the direction of arrow I (see  FIG. 2C ), thereby providing for adjustment of the nozzle  32   a  in a plurality of orientations with respect to the front wall  55   a  of the mobile nozzle  10   a . As one example, the nozzle  32   a  can perform a sweeping motion back and forth in the direction of arrow I as it pivots back and forth in the direction of arrows G in order to dislodge debris from the floor  132  and/or walls  133  of the pool or spa  50 . According to aspects of the present disclosure, one or more of the nozzles  30 ,  32   a  can supplement, or act as, the propulsion system  16  of the mobile nozzle  10   a , in addition to directing a stream of water to dislodge debris from the floor  132  and/or walls  133  of the pool or spa  50 . In such a configuration, the wheels  44   a - d  can be retracted into the mobile nozzle  10   a , or the mobile nozzle  10   a  can be provided without the wheels  44   a - d . For example, nozzle  32   a  can be controlled to be positioned toward the floor  132  of the pool or spa  50  to dislodge debris therefrom and then positioned to provide propulsion (e.g., generally horizontally) and directional control (e.g., by rotation in the direction of arrow I) for the mobile nozzle  10   a . Additionally, the nozzle  32  can provide lift and/or supplemental propulsion. Furthermore, the mobile nozzle  10   a  can also include controllable valves  65   a - c  to selectively control the flow of water through the inlet  40 , nozzle  32 , and nozzle  32   a . Accordingly, the mobile nozzle  10   a  can optimize lift, buoyancy, propulsion, and cleaning performance by selectively controlling the flow of water through the inlet  40 , nozzle  32 , and nozzle  32   a  by way of the valves  65   a - c.    
     According to further embodiments of the present disclosure, the mobile nozzle  10   a  can include a skirt  72  configured to assist with providing lift to the mobile nozzle  10   a  while the mobile nozzle  10   a  traverses the pool or spa  50 , and/or to anchor the mobile nozzle  10   a  to the floor  132  of the pool or spa  50  during cleaning. For example, as shown in  FIGS. 2B and 2C , the skirt  72  can be disposed around a lower portion of the body  12  of the mobile nozzle  10   a  and extend to the floor  132  of the pool or spa  5 . The skirt  72  defines a central plenum  74 , such that as the stream of water  70  is expelled from the nozzle  32  it is distributed within the central plenum  74 . This configuration creates a higher pressure region within the central plenum  74  compared to the water surrounding the mobile nozzle  10   a , with pressurized water only capable of escaping at the interface of the skirt  72  and the floor  132 . Accordingly, as the water escapes from the skirt  72 , the mobile nozzle  10   a  is lifted and can “hover” just above the floor  132 . Alternatively, the mobile nozzle  10   a  can create a negative pressure within the central plenum  74  by drawing water through the nozzle  32 . For example, the mobile nozzle  10   a  can reverse operation of the motor  14  and/or close valve  65   a  in communication with the inlet  40 , thereby creating a negative pressure within the central plenum and generating a suction effect. The valve  65   c  can remain open, thereby allowing the mobile nozzle  10   a  to be securely anchored to the floor  132  while the nozzle  32   a  remains operational to perform a cleaning operation. After completing the cleaning operation, the mobile nozzle  10   a  can reverse the direction of the motor and/or actuate one or more of the valves  65   a - c  to release the mobile nozzle  10   a  from the floor  132 , and the mobile nozzle can then move to another location. 
       FIG. 2D  is a schematic diagram illustrating hardware and software components of another mobile nozzle  10   b  of the present disclosure. The mobile nozzle  10   b  can be substantially similar in construction to the mobile nozzle  10  described in connection with  FIGS. 1 and 2A . Accordingly, the mobile nozzle  10   b  can include one or more of the pump  14 , propulsion system  16 , wheels  44   a - d , navigation system  18 , sensors  20 , nozzle control system  22 , buoyancy system  24 , brush system  25 , light sources  26 , communication and control system  28 , and power system  30 , as shown and described in connection with mobile nozzle  10  and  FIG. 2A . The mobile nozzle  10   b  can also include a nozzle  32   b  in fluidic communication with the motor  14  by way of a water conduit  42   b . Similar to the operation of nozzle  32 , described in connection with  FIG. 2A , the pump  14  can include the motor  36  configured to rotatably drive the impeller  38 , which, when rotatably driven, draws water from the pool or spa  50  into the inlet  40 , through water supply conduit  42 , into the pump  14 , and through the water conduit  42   b , and expels the water through the nozzle  32   b  as a pressurized stream of water  70   b.    
     The mobile nozzle  10   b  can also reverse the direction of the motor  36 , thereby drawing water through the nozzle  32   b , into the pump  14 , and out through the inlet  40 , thereby providing lift and allowing the mobile nozzle  10   b  to exit a niche (e.g., niche  130 , shown and described in connection with  FIGS. 4A and 4B ) in the floor  132  of the pool or spa  50 , ascend within the pool or spa  50 , and/or move between stairs of the pool or spa  50 . For example, if the batteries of mobile nozzle  10   b  are nearly drained (e.g., below a predetermined threshold) and recharging is not possible, the mobile nozzle  10   b  can ascend to the surface of the pool and draw air therein, such that the mobile nozzle  10   b  remains buoyant and floats at the water surface allowing it to be easily retrieved. Alternatively, as described herein, the mobile nozzle  10   b  can ascend to the surface of the pool or spa  50  when instructed by a user. 
     The nozzle  32   b  can be fluidly coupled to the pump  14  by way of a spherical, or other infinitely variable, fitting  46   b  and can be pivoted in the direction of arrows J, rotated in the direction of arrows K, and swept in the direction, for example, of arrow I (see  FIG. 2C ), thereby providing for adjustment of the nozzle  32   b  in a plurality of orientations with respect to a top wall  55   b  of the mobile nozzle  10   b . As one example, the nozzle  32   b  can perform a sweeping motion back and forth in the direction of arrow I as it pivots back and forth in the direction of arrows J in order to agitate debris within the pool or spa  50  for eventual removal, or direct debris suspended in the pool water toward a skimmer. 
       FIG. 2E  is a schematic diagram illustrating hardware and software components of another mobile nozzle  10   c  of the present disclosure. The mobile nozzle  10   c  can be substantially similar in construction to the mobile nozzle  10   a  described in connection with  FIGS. 2B and 2C . For example, the mobile nozzle  10   c  can include one or more of the nozzles  32 ,  32   a , water inlet  40 , propulsion system  16 , wheels  44   a - d , navigation system  18 , sensors  20 , nozzle control system  22 , buoyancy system  24 , brush system  25 , light sources  26 , communication and control system  28 , power system  30 , and skirt  72  as shown and described in connection with mobile nozzle  10   a  of  FIGS. 2B and 2C . The mobile nozzle  10   c  can also include a pump assembly  14   a , a water distribution manifold  15 , and a plurality of water supply conduits  42   a - d  which fluidly couple the water inlet  40 , the buoyancy system  24 , and nozzles  32 ,  32   a  to the water distribution manifold  15 . The water distribution manifold  15  is can also be fluidly coupled to the inlet and/or outlet of the pump assembly  14   a  and can be communicatively coupled to one or more systems (e.g., communication and control system  28 ) of the mobile nozzle  10   c . Additionally, the water distribution manifold  15  can include a plurality of valves (not shown) that can be selectively controlled (e.g., by way of communication and control system  28 ) to direct water through the inlet of the pump assembly  14   a  from one or more of the water supply conduits  42   a - d . Likewise, the water distribution manifold  15  can be selectively controlled to direct water from the outlet of the pump assembly  14   a  through another of the one or more water supply conduits  42   a - d . According to some embodiments of the present disclosure, a first water distribution manifold  15  could be coupled to the inlet of the pump assembly  14   a  and/or a second water distribution manifold  15  could be coupled to the outlet of the pump assembly. According to further embodiments, the first and second water distribution manifolds  15  could also be fluidly coupled, such that water can be directed therebetween without passing through the pump assembly  14   a.    
     The pump assembly  14   a  can include a motor (not shown) configured to rotatably drive an impeller  38   a , which, when rotatably driven, can draw water from the pool or spa  50  through one or more of the inlet  40  and nozzles  32 ,  32   a , through one or more of the water supply conduits  42   a - d , through the water distribution manifold  15 , into the pump  14 , out through the water distribution manifold  15  and one or more of the water supply conduits  42   a - d , and expels the water through one or more of the nozzles  32 ,  32   a  and inlet  40  as a pressurized stream of water (e.g., water streams  70 ,  70   a ,  70   b ). Accordingly, the mobile nozzle  10   c  can selectively draw water through one or more of the inlet  40  and nozzles  32 ,  32   a  and expel the water through one or more of the nozzles  32 ,  32   a  and inlet  40 , without requiring that the rotational direction of the motor be reversed. 
     As shown in  FIG. 2E , the nozzles  32 ,  32   a  can be fluidly coupled to the pump assembly  14   a  by way of spherical, or other infinitely variable, fittings  46 ,  46   a , thereby providing for adjustment of the nozzles  32 ,  32   a  in a plurality of orientations with respect to the mobile nozzle  10   c . As one example, the nozzle  32   a  can perform a sweeping motion and pivot back and forth in order to dislodge debris from the floor  132  and/or walls  133  of the pool or spa  50 . According to aspects of the present disclosure, one or more of the nozzles  30 ,  32   a  can supplement, or act as, the propulsion system  16  of the mobile nozzle  10   a , in addition to directing a stream of water to dislodge debris from the floor  132  and/or walls  133  of the pool or spa  50 . For example, nozzle  32   a  can be controlled to be positioned toward the floor  132  of the pool or spa  50  to dislodge debris therefrom and then positioned to provide propulsion (e.g., generally horizontally) and directional control for the mobile nozzle  10   a . Additionally, the nozzle  32  can provide lift, suction, and/or supplemental propulsion. 
     As similarly discussed in connection with the mobile nozzle  10   a , the skirt  72  can be configured to assist with providing lift to the mobile nozzle  10   c  while the mobile nozzle  10   c  traverses the pool or spa  50 , and/or to anchor the mobile nozzle  10   c  to the floor  132  of the pool or spa  50  during cleaning. For example, the mobile nozzle  10   c  can create a high pressure region within the skirt  72  by directing the stream of water  70  out through the nozzle  32 , allowing the mobile nozzle  10   c  to be lifted and “hover” just above the floor  132  and, conversely, can create a negative pressure region within the skirt  72  by drawing water through the nozzle  32 , thereby generating a suction force that anchors the mobile nozzle  10   c  to the floor  132 . 
     As described, the water distribution manifold  15  of the mobile nozzle  10   c  can include controllable valves to selectively control the flow of water through the inlet  40 , nozzle  32 , and nozzle  32   a . Accordingly, the mobile nozzle  10   a  can optimize lift, buoyancy, propulsion, and cleaning performance by selectively controlling the flow of water through the inlet  40 , nozzle  32 , and nozzle  32   a  by way of water distribution manifold  15 . For example, the mobile nozzle  10   a  can control the water distribution manifold  15  to prevent the flow of water through the inlet  40 , draw water through nozzle  32 , and expel the water through nozzle  32   a , thereby maximizing the negative pressure within the skirt  72  and securely anchoring the mobile nozzle  10   c  to the floor  132 , while also maximizing the flow of water through nozzle  32   a  to perform a cleaning operation. After completing the cleaning operation, the mobile nozzle  10   c  can control the water distribution manifold  15  to allow the flow of water through the inlet  40  and expel water through nozzle  32  and through nozzle  32   a , thereby releasing the mobile nozzle  10   c  from the floor  132 , providing lift via nozzle  32 , and providing propulsion and/or directional control via nozzle  32   a.    
       FIG. 3  is a block diagram illustrating components of the communication and control system  28  of the monitoring device  12  of  FIG. 2A  in greater detail. It should also be understood by those of ordinary skill in the art that, according to some embodiments or the present disclosure, the communication and control system  28  can include or embody features of one or more of the propulsion system  16 , the navigation system  18 , the sensors  20 , the nozzle control system  22 , the buoyancy system  24 , the light sources  26 , and the power system  30 . 
     A power supply  80  provides the communication and control system  28  with power and can also provide power to one or more components and/or systems electrically coupled to the communication and control system  28 . For example, the power supply  80  can be in electrical communication with, and receive power from, the power system  30 , discussed in connection with  FIG. 2A . According to some embodiments of the present disclosure, the power supply  80  can also can include a lithium ion battery, a capacitor, or other form of replenishable/rechargeable energy storage device known to those of ordinary skill in the art. According to some embodiments, the power supply  80  could have ON/OFF capability such that the communication and control system  28  could be powered ON when necessary and turned OFF when not in use to prolong battery life. 
     A processor  86  provides local processing capability for the communication and control system  28 . The processor  86  is in communication with a random access memory  84 , and one or more non-volatile memories  88 . The non-volatile memory  88  could store one or more local programs  90  for providing local control of the communication and control system  28  and other systems in communication therewith. The control programs  90  can be, for example, polling schedules for the one or more sensors  20 , or cleaning schedules, as described in connection with  FIGS. 5-10C . A TCP/IP stack  82  is provided for allowing the communication and control system  28  to obtain an Internet protocol address, and to provide Internet connectivity and/or other remote communication for the mobile nozzle  10 . The processor  86  could communicate with a wired communication subsystem  92 , a wireless communication subsystem  94  and a sensor interface subsystem  98  by way of a bus  96 . 
     As shown, the communication and control system  28  can provide for a wide variety of wired and wireless connections to the mobile nozzle  10 . For example, the wired communication subsystem  92  can communicate with an Ethernet transceiver  100  and a serial transceiver  102 . The serial transceiver  102  could support one or more suitable serial communication protocols, such as RS-485, RS-232, USB, etc., and can be utilized for communication with one or more of the internal systems (e.g., the propulsion system  16 , the navigation system  18 , the nozzle control system  22 , the buoyancy system  24 , the power system  30 , etc.) of the mobile nozzle  10  and for communication with an external device, such as a computer or mobile device, employed for programming and/or configuration of the mobile nozzle  10 . The wireless communication subsystem  94  could include a Wi-Fi transceiver  104 , a Bluetooth (or Bluetooth LE) transceiver  106 , a cellular data transceiver  108 , a satellite transceiver  110 , an infrared transceiver  112 , and a radiofrequency/RF mesh transceiver  114 . The cellular data transceiver  108  could support one or more cellular data communications protocols, such as 4G, LTE, 5G, etc. The radiofrequency/RF mesh transceiver  114  could support one or more RF mesh network protocols, such as ZWave, Zigbee, Thread, Weave, etc. Accordingly, the mobile nozzle  10  could connect to a mobile device and/or a remote server or “cloud” platform via the communication and control system  28  to allow for remote and/or web-based control thereof. For example, the mobile nozzle  10  could communicate with a user&#39;s mobile device, such that the user could program a cleaning schedule, remotely and manually control operation of the mobile nozzle  10 , and designate a point in the pool or spa  50  where the mobile nozzle  10  can surface for servicing, should any be required. The radiofrequency/RF mesh transceiver  114  could also communicate with one or more navigational beacons or secondary mobile nozzles, as described herein. 
     The sensor interface subsystem  98  could include an analog connection interface  116 , a digital connection interface  118 , and one or more analog-to-digital converters  120 . The sensor interface subsystem  98  allows the communication and control system  28  to obtain information from the one or more sensors  20  discussed herein, as well as a wide variety of other sensors that can be associated with the mobile nozzle  10 . In this regard, it should be understood that the other types of sensors are contemplated for integration and/or use with the mobile nozzle  10 . The wired communication subsystem  92  and/or the wireless communication subsystem  94  allow the communication and control system  28  to connect to a network (e.g., the Internet) via one or more of the communication means described above, or other communication means known to those of ordinary skill in the art. This allows the mobile nozzle  10  to transmit data to one or more remote computer systems, as well as to be remotely controlled by such systems. 
       FIGS. 4A and 4B  are diagrams illustrating a docking niche  130  located in a floor  132  of the pool or spa  50  configured to receive, and to provide power to, the mobile nozzle  10 . More specifically,  FIG. 4A  is a diagram illustrating the mobile nozzle  10  positioned within the niche  130  and  FIG. 4B  is a diagram illustrating the mobile nozzle  10  exiting the niche  30 . 
     As shown, one or more reciprocal inductive power couplings  136  can be installed in walls  134  of the niche  130 . Of course, one or more of the couplings  136  could also be installed in the floor  138  of the niche  130 . The niche  130  can also be formed as a separate structure (e.g., a basket) that includes the one or more couplings  136  and can be installed in an existing pool or spa recess, e.g., by being inserted into the recess. Alternatively, the walls  134  and the floor  138  of the niche  130  can be integrally formed in/with the walls  133  and/or floor  132  of the pool or spa  50 . Further still, one or more of the couplings  136  could be also be installed in one or more walls of the pool or spa  50 , such that the mobile nozzle  10  can inductively receive power therefrom, without entering the niche  130 . 
     A power source  140  provides electrical power to the inductive power coupling  136  via a conduit  142 , which can extend below ground. The inductive power coupling  136  and the power conduit/cable  142  function to provide for inductive transmission of electrical energy from the power source  140  to the inductive power coupling  52  of the mobile nozzle  10 . As shown in  FIG. 4A , the reciprocal inductive power couplings  52 ,  136  can be positioned on the mobile nozzle  10  and within the niche  130 , respectively, such that they are aligned and/or in contact so as to be inductively coupled when the mobile nozzle  10  is positioned within the niche  130 . 
     Similar to the inductive power coupling  52  of the mobile nozzle  10 , the coupling  136  includes a housing  144  which is generally embedded in the wall  134  of the niche  130  or one or more other walls of pool or spa  50 . The housing  144  could be made of a plastic material such as polyvinyl chloride (PVC) or any other sturdy waterproof material that does not interfere with electrical field transmission, and which is an electrical insulator. It should be understood that other materials could also be utilized in constructing the housing  144 . The housing  144  encloses an inductor circuit, which is connected to the power conduit  142 , thereby providing power to the coupling  136  and allowing for the inductive transmission of electrical power to the mobile nozzle  10 . 
     According to some embodiments of the present disclosure, the inductive power couplings  52 ,  136  of the mobile nozzle  10  and niche  130 , respectively, can be configured to mate or otherwise be mechanically or magnetically coupled to each other, thereby providing a stable inductive power transfer. For example, the housing  144  of the coupling  136  could define a recess or cavity, which receives the correspondingly shaped inductive power coupling  52  of the mobile nozzle  10 , or conversely, the housing  56  of the coupling  52  could define a recess or cavity, which receives the correspondingly shaped inductive power coupling  136  of the niche  130 . Additionally, the housing  56  of the coupling  52  could enclose one or more of magnetic or ferrous materials, which can be attracted to one or more corresponding magnetic or ferrous materials enclosed within the housing  144  of the coupling  136 , thereby magnetically attracting the couplings  52 , 136  to each other and providing for a solid and stable inductive power transfer. 
     As can be seen in  FIG. 4A , the couplings  52 ,  136  allow the mobile nozzle  10  to be removably connected to a power source  140  for charging the battery  48  of the power system  30 . The couplings  52 ,  136  also allow the mobile nozzle  10  to automatically return to the niche  130  and electrically couple itself to the power source  140  and initiate a charging cycle, without requiring a user to make the connection or any other form of intervention. Advantageously, the couplings  52 ,  136  allow for quick connection and disconnection, and due to their insulated nature, the risk of electric shock is obviated. Moreover, since the couplings  52 ,  136  have smooth surfaces, they are easy to clean. According to some embodiments of the present disclosure, the niche  130  can also be provided for one or more status indicators (e.g., LEDs or similar lighting devices) that can be positioned so that they are viewable from an exterior of the pool  250  and a user can monitor the status (e.g., operation mode, problem condition, on/off status, charging status, power interruption, etc.) of the niche  130  and/or mobile nozzle  210  without entering the pool  250 . 
     One or more additional niches  130 , docking areas, stations, or ports could be provided in the floor  132  or walls (see  FIG. 4C ) of the pool or spa  50  and could include one or more additional inductive charging couplings  136 . For example, one or more inductive charging mats (not shown) could be placed on the floor  132  of the pool or spa  50  and coupled to an external power source (e.g., power source  140 ) by way of a cord, cable, wire, or the like, thereby providing for inductive charging capabilities where a docking niche is not practical (e.g., an above-ground pool). Accordingly, the mobile nozzle  10  can be configured to automatically travel to and enter the one or more niches  130 , or other areas, to periodically recharge the on-board battery  48  of the mobile nozzle  10 . In such circumstances, a power cable need not be provided to couple the mobile nozzle  10  to an external power source (e.g., power source  14 ) during prolonged periods of operation and the mobile nozzle  10  can operate without user intervention for an indefinite period of time. 
     As shown in  FIG. 4A , the niche  130  can be sized so as to minimize the amount of room between the body  12  of the mobile nozzle  10  and the walls  134  of the niche  130 , thereby reducing the likelihood that debris, or other foreign material can enter the niche  130 . The niche  130  can also be sized such that a top wall  58  of the mobile nozzle  10  is substantially flush, or coplanar, with the floor  132  of the of the pool or spa  50  when the mobile nozzle  10  is docked within the niche  130 . Additionally, the top wall  58  of the mobile nozzle  10  can be provided with a recess  60 , aperture, or other means for receiving an insert  62  that matches the material and/or visual appearance of the floor  132  of the pool or spa  50 . Accordingly, when charging or not in use, e.g., when docked within the niche  130 , the mobile nozzle  10  can be obscured from view. 
     Additionally, the niche  130  can be provided with a suction or return fitting therein and the mobile nozzle  10  can be configured to generate electrical power when water is drawn therethrough. For example, the motor  36  of the mobile nozzle  10  could function as a generator when the mobile nozzle  10  is docked in the niche  130  and water is allowed to flow therethrough and into the return or suction fitting. Accordingly, the mobile nozzle  10  can charge the internal battery  48  without requiring the inductive couplings  56 ,  136  in the walls  54 ,  134  or the mobile nozzle  10  and niche  130 , respectively. 
       FIG. 4B  is a diagram illustrating the mobile nozzle  10  exiting the niche  130  to begin a cleaning cycle. According to some embodiments of the present disclosure, the mobile nozzle  10  can exit the niche  130  by directing (e.g., by way of nozzle control system  22 ) the nozzle  32  toward the bottom wall  138  of the niche  13  and expelling a pressurized stream of water  70 , thereby propelling the mobile nozzle  10  out of the niche  130 . The mobile nozzle  10  could then direct the nozzle  32  to another (e.g., horizontal) orientation, thereby propelling the mobile nozzle  10  away from the niche  130 , such that the mobile nozzle  10  is not positioned above the niche  130  and does not reenter same. 
     As discussed above, the mobile nozzle  10  can also include a buoyancy system  24 . The buoyance system  24  can include a reservoir or tank  64  that is in fluid communication with the water conduit  42 . The buoyancy system  24  can selectively provide water  68  to the tank  64  by way of a controllable inlet valve  65 , and can selectively expel the water  68  from the tank  64  by way of a controllable outlet valve  66 . Accordingly, the mobile nozzle  10  can selectively decrease its buoyancy by filling some, or a portion, of the tank  64  with water  68  and can increase its buoyancy by expelling some, or a portion, of the water  68  from the tank  64 . For example, as shown in  FIG. 4A , the tank  64  of the mobile nozzle  10  can be, at least, partially filled with water  68 , thereby decreasing its buoyancy and maintain the position of the mobile nozzle  10  during charging. Conversely, as shown in  FIG. 4B , the buoyancy system  24  can, at least, partially expel the water  68  from the tank  64 , thereby increasing the buoyancy of the mobile nozzle  10  and allowing the mobile nozzle  10  to more easily exit the niche  130  under the power of the pressurized stream of water  70  expelled from the nozzle  32 . Likewise, after the mobile nozzle  10  has moved away from the niche  130 , as described above, the buoyancy system  24  can again, at least, partially fill the tank  64  with water, thereby decreasing the buoyancy of the mobile nozzle  10  and allowing the mobile nozzle  10  to sink or return to the pool floor to begin a cleaning operation. 
       FIG. 4C  is a diagram illustrating a docking niche  130   a  located in a wall  133  of the pool or spa  50  configured to receive and to provide power to a mobile nozzle  10   c . The niche  130   a  and the mobile nozzle  10   c  can be substantially similar in construction to the niche  130  and mobile nozzle  10  described in connection with  FIGS. 4A and 4B . Accordingly, the niche  130   a  can also be sized such that a front wall  55  of the mobile nozzle  10   c  is substantially flush, or coplanar, with the wall  133  of the of the pool or spa  50  when the mobile nozzle  10   c  is docked within the niche  130   a . Additionally, the front wall  55  of the mobile nozzle  10   a  can be provided with an insert or covering  62   a  that matches the material and/or visual appearance of the wall  133  of the pool or spa  50 . Accordingly, when charging or not in use, e.g., when docked within the niche  130   a , the mobile nozzle  10   c  can be obscured from view. 
       FIG. 5  is a diagram of a mobile nozzle cleaning system  200  of the present disclosure that includes a mobile nozzle  210  and a pool or spa  250  having a niche (or docking station)  230 , a floor  232 , walls  252   a - d , one or more deck jets  254   a - d , a skimmer or other filtration device  256 , stairs  258   a - d , and a primary pool or spa drain or outlet  260 . The mobile nozzle  210  can be substantially similar in construction to the mobile nozzle  10  described in connection with  FIGS. 1-4B . Accordingly, the mobile nozzle  210  can include one or more of the pump  14 , nozzle  32 , propulsion system  16 , wheels  44   a - d , navigation system  18 , sensors  20 , nozzle control system  22 , buoyancy system  24 , brush system  25 , light sources  26 , and communication and control system  28  discussed in connection with the mobile nozzle  10  shown in and described in connection with  FIG. 2A . 
     According to some embodiments of the present disclosure, the pool or spa  250  can also include one or more fixed nozzles  262   a ,  262   b  that supplement the mobile nozzle  210  and are configured to emit pressurized streams of water  270   a , 270   b , respectively, toward the primary drain  260 . The pool or spa  250  can include a collection zone  272  (e.g., “water curtain”), which is an area that the mobile nozzle  210  is configured to direct debris into. The one or more deck jets  254   b ,  254   d , the primary drain  260 , and the fixed nozzles  262   a ,  262   b  can be positioned within the collection zone  272 , and configured to capture debris that is directed into the collection zone  272  by the mobile nozzle  210  and direct the debris within the collection zone  272  toward the primary drain  260  for extraction from the pool or spa  250 . 
       FIG. 6  is a diagram illustrating a directional mobile nozzle cleaning program that can be stored on the memory  88 , described in connection with  FIG. 3 , and executed by the mobile nozzle  210  to operate the mobile nozzle  210  in a first mode of operation. As shown, the cleaning program can cause the mobile nozzle  210  to move to one or more primary positions  264   a - d  and one or more secondary positions  268   a - d  within the pool or spa  250 . Each of the primary positions  264   a - d  can be located such that the mobile nozzle  210  can progressively direct or “push” pool or spa debris contained within one or more corresponding and overlapping zones  266   a - e  toward the main drain  260  and/or collection zone  272 . As will be discussed in greater detail herein, the mobile nozzle  210  can discharge a pressurized stream of water  270   c  (see  FIGS. 7A-C ) at, and/or between, each of the primary positions  264   a - d  and secondary positions  268   a - d  to dislodge the debris and direct it toward the main drain  260  and/or collection zone  272 . Additionally, as discussed in connection with  FIGS. 7A-C , the mobile nozzle  210  can “sweep” the zones  266   a - e  with the pressurized stream of water  270   c  by rotating the nozzle  32 , or by rotating its body at each position. The mobile nozzle  210  could also be in communication with one or more pool or spa components (e.g., skimmer  256 , a pump, one or more valves, etc.) and/or a pool or spa control system via one or more of the communication protocols discussed in connection with  FIG. 3  and the communication and control system  28 . Accordingly, the mobile nozzle  210  could be controlled based on information received from the one or more pool or spa components and/or pool or spa control system. For example, the mobile nozzle  210  could be controlled to operate only when the pool or spa pump is operating (e.g., interlocked therewith) and the one or more deck jets  254   a - d , the skimmer or other filtration device  256 , the primary pool or spa drain or outlet  260 , and the nozzles  262   a ,  262   b  of the collection zone  272  are operational. Alternatively, the mobile nozzle  210  could be controlled to operate only when the pool or spa pump is operating in a “high-speed” mode, or in a “low-speed” mode. For example, the mobile nozzle  210  can be configured to operate only when the pool or spa pump is in a low-speed mode of operation, where the system  200  includes a venturi powered skimmer  256  and mobile nozzle  210  is used in connection therewith. Of course, it is not necessary that the pool or spa pump be operational for operation of the mobile nozzle  210 . According to yet another example, the mobile nozzle  210  can direct debris towards the main drain  260 , as discussed herein, or to another location (e.g., in a pile), where it can be collected at a later time. Alternatively, the mobile nozzle  210  can transmit a signal to the pool or spa pump or control system which communicates that debris is ready for collection, or the mobile nozzle  210  can transmit an instruction to the pool or spa pump or control system to activate once the debris is ready for collection. 
     According to some embodiments of the present disclosure, the cleaning systems described herein (e.g., cleaning system  200  and cleaning system  300 , described in connection with  FIGS. 8-10C ) can include, and the cleaning programs can control, a plurality of mobile nozzles that can cooperate (e.g., work in unison) to remove debris from the pool or spa. For example, as shown in  FIG. 6 , the cleaning system  200  can include a second niche  230   a  with a second mobile nozzle  210   a  located therein. The second mobile nozzle  210   a  can be substantially similar to the mobile nozzle  210  and, as such, can include a directional mobile nozzle cleaning program that can be stored on a memory (e.g., memory  88 , described in connection with  FIG. 3 ), and executed by the mobile nozzle  210   a  to cause the mobile nozzle  210  to move to the one or more primary positions  264   a - d  and one or more secondary positions  268   a - d  within the pool or spa  250 . Additionally, the mobile nozzles  210 ,  210   a  and their respective cleaning programs can communicate with each another via one or more of the communication protocols described in connection with  FIG. 3 , such shat the mobile nozzles  210 ,  210   a  can cooperate to remove the debris from the pool or spa  250 . For example, each of the mobile nozzles  210 ,  210   a  could travel to a predefined subset of the one or more primary positions  264   a - d  and one or more secondary positions  268   a - d  within the pool or spa  250  so that the mobile nozzles  210 ,  210   a , together, can travel to all of the one or more primary positions  264   a - d  and one or more secondary positions  268   a - d  and complete a cleaning operation in a reduced amount of time. Each of the mobile nozzles  210 ,  210   a  could also travel to the one or more primary positions  264   a - d  and one or more secondary positions  268   a - d  based on proximity thereto, and to each other. For example, the mobile nozzles  210 ,  210   a  could be programed to travel to the primary position  264   a - d  or secondary position  268   a - d  that it is closest to (e.g., using sensors  20 , navigation system  18 , and/or navigational beacons described herein). In order to prevent the mobile nozzles  210 ,  210   a  from traveling to the same location, or running into each other during operation, the mobile nozzles  210 ,  210   a  could also determine the location of the other mobile nozzle. Alternatively, each of the mobile nozzles  210 ,  210   a  can determine its own location (e.g., relative to a fixed location or within the pool  250 ) and communicate said location to the other mobile nozzle  210 ,  210   a . Of course, it should be understood that the cleaning system  200  does not require two or more mobile nozzles (e.g., mobile nozzles  210 ,  210   a ) and can function as described herein with only mobile nozzle  210 . 
       FIGS. 7A-C  are diagrams of the system  200 , illustrating the progression of the mobile nozzle  210  moving to each of the primary positions  264   a - e , as directed by the cleaning program. For example, as shown in  FIG. 7A , the cleaning program has already been initiated (e.g., according to a cleaning schedule, or manually initiated by a user), the mobile nozzle  210  has exited the niche  230  (e.g., as discussed in connection with  FIGS. 4A and 4B ), and the mobile nozzle  210  is positioned at the first primary position  264   a . Once the mobile nozzle  210  has reached the first primary position  264   a , the mobile nozzle can expel a pressurized stream of water  270   c  in a direction that is generally directed at the drain  260 , thereby propelling debris in the path of the stream  270   c  toward the drain. Additionally, if the pool or spa  25  includes more than one drain  260 , the mobile nozzle  210  can identify the closest drain  260  and direct the debris thereto. Alternatively, the mobile nozzle  210  can direct the debris to a predetermined drain  260  based on the location of the mobile nozzle  210  within the pool or spa  250 . The stream  270   c  can be generally parallel to the floor  232  of the pool or spa  250 , as shown, for example, in  FIGS. 11A and 11B  (see stream  470 ). The communication and control system  28  can cause the mobile device  210  to alter the orientation of the stream  270   c  in the direction of arrow C, thereby allowing the mobile nozzle  210  to cover a greater area of the zone  266   a , without departing from position  264   a . For example, the propulsion system  16  of the mobile nozzle  210  could cause the entire body of the mobile nozzle  210  to pivot about position  264   a , thereby “sweeping” zone  266   a  with the pressurized stream  270   c . Alternatively, the nozzle control system  22  could cause the movable nozzle  32  of the mobile nozzle  210  to rotate relative to the body of the mobile nozzle  210 , in the direction of arrow C, also sweeping zone  266   a  with the pressurized stream  270   c.    
       FIG. 7B  shows the cleaning program after the mobile nozzle  210  has finished cleaning zone  266   a , has spent a duration of time at position  264   b  cleaning zone  266   b , and has progressed to position  264   c  to clean zone  266   c . As shown, once the mobile nozzle  210  has reached position  264   c , the mobile nozzle  210  can expel the pressurized stream of water  270   c  in a direction that is generally directed at the drain  260 , thereby propelling debris in the path of the stream  270   c  toward the drain  260 . It should be understood that the stream  270   c  can be disengaged as the mobile nozzle  210  progresses between each of the positions  264   a - e  (e.g., to conserve battery power), or the stream  270   c  can remain engaged as the mobile nozzle  210  progresses between each of the positions  264   a - e . As similarly described in connection with  FIG. 7A , the communication and control system  28  can also cause the mobile device  210  to alter the orientation of the stream  270   c  in the direction of arrow D, thereby allowing the mobile nozzle  210  to cover a greater area of the zone  266   c , without departing from position  264   c.    
       FIG. 7C  shows the cleaning program after the mobile nozzle  10  has finished cleaning zones  266   a - d , having spent a duration of time at each of positions  264   a - d , and has progressed to position  264   e  to clean zone  266   e . As shown, once the mobile nozzle  210  has reached position  264   e , the mobile nozzle can expel the pressurized stream of water  270   c  in a direction that is generally directed at the drain  260 , thereby propelling debris in the path of the stream  270   c  toward the drain  260 . As similarly described in connection with  FIGS. 7A and 7B , the system  200  can also cause the mobile device  210  to alter the orientation of the stream  270   c  in the direction of arrow E, thereby allowing the mobile nozzle  210  to cover a greater area of the zone  266   c  without departing from position  264   c.    
     Once the mobile nozzle  210  has progressed through all of the primary positions  264   a - e  and has cleaned zones  266   a - e , the cleaning program can direct the mobile nozzle  210  to one or more of the secondary positions  268   a - d  (see  FIG. 6 ), following a similar procedure and steps as those described in connection with  FIGS. 7A-C . According to some aspects of the present disclosure, the secondary positions  268   a - e  can correspond to features of the pool or spa  250  that are not flush with the floor  232  of the pool or spa  250 . For example, as shown best in  FIG. 6 , the secondary positions  268   a - e  can correspond to steps  258   a - d  of the pool or spa  250  and each of the steps  258   a - d  can have a different height. Accordingly, the mobile nozzle  210  can be provided with means for altering the height thereof in order to reach one or more positions that are not flush with the floor  232  and/or to enable the mobile nozzle  210  to traverse a greater number of areas of the pool or spa  250 . It is noted that the mobile nozzle  210  can be dimensioned such that it can rest on a step  258   a - d  and move along the length of the step  258   a - d . It should also be understood that the mobile nozzle  210  can clean the secondary positions  268   a - e  prior to the primary positions  264   a - e , or the mobile nozzle  210  can alternate therebetween, depending on the configuration of a particular pool and the determined optimal cleaning pattern. 
     As discussed above, the mobile nozzle  210  can be substantially similar to the mobile nozzle  10 , discussed in connection with  FIGS. 2-4C , and as such can include similar movable nozzle  32  and buoyancy systems  24 . Accordingly, the mobile nozzle  210  can traverse the floor  232  of the pool or spa  258  until it encounters a feature (e.g., step  258   d ) that is not flush with the floor  232  at which point the mobile nozzle  210  can cause its nozzle  32  to move to a substantially vertical orientation and can expel the pressurized stream  270   c  towards the floor  232  of the pool or spa  250 , thereby propelling the mobile nozzle  210  in an opposite and upward direction. At the same time, the mobile nozzle  210  can also increase its buoyancy by expelling an amount of water from the buoyancy system  24 , as described in connection with  FIGS. 4A and 4B . Once the mobile nozzle  210  has reached, or exceeded, the height of the feature, the mobile nozzle  210  can cause its nozzle  32  to move to a second orientation so as to expel the pressurized stream  270   c  in a direction generally opposite to the direction of the feature, thereby propelling the mobile nozzle  210  toward the feature. The mobile nozzle  210  can then decrease its buoyancy by filling at least a portion of the buoyancy system  24  with water, until the mobile nozzle  210  is able to settle on the feature (e.g., at the secondary position  268   e ). The mobile nozzle  210  can then remove debris from the feature by discharging the pressurized stream  270   c  to direct the debris toward the drain  260 , or by a using the pressurized stream  270   c  to agitate the debris, e.g., by directing the stream  270   c  in a direction normal to the feature, thereby dispersing the debris as discussed in connection with  FIGS. 8-10C . 
       FIG. 8  is a diagram illustrating another mobile nozzle cleaning system  300  (e.g., an agitation system) that includes a mobile nozzle  310  and another pool or spa  350  having a niche  330 , a floor  332 , a plurality of walls  352 , a skimmer or other filtration device  356 , stairs  358   a - e , a primary pool or spa drain or outlet  360 , and a secondary suction outlet  334 . 
       FIG. 9  is a diagram illustrating another mobile nozzle cleaning program, which can be executed by the mobile nozzle cleaning system  300  to operate in a second mode of operation, e.g., an agitation mode of operation. The agitation mode of operation can include a series of overlapping positions to which the mobile nozzle  310  travels and directs a pressurized stream of water against a pool or spa  350  floor, thereby causing debris that has settled on the pool or spa  350  floor to be dislodged/agitated and suspended in the pool or spa  350 . The debris can then be removed through normal water turnover operations, such as through a main drain  360  or through one or more skimmers  334 . The mobile nozzle  310  moves to each of the series of positions and agitates the debris and continues to repeat the series, maintaining the debris in suspension until all of the debris is removed from the pool or spa  350 . 
     As shown in  FIG. 9 , the cleaning program can direct the mobile nozzle  310  to one or more primary positions  364   a - j  and one or more secondary positions  368   a - d  within the pool or spa  350 . Each of the primary positions  364   a - j  can be located such that the mobile nozzle  310  can “agitate” pool or spa debris that has settled on the floor  332  within one or more corresponding and overlapping zones  366   a - j , such that the debris can be dislodged from the floor  332  and removed from the pool or spa  350  by way of the drain  360 , the skimmer  310 , or one or more secondary suction outlets  334 . The mobile nozzle  310  could also be in communication with one or more pool or spa components (e.g., skimmer  356 , a pump, one or more valves, etc.) and/or a pool or spa control system via one or more of the communication protocols discussed in connection with  FIG. 3  and the communication and control system  28 . Accordingly, the mobile nozzle  310  could be controlled based on information received from the one or more pool or spa components and/or pool or spa control system. For example, the mobile nozzle  310  could be controlled to operate only when the pool or spa pump is operating (e.g., interlocked therewith) and one or more deck jets and the skimmer or other filtration device  356  are operational. Alternatively, the mobile nozzle  310  could be controlled to operate only when the pool or spa pump is operating in a “high-speed” mode, or in a “low-speed” mode. Of course, it is not necessary that the pool or spa pump be operational for operation of the mobile nozzle  310 . For example, the mobile nozzle  310  can continuously agitate debris until it can be collected at a later time (e.g., when the skimmer  356  is operational). Alternatively, the mobile nozzle  310  can transmit a signal to the pool or spa pump or control system which communicates that debris is ready for collection, or the mobile nozzle  310  can transmit an instruction to the pool or spa pump or control system to activate once the debris is ready for collection. According to another example, the mobile nozzle  310  can be configured to operate only when the pool or spa pump is in a low-speed mode of operation, where the system  300  includes a venturi powered skimmer  356  and mobile nozzle  310  is used in connection therewith. 
     As described in greater detail in connection with cleaning system  200  and corresponding  FIGS. 5-7C , cleaning system  300  can include, and the cleaning programs can control, a plurality of mobile nozzles  310  that can cooperate (e.g., work in unison) to remove debris from the pool or spa  350 . Of course, it should be understood that the cleaning system  300  does not require two or more mobile nozzles  310  and can function as described herein with a single mobile nozzle  310 . 
       FIGS. 10A-C  are diagrams of the system  300 , illustrating the progression of the mobile nozzle  310  moving to each of the primary positions  364   a - j  when in the second mode of operation, as directed by the cleaning program. For example, as shown in  FIG. 10A , the cleaning program has already been initiated (e.g., according to a cleaning schedule, or manually initiated by a user), and the mobile nozzle has exited the niche  330  (e.g., as discussed in connection with  FIGS. 4A and 4B ) and is positioned at the first primary position  364   a . Once the mobile nozzle  310  has reached position  264   a , the mobile nozzle  310  can expel a pressurized stream of water  370   c  (not shown) in a direction that is generally directed at the floor  332  of the pool or spa  350 , thereby “agitating” the debris and propelling the debris radially away from the position  364   a , such that the debris can float to the water surface of the pool or spa  50  where it can be captured by the one or more skimmers  356 . Of course, a portion of the dislodged debris could also be captured by the drain  360  and the one or more secondary suction outlets  334 . The pressurized stream  370   c  can also be directed at the floor  332  at an angle that is less than perpendicular, while still being able to agitate the debris of the pool or spa  350  in the manner described in connection with  FIGS. 10A-C . However, it should be understood that the angle of the pressurized stream  370   c  with respect to the floor  332  when used to “agitate” the debris is generally greater than, for example, the angle of the pressurized stream  270   c  described in connection with  FIGS. 6A-C , for “directing” the debris toward the main drain  260 .  FIG. 10B  shows the cleaning program after the mobile nozzle  10  has finished cleaning zone  366   a , has spent a duration of time at positions  364   b  and  364   c  and cleaned zones  366   b  and  366   c , and has progressed to position  364   d  to clean zone  366   d . As shown, once the mobile nozzle  310  has reached position  364   d , the mobile nozzle  310  can expel a pressurized stream of water (not shown) in a direction that is generally directed at the floor  332  of the pool or spa  350 , thereby “agitating” the debris and propelling the debris radially away from the position  364   d  such that the debris can float to the water surface of the pool or spa  50 . It should be understood that the stream  370   c  can be disengaged as the mobile nozzle  310  progresses between each of the positions  364   a - j  (e.g., to conserve battery power), or the stream  370   c  can remain engaged as the mobile nozzle  310  progresses between each of the positions  264   a -J. 
       FIG. 10C  shows the cleaning program after the mobile nozzle  310  has finished cleaning zones  366   a - e , having spent a duration of time at each of positions  364   a - e , and has progressed to position  364   f  to clean zone  366   f . As shown, once the mobile nozzle  310  has reached position  364   f , the mobile nozzle can expel a pressurized stream of water (not shown) in a direction that is generally directed at the floor  332  of the pool or spa  350 , thereby “agitating” the debris and propelling the debris radially away from the position  364   f  such that the debris can float to the water surface of the pool or spa  50 . 
     Once the mobile nozzle has progressed through all of the primary positions  364   a - j  and has cleaned zones  366   a - j , the cleaning program can direct the mobile nozzle  310  to one or more of the secondary positions  368   a - d , following a similar procedure and steps as those described in connection with  FIGS. 7A-C . According to some aspects of the present disclosure, the secondary positions  368   a - d  can correspond to features of the pool or spa  350  that are not flush with the floor  332  of the pool or spa  350 . Accordingly, the mobile nozzle  310  can be provided with means for altering the height thereof in order to reach one or more positions that are not flush with the floor  332  and/or to enable the mobile nozzle  310  to traverse a greater number of areas of the pool or spa  350 . 
     It should be understood that the mobile nozzle  310  can be substantially similar to the mobile nozzle  10 , discussed in connection with  FIGS. 2-4C , and as such can include similar movable nozzle  32  and buoyancy systems  24 . Accordingly, the mobile nozzle  310  can traverse the floor  332  of the pool or spa  358  until it encounters a feature that is not flush with the floor  332  and can adjust its height to traverse said feature, as similarly described in connection with  FIGS. 7A-C . 
     According to some embodiments of the present disclosure, the mobile nozzle cleaning systems  200 ,  300  can include one or more beacons (e.g., RFID, magnetic, sonic, optical, etc.) positioned permanently or semi-permanently at one or more of the primary and/or secondary positions  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d  in order to guide the mobile nozzles  410  to the positions  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d . Additionally or alternatively, the main drains  260 ,  360  or niches  130  can contain a beacon to provide a fixed reference coordinate and one or more pool or spa features (e.g., primary and/or secondary positions  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d , drains  260 ,  360 , skimmers  256 ,  356 , etc.) can be mapped based on their location relative to the beacon. The mobile nozzle niches  130 ,  230 ,  330  disclosed herein can also be provided with a home beacon that emits a home signal, allowing the mobile nozzles  10 ,  210 ,  310 ,  410  to locate and return to the niches  130 ,  230 ,  330  from anywhere in the pool  50 ,  250 ,  350 ,  450 . Accordingly, the mobile nozzles  10 ,  210 ,  310 ,  410  disclosed herein can be provided with one or more sensors  20  for locating the beacons and communicating this information to the navigation system  18  of the mobile nozzles  10 ,  210 ,  310 ,  410 . Further still, the mobile nozzles  10 ,  210 ,  310 ,  410  of the present disclosure can be programmed to travel to pre-determined locations based on a pre-programmed map of the pool or spa  50 ,  250 ,  350 ,  450 , the mobile nozzles  10 ,  210 ,  310 ,  410  can be provided with proximity, optical, or other sensors  20  enabling the mobile nozzles  10 ,  210 ,  310 ,  410  to generate a map of the pool or spa  50 ,  250 ,  350 ,  450  (e.g., the mobile nozzles  10 ,  210 ,  310 ,  410  can self-learn the shape of the pool or spa). Alternatively, the map/layout of the pool or spa can be programmed on-site by an owner or installation technician. 
     According to further embodiments of the present disclosure, the mobile nozzles  10 ,  210 ,  310 ,  410  can include one or more sensors (e.g., optical, proximity, etc.), vision systems, or other means for detecting debris as the mobile nozzles  10 ,  210 ,  310 ,  410  traverse the pool or spa  50 ,  250 ,  350 ,  450 . For example, the cleaning programs of the mobile nozzle cleaning systems disclosed herein could be configured to detect debris as the mobile nozzles  10 ,  210 ,  310 ,  410  traverse primary and/or secondary positions (e.g.,  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d ) and the cleaning programs could include a mode of operation whereby the mobile nozzles  10 ,  210 ,  310 ,  410  reposition themselves upon detecting debris to either direct the debris toward a main drain or agitate the debris for collection by a skimmer. The cleaning programs could also include a mode of operation whereby the mobile nozzles  10 ,  210 ,  310 ,  410  can identify one or more areas having debris and return to same areas after traversing the primary and/or secondary positions (e.g.,  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d ). The mobile nozzles  10 ,  210 ,  310 ,  410  could also include another mode of operation, whereby the mobile nozzles  10 ,  210 ,  310 ,  410  first traverse the pool or spa  50 ,  250 ,  350 ,  450  with the brush systems  25 ,  225 ,  325 ,  425  engaged, to loosen debris, and can then traverse the pool or spa  50 ,  250 ,  350 ,  450  with the nozzles  32 ,  232 ,  332 ,  432  engaged, so as to direct the debris toward a main drain or agitate the debris for collection by a skimmer. 
       FIGS. 11A and 11B  are block diagrams illustrating another exemplary mobile nozzle  410  of the present disclosure, including means  472  for securing the mobile nozzle  410 . For example, the means  472  can adjust the position of wheels  444   a - d  of the mobile nozzle  410  so that one or more rigid protrusions of the mobile nozzle  410  engages and rests on the pool floor  476 . The mobile nozzle  410  can be substantially similar in both form and function to the mobile nozzles  10 ,  210 ,  310  discussed in connection with  FIGS. 1-10C  except for distinctions noted herein, and can be used in connection with systems  200  and  300  of the present disclosure. 
     Accordingly, the mobile nozzle  410  can include a water-tight body  412  that is adapted for submersion in the pool or spa  450  and houses one or more of a pump  414 , a nozzle  432 , a propulsion system  416 , wheels  444   a - d , a navigation system  418 , one or more sensors  420 , a nozzle control system  422 , a buoyancy system  424 , a brush system  425 , one or more light sources  426 , and a communication and control system  428  and a rechargeable power system  430  for providing electrical power to the foregoing systems, among other components. Additionally, as referenced above, the mobile nozzle  410  can include means  472   a - d  for securing the mobile nozzle  410 , which can adjust the position of the wheels  444   a - d  relative to the body  412  and can include one or more rigid protrusions  474  positioned on a bottom wall  434  of the body  412  adjacent to the floor  476  of the pool or spa  450 . According to some embodiments of the present disclosure, means  472   a - d  can include one or more hydraulic cylinders, pneumatic cylinders, gearing systems, etc., coupled to the wheels  444   a - d  and associated systems for enabling retraction thereof, which can be in communication with one or more of the control systems of the mobile nozzle  410  disclosed herein. 
     As shown in  FIGS. 11A and 11B , the pressurized stream of water  470  can be expelled from the nozzle  432  in a direction that is generally horizontal and substantially parallel with the floor  476  of the pool or spa  450 . As will be understood by those of ordinary skill in the art, this arrangement causes a force, shown as arrow F, to be applied to the mobile nozzle  410  in a direction that is opposite to the trajectory of the pressurized stream  470 , which can cause the mobile nozzle  410  to move in the direction of arrow F and drift to another portion of the pool or spa  450  if, for example, rotation of the wheels  444   a - d  is not inhibited or movement of the mobile nozzle  410  is not otherwise prevented. 
     The mobile nozzle  410  addresses this problem by disengaging the wheels  444   a - d  from the floor  476  of the pool or spa  450  and allowing the mobile device to “sit” on the floor  476  of the pool or spa  450 . More specifically, means  472   a - d  coupled to the wheels  444   a - d  of the mobile nozzle  410  can move the wheels  444   a - d  from a first deployed position, shown in  FIG. 11A , where the wheels  444   a - d  contact the floor  476  to a second retracted position, shown in  FIG. 11B , where the wheels are raised, such that the protrusions  474   a - d  come to rest on the floor  476 , thereby preventing the mobile nozzle  410  from moving when the nozzle  432  is operated in a substantially horizontal orientation. 
       FIG. 11C  is a block diagram illustrating the mobile nozzle  410   a  including another means  480  for securing the mobile nozzle  410 . The means  480  for securing the mobile nozzle  410  can supplement, or replace, the means  472  for securing the mobile nozzle  410 , described above in connection with  FIGS. 11A and 11B . As shown, the means  480  includes a latch  482  that can be removably coupled to an anchor  484  affixed to the floor  476  of the pool or spa  450 . The latch  482  can be controlled by, or in communication with, one or more of the control systems, e.g., the communication and control system  27  shown and described in connection with  FIG. 2A  and mobile nozzle  10 , of the mobile nozzle  410  disclosed herein, such that the mobile nozzle  410  can selectively couple the latch  482  to the anchor  484 . According to embodiments of the present disclosure, the means  480  can comprise a latch  482  configured as a hook (e.g., as shown in  FIG. 11C ), a magnetic latch, or a suction-driven latch and can further include reciprocal anchors  484 , e.g., a loop for the hook to engage, an oppositely charged magnetic latch, a ferromagnetic latch, etc. According to still further embodiments of the present disclosure, the anchor  484  can include a beacon (e.g., RFID, magnetic, sonic, optical, etc.) and the anchor  484  can be positioned permanently or semi-permanently at one or more of the primary and/or secondary positions  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d  in order to guide the mobile nozzle  410  to the positions  264   a - e ,  268   a - e ,  364   a - j ,  368   a - d.    
     Having thus described the system and method in detail, it is to be understood that the foregoing description is not intended to limit the spirit or scope thereof. It will be understood that the embodiments of the present disclosure described herein are merely exemplary and that a person skilled in the art may make any variations and modification without departing from the spirit and scope of the disclosure. All such variations and modifications, including those discussed above, are intended to be included within the scope of the disclosure.