Patent ID: 12013685

Abstract:
Systems and methods for mitigating cable twists for underwater cleaners are provided. Cable twist mitigation logic is stored in a memory associated with a pool or spa cleaner, and controls operation of the cleaner to mitigate cable twists. A sequence of cleaner orientations is retrieved from memory and compare to one or more pre-defined sequences known to contribute to cable twist. If the sequence of cleaner orientations matches the one or more pre-defined sequences, a twist angle accumulator is incremented by a pre-defined twist angle corresponding to the one or more pre-defined sequences. The system determines whether the cleaner is turning on a surface of a pool or spa, and if so, controls turning of the cleaner using an accumulated angle stored in the twist angle accumulator to mitigate cable twists. A user-definable bias value could also be applied by the system to further mitigate cable twists.