U.S. patent number RE38,479 [Application Number 10/193,370] was granted by the patent office on 2004-03-30 for positive pressure automatic swimming pool cleaning system.
Invention is credited to Melvyn L. Henkin, Jordan M. Laby.
United States Patent |
RE38,479 |
Henkin , et al. |
March 30, 2004 |
Positive pressure automatic swimming pool cleaning system
Abstract
A method and apparatus responsive to a positive pressure water
source (10) for cleaning the interior surface of a pool containment
wall (3) and the upper surface (7) of a water pool (1) contained
therein. The apparatus includes an essentially unitary cleaner body
(6) and a level control subsystem (124, 138) for selectively moving
the body (6) to a position either proximate to the surface (7) of
the water pool for water surface cleaning or proximate to the
interior surface (8) of the containment wall for wall surface
cleaning. The cleaner body can have a weight/buoyancy
characteristic to cause it to normally rest either (1) proximate to
the pool bottom adjacent to the wall surface (i.e.,
heavier-than-water) or (2) proximate to the water surface (i.e.
lighter-than-water).
Inventors: |
Henkin; Melvyn L. (Ventura,
CA), Laby; Jordan M. (Ventura, CA) |
Family
ID: |
31996651 |
Appl.
No.: |
10/193,370 |
Filed: |
July 9, 2002 |
PCT
Filed: |
December 23, 1998 |
PCT No.: |
PCT/US98/27623 |
PCT
Pub. No.: |
WO99/33582 |
PCT
Pub. Date: |
July 08, 1999 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
Reissue of: |
582456 |
Dec 23, 1998 |
06365039 |
Apr 2, 2002 |
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Current U.S.
Class: |
210/103;
134/167R; 134/168R; 15/1.7; 210/138; 210/167.17; 210/242.1;
210/416.2 |
Current CPC
Class: |
E04H
4/1681 (20130101) |
Current International
Class: |
E04H
4/00 (20060101); E04H 4/16 (20060101); E04H
004/16 () |
Field of
Search: |
;210/103,138,169,416.2,242.1,459,460 ;15/1.7
;134/166R,167R,168R,198 ;4/490 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Prince; Fred G.
Attorney, Agent or Firm: Freilich, Hornbaker & Rosen
Claims
What is claimed:
1. Apparatus configured to be driven by a positive pressure water
source for cleaning the interior surface of a containment wall and
the upper surface of a water pool contained therein, said apparatus
comprising: a body configured for immersion in said water pool;
means for supplying a positive pressure water flow to said body
from said source; a level control subsystem responsive to said
water flow for producing a vertical force to selectively place said
body either (1) in a first mode proximate to said water surface or
(2) in a second mode proximate to said wall surface below said
water surface; at least one pool water inlet in said body; and a
propulsion control subsystem responsive to said water flow for
selectively moving said body either (1) along a path adjacent to
said water supply for collecting pool water through said inlet from
adjacent to said water surface or (2) along a path adjacent to said
wall surface for collecting pool water through said inlet from
adjacent to said wall surface. said propulsion control subsystem
including a controller for selectively causing said body to move
either in a forward direction or in a second direction different
from said forward direction; said controller including (1) a
periodic control device for alternately defining first and second
conditions and (2) a motion responsive control device for defining
a first condition when the rate of forward motion of said body is
greater than a certain threshold and a second condition when the
rate of forward motion of said body is less than a certain
threshold; and wherein said controller causes said body to move in
said second direction when said periodic control device and said
motion responsive control device both define said second
condition.
2. The method of claim 1 wherein said body has a weight/buoyancy
characteristic biased to cause said body to normally rest proximate
to said interior wall surface; and wherein said level control
subsystem selectively defines an active state for producing a
vertical force component for lifting said body to proximate to said
water surface.
3. The apparatus of claim 2 wherein said level control subsystem in
said active state discharges a water outflow from said body in a
direction to produce a vertically upward force on said body to lift
said body to said water surface.
4. The apparatus of claim 2 wherein said level control subsystem in
said active state produces a water flow to modify said
weight/buoyancy characteristic to lift said body to said water
surface.
5. The apparatus of claim 1 wherein said body has a weight/buoyancy
characteristic biased to cause said body to normally rest proximate
to said water surface; and wherein said level control subsystem
selectively defines an active state for producing a vertical force
component for holding said body proximate to said wall surface.
6. The apparatus of claim 1 further including: means for removing
debris from pool water collected through said inlet.
7. The apparatus of claim 6 wherein said means for removing debris
includes a water permeable debris container for retaining debris
removed from water received through water inlet.
8. The apparatus of claim 1 wherein said pool water inlet comprises
a wall surface inlet port; and means for creating a suction
adjacent to said inlet port when said body is proximate to said
wall surface for drawing in pool water from proximate to said wall
surface.
9. The apparatus of claim 8 wherein said body defines a discharge
port communicating with said wall surface inlet port; and a debris
container mounted adjacent to said discharge port for passing water
and retaining debris discharged from said discharge port.
10. The apparatus of claim 9 wherein said debris container
comprises a bag formed of mesh material and having an open mouth
removably mounted adjacent to said discharge port.
11. The apparatus of claim 1 wherein said pool water inlet
comprises a water surface inlet port for passing pool surface water
when said body is proximate to said water surface; and a debris
container carried by said body for collecting debris borne by said
surface water passed through said water surface inlet port.
12. The apparatus of claim 1 wherein said body defines a front
portion and a rear portion spaced in a longitudinal direction; and
further including a water discharge device carried by said body and
responsive to said direction controller second state for
discharging a water outflow in a direction having a component
oriented substantially perpendicular to said longitudinal
direction.
13. The apparatus of claim 12 wherein said water discharge device
comprising a jet pump.
14. The apparatus of claim 1 further including a pressure indicator
carried by said body for visually indicating the magnitude of
positive pressure supplied thereto.
15. The apparatus of claim 1 further including an in-line filter
carried by said body for filtering said positive pressure water
supplied from said source.
16. Apparatus configured to be driven by a positive pressure water
source for cleaning a water pool contained by a containment wall
having an interior surface, said apparatus comprising: a body
configured for immersion in and movement through said water pool; a
controller for selectively causing said body to move either in a
forward direction or in a second direction different from said
forward direction; said controller including (1) a periodic control
device for alternately defining first and second conditions and (2)
a motion responsive control device for defining a first condition
when the rate of forward motion of said body is greater than a
certain threshold and a second condition when the rate of forward
motion of said body is less than a certain threshold; and wherein
said controller causes said body to move in said second direction
when said periodic control device and said motion responsive
control device both define said second condition.
17. The apparatus of claim 16 further including a turbine for
driving said periodic control device; and a water source for
driving said turbine.
18. The apparatus of claim 16 wherein said motion responsive
control device includes a paddle mounted for pivotal movement
between a first position and a second position; and wherein said
paddle is mounted on said body so that forward motion of said body
through said water pool at a rate greater than said certain
threshold maintains said paddle in said first position.
19. The apparatus of claim 16 further including: a level controller
for selectively moving said body to either the surface of said
water pool or to said wall surface.
20. Apparatus configured to be driven by a positive pressure water
source for cleaning the interior surface of a containment wall and
the upper surface of a water pool contained therein, said apparatus
comprising: a body configured for immersion in said water pool,
said body defining a front portion and a rear portion; means for
supplying a positive pressure water flow to said body from said
source; a pitch control subsystem responsive to said water flow to
selectively orient said body either (1) front up/rear down or (2)
front down/rear up; at least one pool water inlet in said body; and
a propulsion control subsystem responsive to said waterflow for
propelling said body in a forward direction to (1) said water
surface when said body is oriented front up/rear down for
collecting pool water through said inlet from adjacent to said
water surface or (2) said wall surface when said body is oriented
front down/rear up for collecting pool water through said inlet
from adjacent to said wall surface.
21. The apparatus of claim 20 wherein said pitch control subsystem
includes a mechanism for selectively shifting weight between said
front and rear positions.
22. The apparatus of claim 20 wherein said pitch control subsystem
includes a mechanism for selective shifting buoyancy between said
front and rear positions.
23. Apparatus configured to be driven by a positive pressure water
source for cleaning the interior surface of a containment wall and
the upper surface of a water pool contained therein, said apparatus
comprising: a body configured for immersion in said water pool;
means for supplying a positive pressure water flow to said body
from said source; a level control subsystem responsive to said
water flow for producing a vertical force to selectively place said
body either (1) in a first mode proximate to said water surface or
(2) in a second mode proximate to said wall surface below said
water surface; at least one pool water inlet in said body; a
propulsion control subsystem responsive to said water flow for
selectively moving said body either (1) along a path adjacent to
said water surface for collecting pool water through said inlet
from adjacent to said water surface or (2) along a path adjacent to
said wall surface for collecting pool water through said inlet from
adjacent to said wall surface; a debris container carried by said
body for collecting debris borne by pool water passed through said
inlet, said debris container formed of water permeable material and
having an entrance opening; and at least one sheet mounted in said
container for passing debris borne by water flowing into said
container in a first direction and for blocking debris outflow from
said container.
24. The apparatus of claim 23 wherein said container is formed of
flexible mesh material; and wherein said at least one sheet is
comprised of first and second sheets of flexible mesh material each
defining a sheet edge; and wherein said first and second sheets are
mounted into said container with said respective sheet edges
proximate to one another such that water flowing into said
container acts to separate said edges to enable debris to flow into
said bag and water flowing in an opposite direction acts to close
said edges to retain debris in said container.
25. Apparatus configured to be driven by a positive pressure water
source for cleaning a water pool, said apparatus comprising: a body
configured for immersion in said water pool; means for supplying a
positive pressure water flow to said body from said source; at
least one pool water inlet in said body; a debris container carried
by said body for collecting debris borne by pool water passed
through said inlet, said debris container formed of water permeable
material and having an entrance opening; and at least one sheet
mounted in said container for passing debris borne by water flowing
into said container in a first direction and for blocking debris
outflow from said container.
26. Apparatus configured to be driven by a positive pressure water
source for cleaning a water pool, said apparatus comprising: a body
configured for immersion in said water pool; means for supplying a
positive pressure water flow to said body from said source; and a
pressure indicator carried by said body for visually indicating the
magnitude of positive pressure supplied to said body.
27. Apparatus configured to be driven by a positive pressure water
source for cleaning a water-pool, said apparatus comprising: a body
configured for immersion in said water pool; said body defining a
water supply inlet adapted for coupling to said water source for
receiving a positive pressure water flow therefrom; a propulsion
subsystem carried by said body and coupled to said water supply
inlet for receiving a positive pressure water flow therefrom for
propelling said body through said water pool; and an in-line filter
carried by said body interposed between said water supply inlet and
said propulsion subsystem for filtering said positive pressure
water flow to said propulsion subsystem. .Iadd.
28. Apparatus configured to be driven by a positive pressure water
source for cleaning a water pool, said apparatus comprising: a body
configured for immersion in said water pool; said body defining a
water supply inlet adapted for coupling to said water source for
receiving a positive pressure water flow therefrom; a valve
assembly carried by said body including a valve actuator mounted
for reciprocal linear movement between a first position for
directing at least a portion of said water flow along a first path
to produce a thrust acting to move said body in a forward direction
and a second position for directing at least a portion of said
water flow along a second path to produce a thrust acting to move
said body in a second direction different from said forward
direction; and a controller driven by said positive pressure water
flow for alternately defining first and second states, said
controller configured to apply water pressure to said valve
actuator to place said actuator in said first position when said
first state is defined and said second position when said second
state is defined. .Iaddend..Iadd.
29. The apparatus of claim 28 further including: a plurality of
wheels carried by said body each having a traction surface for
engaging a wall surface to be cleaned, said wheels including at
least one front wheel and at least one rear wheel and wherein said
front wheel traction surface has a lower coefficient of friction
than said rear wheel traction surface. .Iaddend..Iadd.
30. Apparatus configured to be driven by a positive pressure water
source for cleaning a water pool, said apparatus comprising: a body
configured for immersion in said water pool; said body defining a
water supply inlet adapted for coupling to said water source for
receiving a positive pressure water flow therefrom; a plurality of
traction wheels carried by said body for engaging a wall surface to
be cleaned, said wheels including at least one front wheel and at
least one rear wheel and wherein said wheels collectively define a
contact plane tangential to said wheels; said body including a deck
having a substantially planar upper surface rearwardly inclined
relative to said wheel contact plane; a cross member defining a
rearwardly inclined hydrodynamic surface supported above and spaced
from said deck upper surface; and a propulsion subsystem carried by
said body responsive to said water flow for propelling said body in
a forward direction whereby said deck and cross member surfaces
moving through said water pool produce a force acting to hold said
traction wheels against said wall surface to be cleaned.
.Iaddend..Iadd.
31. Apparatus configured to be driven by a positive pressure water
source for cleaning a water pool, said apparatus comprising: a body
configured for immersion in said water pool; said body defining a
water supply inlet adapted for coupling to said water source for
receiving a positive pressure water flow therefrom; a plurality of
rotatable traction wheels carried by said body for engaging a wall
surface to be cleaned, said wheels including at least one front
wheel and at least one rear wheel and wherein said wheels
collectively define a contact plane tangential to said wheels; said
body including a deck having a substantially planar upper surface
rearwardly inclined relative to said wheel contact plane; a
propulsion subsystem carried by said body responsive to said water
flow for propelling said body in a forward direction whereby said
deck upper surface moving through said water pool produces a force
acting to hold said traction wheels against said wall surface to be
cleaned; said body defining a vacuum inlet opening located
proximate to said wheel contact plane and a rearwardly inclined
passageway extending from said vacuum inlet opening to a vacuum
discharge opening in said deck upper surface; and a vacuum jet pump
nozzle mounted within said passageway proximate to said vacuum
inlet opening oriented to discharge a high velocity water stream
upwardly and rearwardly through said passageway to create a suction
at said vacuum inlet opening for drawing water and debris from
adjacent to said wall surface to be cleaned and produce a force
acting to hold said traction wheels against said wall surface.
.Iaddend..Iadd.
32. The apparatus of claim 31 further including a water permeable
debris container for collecting water and debris discharged from
said vacuum discharge opening. .Iaddend.
Description
FIELD OF THE INVENTION
The present invention relates to a method and apparatus powered
from the pressure side of a pump for cleaning a water pool, e.g.,
swimming pool.
BACKGROUND OF THE INVENTION
The prior art is replete with different types of automatic swimming
pool cleaners. They include water surface cleaning devices which
typically float at the water surface and skin floating debris
therefrom. The prior art also shows pool wall surface cleaning
devices which typically rest at the pool bottom and can be moved
along the wall (which term should be understood to include bottom
and side portions) for wall cleaning, as by vacuuming and/or
sweeping. Some prior art assemblies include both water surface
cleaning and wall surface cleaning components tethered
together.
SUMMARY OF THE INVENTION
The present invention is directed to a method and apparatus driven
by a positive pressure water source for cleaning the interior
surface of a pool containment wall and the upper surface of a water
pool contained therein.
Apparatus in accordance with the invention includes: (1) an
essentially rigid unitary structure, i.e., a cleaner body, capable
of being immersed in a water pool and (2) a level control subsystem
for selectively moving the body to a position either (1) proximate
to the surface of the water pool for water surface cleaning or (2)
proximate to the interior surface of the containment wall for wall
surface cleaning.
The invention can be embodied in a cleaner body having a
weight/buoyancy characteristic to cause it to normally rest either
(1) proximate to the pool bottom adjacent to the wall surface
(i.e., heavier-than-water) or (2) proximate to the water surface
(i.e., lighter-than-water). With the heavier-than-water body, the
level control subsystem in an active state produces a vertical
force component for lifting the body to proximate to the water
surface for operation in a water surface cleaning mode. With the
lighter-than-water body, the level control subsystem in an active
state produces a vertical force component for causing the body to
descend to the wall surface for operation in the wall surface
cleaning mode.
A level control subsystem in accordance with the invention can
produce a desired vertical force component using one or more of
various techniques, e.g., by discharging an appropriately directed
water outflow from the body, by modifying the body's
weight/buoyancy characteristic, and by orienting hydrodynamic
surfaces or adjusting the pitch of the body.
Embodiments of the invention preferably also include a propulsion
subsystem for producing a nominally horizontal (relative to the
body) force component for moving the body along (1) a path adjacent
to the water surface when the body is in the water surface cleaning
mode and (2) a path adjacent to the wall surface when the body is
in the wall surface cleaning mode. When in the water surface
cleaning mode, debris is collected from the water surface, e.g., by
skimming either with or without a weir. When in the wall surface
cleaning mode, debris is collected from the wall surface, e.g., by
suction.
Embodiments of the invention are configured to be hydraulically
powered, from the positive pressure side of an external hydraulic
pump typically driven by an electric motor. This pump can comprise
a normally available water circulation pump used alone or in
combination with a supplemental booster pump. Proximal and distal
ends of a flexible supply hose are respectively coupled to the pump
and cleaner body for producing a water supply flow to the body for
powering the aforementioned subsystems. The hose is preferably
configured with portions having a specific gravity>0.1 so that
it typically lies at the bottom of the pool close to the wall
surface with the hose distal end being pulled along by the movement
of the body.
In preferred embodiments of the invention, the water supply flow
from the pump is distributed by one or more control elements (e.g.,
valves) to, directly or indirectly, create water flows for
producing vertical and horizontal force components for affecting
level control and propulsion. A preferred propulsion subsystem is
operable in either a normal state to produce a force component for
moving the body in a first direction, e.g., forward, or a
redirection (e.g.,backup) state to produce force components acting
to move the body in a second direction, e.g., lateral and/or
rearwardly. Water surface cleaning and wall surface cleaning
preferably occur during the normal propulsion state. The
redirection propulsion state assists the body in freeing itself
from obstructions.
In a preferred heavier-than-water embodiment, a water distribution
subsystem carried by the cleaner body selectively discharges water
flows via the following outlets: 1. forward thrust jet 2.
redirection or rearward ("backup") thrust jet 3. forward
thrust/lift jet 4. vacuum jet pump nozzle 5. skimmer jets 6. debris
retention jets 7. sweep hose 8. front chamber fill
The water flows discharged from these outlets produce force
components which primarily determine the motion and orientation of
the body. However, the actual motion and orientation at any instant
in time is determined by the net effect of all forces acting on the
body. Additional forces which effect the motion and orientation are
attributable, inter alia, to the following: a. the weight and
buoyancy characteristics of the body itself b. the hydrodynamic
effects resulting from the relative movement between the water and
body c. the reaction forces attributable to sweep hose action d.
the drag forces attributable to the supply hose, debris container,
etc. e. the contact forces of cleaner body parts against the wall
surface and other obstruction surfaces
A preferred cleaner body in accordance with the invention is
comprised of a chassis supported on a front wheel and first and
second rear wheels. The wheels are mounted for rotation around
horizontally oriented axles. The chassis is preferably configured
with a nose portion proximate to the front wheel and front
shoulders extending rearwardly therefrom. The shoulders taper
outwardly from the nose portion to facilitate deflection off
obstructions and to minimize drag as the body moves forwardly
through the water. Side rails extending rearwardly from the outer
ends of the shoulders preferably taper inwardly toward a tail
portion to facilitate movement of the body past obstruction
surfaces, particularly in the water surface cleaning mode.
The body is preferably configured so that, when at rest on a
horizontal portion of the wall surface, it exhibits a nose-down,
tail-up attitude. One or more hydrodynamic surfaces, e.g., a wing
or deck surface, is formed on the body to create a vertical force
component for maintaining this attitude as the body moves through
the water along a wall surface in the wall surface cleaning mode.
This attitude facilitates hold down of the traction wheels against
the wall surface and properly orients a vacuum inlet opening
relative to the wall surface. When in the water surface cleaning
mode, a hydrodynamic surface preferably rises above the water
surface thereby reducing the aforementioned vertical force
component and allowing the body to assume a more horizontally
oriented attitude in the water surface cleaning mode. This attitude
facilitates movement along the water surface and/or facilitates
skimming water from the surface into a debris container.
A preferred cleaner body in accordance with the invention is
configured with a hollow front fin extending above the water
surface when the body is operating in the water surface cleaning
mode. The fin has an interior chamber which can be water filled to
provide a downward weight to help stabilize the operating level of
the body near the water surface. In the wall surface cleaning mode,
the water filled fin has negligible effect when the body is
submerged but when the body climbs above the water surface, the
weight of the filled fin creates a vertical downward force tending
to cause the body to turn and re-enter the water.
A preferred cleaner body in accordance with the invention carries a
water permeable debris container. In the water surface cleaning
mode, water skimmed from the surface flows through the debris
container which removes and collects debris therefrom. In the wall
surface cleaning mode, water from adjacent to the wall surface is
drawn into the vacuum inlet opening and directed through the debris
container which removes and collects debris from the wall
surface.
The debris container, in one embodiment, comprises a main bag
formed of mesh material extending from a first frame. The first
frame is configured to be removably mounted on the chassis and
defines an open mouth for accepting (1) surface water flowing over
a skim deck when in the water surface cleaning mode and (2) outflow
from a vacuum path discharge opening when in the wall surface
cleaning mode. In accordance with a significant feature of a
preferred embodiment, the debris container may also include a
second water permeable bag interposed between the vacuum path
discharge opening and the aforementioned main bag. The second or
inner bag is preferably formed of a finer mesh than the main bag
and functions to trap silt and other fine material. The inner bag
is preferably formed by a length of mesh material rolled into an
essentially cylindrical form closed at one end and secured on the
other end to a second frame configured for mounting adjacent to
said vacuum path discharge opening. The edges of the mesh material
are overlapped to retain fine debris in the inner bag.
The debris container, in another embodiment, comprises a main bag
formed of mesh material containing one or more sheets or flaps
configured to readily permit water borne debris to flow therepast
into the bag but prevent such debris from moving past the sheets in
the opposite direction. More specifically, first and second sheets
of flexible mesh material are mounted in the bag such that one edge
of the first sheet lies proximate to one edge of the second sheet.
When the body is moving in its forward direction, pool water
flowing into the bag acts to separate the sheet edges to enable
debris to move past the edges into the bag. When the body is moving
in a direction other than forward, e.g., rearward or laterally,
water flow through the bag toward the mouth of the bag acts to
close the sheet edges to prevent debris from leaving the bag.
The operating modes of the level control subsystem (i.e., (1) water
surface and (2) wall surface) are preferably switched automatically
in response to the occurrence of a particular event, such as (1)
the expiration of a time interval, (2) the cycling of the external
pump, or (3) a state change of the propulsion subsystem (i.e., (1)
normal forward and (2) backup rearward). The operating states of
the propulsion subsystem (i.e., (1) normal forward and (2) backup
rearward) are preferably switched automatically in response to the
occurrence of a particular event such as the expiration of a time
interval and/or the interruption of body motion.
In a first disclosed embodiment (e.g., FIGS. 2, 3) using a
heavier-than-water body, the level control subsystem in an active
state produces a water outflow from the body in a direction having
a vertical component sufficient to lift the body to the water
surface for water surface cleaning.
In a second heavier-than-water embodiment (e.g., FIG. 17), the body
is configured with at least one chamber which is selectively
evacuated by an on-board water driven pump when the body is at the
water surface to enable outside air to be pulled into the chamber
to increase the body's buoyancy and stability.
In a third heavier-than-water embodiment (e.g., FIG. 18), a body
chamber contains an air bag coupled to an on-board air reservoir.
When in a quiescent state, the chamber is water filled and the air
bag is collapsed. In order to lift the body to the water surface,
an on-board water driven pump pulls water out of the chamber
enabling the air bag to expand to thus increase the body's buoyancy
and allow it to float to the water surface.
In a fourth embodiment (e.g. FIG. 19), the body is configured with
at least one chamber which contains a bag filled with air when in
its quiescent state. The contained air volume is sufficient to
float the body to the water surface. In order to sink the body to
the wall surface, the level control subsystem in its active state
supplies pressurized water to fill the chamber and collapse the
bag, pushing the contained air under pressure into an air
reservoir.
Preferably all of the embodiments include a level override control
for enabling a user to selectively place the level valve in either
the wall surface cleaning mode or the water surface cleaning
mode.
Although multiple specific embodiments of cleaner bodies and level
and propulsion control subsystems in accordance with the invention
are described herein, it should be recognized that many alternative
implementations can be configured in accordance with the invention
to satisfy particular operational or cost objectives. For example
only, selected features from two or more embodiments may be readily
combined to configure a further embodiment.
Among the more significant features is the inclusion of a motion
sensor mechanism (e.g., FIGS. 21, 22) to sense when the rate of
forward motion of the cleaner body diminishes below a certain
threshold. This can occur, for example, when the body gets trapped
behind an obstruction. By sensing the motion decrease, a
redirection state can be initiated to move the body laterally
and/or rearwardly to free it of the obstruction. This motion
sensing feature has potential application in various types of pool
cleaners regardless of whether they operate at both the water
surface and wall surface. In accordance with a preferred
embodiment, the motion sensor operates in conjunction with a
periodic control device which alternately defines first and second
conditions. Redirection is initiated when two conditions occur
concurrently; i.e., the period control device defining the second
condition and the motion sensor indicating that forward motion has
diminished below the threshold.
In accordance with another significant feature, redirection is
preferably accomplished by discharging the output of a jet pump
(e.g., FIG. 22) in a direction substantially laterally with respect
to the body.
In accordance with a further useful feature, a presdure indicator
carried by the body is preferably coupled to the water distribute
system to indicate to a user whether the pressure magnitude being
delivered to the body is within an acceptable operating range.
In accordance with a still further feature (e.g., FIGS. 29, 32), a
pitch control subsystem is carried by the body to selectively
orient the body's pitch to either (1) nose (i.e., front) up/tail
(i.e., rear) down or (2) nose down/tail up. By selectively
orienting the pitch of the body and providing forward propulsion,
as from a single jet, the body can be driven either up to the water
surface or down to the wall surface. The pitch control subsystem
can be implemented by shifting weight and/or buoyancy between the
front and rear of the body.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 schematically depicts a positive pressure driven cleaner in
accordance with the invention in a water pool operating
respectively in (1) a water surface cleaning mode (dashed line) and
(2) a wall surface cleaning mode (solid line);
FIG. 2 schematically depicts a side view of a first cleaner body in
accordance with the invention showing multiple water flow outlets
which are selectively activated to enable the cleaner to operate in
the water surface or wall surface cleaning mode and forward or
backup state;
FIG. 3 is a functional block diagram depicting water flow
distribution in the embodiment of FIG. 2;
FIG. 4 is a rear isometric view, partially broken away, of a
preferred cleaner body in accordance with the invention;
FIG. 5 is a sectional view taken substantially along the plane 5--5
of FIG. 4;
FIG. 6 is a bottom plan view of the cleaner body of FIG. 4;
FIG. 7 is an exploded isometric view of the cleaner body of FIG. 4
showing the primary parts including the chassis, the water flow
distributor, and the upper frame;
FIG. 8 is a sectional view of the front fin taken substantially
along the plane 8--8 of FIG. 4;
FIG. 9 is a side view similar to FIG. 2 particularly showing the
water flow outlets active during the wall surface cleaning
mode;
FIG. 10 is a side view similar to FIG. 2 particularly showing the
water flow outlets active during the water surface cleaning
mode;
FIG. 11 is a side view similar to FIG. 2 particularly showing the
water flow outlets active during the backup state;
FIG. 12A is a schematic representation of a preferred
implementation of the water flow distributor of FIG. 3 and FIG. 12B
comprises a sectional view through the direction controller of FIG.
12A;
FIG. 13 is a schematic representation of a preferred implementation
of the water flow distributor of FIG. 3 including a motion
sensor;
FIG. 14 is a side view of a preferred debris container inner
bag;
FIG. 15 is a sectional view taken substantially along the plane
15--15 of FIG. 14 showing how the overlapped edges of the inner
debris container bag are overlapped;
FIG. 16 is a sectional view taken substantially along the plane
16--16 of FIG. 5 showing how the inner bag of FIGS. 14, 15 is
mounted to the cleaner body chassis;
FIGS. 17A, 17B and 17C depict a second heavier-than-water
embodiment of the invention respectively schematically showing a
side view, an isometric view, and a functional block diagram;
FIGS. 18A, 18B and 18C depict a third heavier-than-water embodiment
of the invention respectively schematically showing a side view, an
isometric view, and a functional block diagram;
FIGS. 19A, 19B, and 19C depict a fourth lighter-than-water
embodiment of the invention respectively schematically showing a
side view, an isometric view, and a functional block diagram;
FIG. 20 is a schematic representation of a water flow distributor
implementation alternative to FIG. 12A;
FIG. 21 is a schematic representation of a water flow distributor
implementation alternative to FIG. 13;
FIG. 22A is a functional block diagram of a water flow distribution
subsystem alternative to that shown in FIG. 3 for use with the
cleaner body of FIG. 2, FIG. 22B shows the orientation of the
redirection jet pump discharge relative to the body, and FIG. 22C
schematically depicts how the body typically reacts during the
redirection state;
FIG. 23A is a schematically representation of a preferred
implementation of the distributed subsystem of FIG. 22 and FIG. 23B
is an enlarged view of a portion of FIG. 23A showing the
relationship between the motion sensor paddle and the main relief
port.
FIGS. 24A, 24B, 24C depict different positions of the valve
subassembly of FIG. 23A for the backup state, the forward
state/water surface mode, and the forward state/wall surface mode,
respectively;
FIGS. 25, 26, 27 show a cross-section through a preferred control
assembly for different respective positions of the manual override
disk;
FIG. 28 is a timing chart describing the operation of the
controller assembly of FIG. 23;
FIG. 29 is a functional block diagram similar to FIG. 18C but
modified particularly to introduce a weight shift subsystem for
controlling the pitch of the cleaner body;
FIGS. 30 and 31 respectively depict the body pitch in (1) a nose
down/tail up orientation and (2) a nose up/tail down
orientation;
FIG. 32 is a functional block diagram similar to FIG. 29 but
showing a buoyancy shift subsystem for controlling body pitch;
FIG. 33 is an isometric view of a preferred debris bag showing
sheets in the bag for permitting debris inflow but blocking debris
outflow;
FIG. 34A is a schematic side representation of the debris bag
showing its interior sheets open to permit debris entry;
FIG. 34B is a schematic sectional representation taken along line
34B--34B of FIG. 34A; and
FIG. 34C is a view identical to FIG. 24B but showing the sheet
edges closed to block debris outflow.
DESCRIPTION OF PREFERRED EMBODIMENTS
With reference to FIG. 1, the present invention is directed to a
method and apparatus for cleaning a water pool 1 contained in an
open vessel 2 defined by a containment wall 3 having bottom 4 and
side 5 portions. Embodiments of the invention utilize a unitary
structure or body 6 configured for immersion in the water pool 1
for selective operation proximate to the water surface 7 in a water
surface cleaning mode or proximate to the interior wall surface 8
in a wall surface cleaning mode.
The unitary body 6 preferably comprises an essentially rigid
structure having a hydrodynamically contoured exterior surface for
efficient travel through the water. Although the body 6 can be
variously configured in accordance with the invention, it is
intended that it be relatively compact in size, preferably fitting
within a two foot cube envelope. FIG. 1 depicts a
heavier-than-water body 6 which in its quiescent or rest state
typically sinks to a position (represented in solid line) proximate
to the bottom of the pool 1. For operation in the water surface
cleaning mode, a vertical force is produced to lift the body 6 to
proximate to the water surface 7 (represented in dash line).
Alternatively, body 6 can be configured to be lighter-than-water
such that in its quiescent or rest state, it floats proximate to
the water surface 7. For operation in the wall surface cleaning
mode, a vertical force is produced to cause the lighter-than-water
body to descend to the pool bottom. In either case, the vertical
force is produced as a consequence of a positive pressure water
flow supplied via flexible hose 9 from an electrically driven motor
and hydraulic pump assembly 10. The assembly 10 defines a pressure
side outlet 11 preferably coupled via a pressure/flow regulator 12A
and quick disconnect coupling 12B to the flexible hose 9. The hose
9 is preferably formed of multiple sections coupled in tandem by
hose nuts and swivels 13. Further, the hose is preferably
configured with appropriately placed floats 14 and distributed
weight so that a significant portion of its length normally rests
on the bottom of wall surface 8.
As represented in FIG. 1, the body 6 generally comprises a top
portion or frame 6T and a bottom portion or chassis 6B, spaced in a
nominally vertical direction. The body also generally defines a
front or nose portion 6F and a rear or tail portion 6R spaced in a
nominally horizontal direction. The body is supported on a traction
means such as wheels 15 which are mounted for engaging the wall
surface 8 when operating in the wall surface cleaning mode.
Embodiments of the invention are based, in part, on a recognition
of the following considerations:
1. Inasmuch as most debris initially floats on the water surface,
prior to sinking to the wall surface, the overall cleaning task can
be optimized by cleaning the water surface to remove debris before
it sinks.
2. A water surface cleaner capable of floating or otherwise
traveling to the same place that debris floats to can capture
debris more effectively than a fixed position skimmer.
3. The water surface can be cleaned by skimming with or without a
weir, by a water entrainment device, or by scooping up debris as
the cleaner body moves across the water surface. The debris can be
collected in a water permeable container.
4. A single essentially rigid unitary structure or body can be used
to selectively operate proximate to the water surface in a water
surface cleaning mode and proximate to the wall surface in a wall
surface cleaning mode.
5. The level of the cleaner body in the water pool, i.e., proximate
to the water surface or proximate to the wall surface, can be
controlled by a level control subsystem capable of selectively
defining either a water surface mode or a wall surface mode. The
mode defined by the subsystem can be selected via a user control,
e.g., a manual switch or valve, or via an event sensor responsive
to an event such as the expiration of a time interval.
6. The movement of the body in the water pool can be controlled by
a propulsion subsystem, preferably operable to selectively propel
the body in either a forward or rearward direction. The direction
is preferably selected via an event sensor which responds to an
event such as the expiration of a time interval or an interruption
of the body's motion.
7. A cleaning subsystem can be operated in either a water surface
cleaning mode (e.g., skimming) or a wall surface cleaning mode
(e.g., vacuum or sweeping).
8. The aforementioned subsystems can be powered by a positive
pressure water flow supplied preferably by an electrically driven
hydraulic pump.
As will be explained in greater detail hereinafter, in typical
operation, the body 6 alternately operates in (1) a water surface
cleaning mode to capture floating debris and (2) a wall surface
cleaning mode in which it travels along bottom and side wall
portions to clean debris from the wall surface 8. The body 6
preferably tows a flexible hose 16 configured to be whipped by a
water outflow from a nozzle at its free end to sweep against the
wall surface 8.
Four exemplary embodiments of the invention will be described
hereinafter. The first three of these embodiments will be assumed
to have a weight/buoyancy characteristic to cause it to normally
rest proximate to the bottom of pool 1 adjacent to the wall surface
8 (i.e., heavier-than-water). The fourth embodiment (FIGS. 19A,
19B, 19C) will be assumed to have a characteristic to cause it to
rest (i.e., float) proximate to the water surface 7 (i.e.,
lighter-than-water).
With a heavier-than-water embodiment, an on-board level control
subsystem in an active state produces a vertical force component
for lifting the body to proximate to the water surface 7 for
operation in a water surface cleaning mode. With a
lighter-than-water embodiments, the level control subsystem in an
active state produces a vertical force component for causing the
body to descend to the wall surface 8 for operation in the wall
surface cleaning mode.
FIRST EMBODIMENT (FIGS. 2-16)
Attention is now directed to FIG. 2 which schematically depicts a
first embodiment comprised of a unitary body 100 having a positive
pressure water supply inlet 101 and multiple water outlets which
are variously used by the body 100 in its different modes and
states. The particular outlets active during particular modes and
states are represented in FIGS. 9, 10 and 11 which schematically
respectively represent (1) wall surface cleaning mode, (2) water
surface cleaning mode, and (3) backup state.
With reference to FIG. 2, the following water outlets are
depicted:
102--Forward Thrust Jet; provides forward propulsion and a downward
force in the wall surface cleaning mode (FIG. 9) to assist in
holding the traction wheels against the wall surface 8;
104--Rearward ("backup") Thrust Jet; provides backward propulsion
and rotation of the body around a vertical axis when in the backup
state (FIG. 11);
106--Forward Thrust/Lift Jet; provides thrust to lift the cleaner
body to the water surface and to hold it there and propel it
forwardly when operating in the water surface cleaning mode (FIG.
10);
108--Vacuum Jet Pump Nozzle; produces a high velocity jet to create
a suction at the vacuum inlet opening 109 to pull in water and
debris from the adjacent wall surface 8 in the wall surface
cleaning mode (FIG. 9);
110--Skimmer Jets; provide a flow of surface water and debris into
a debris container 111 when operating in the water surface cleaning
mode (FIG. 10);
112--Debris Retention Jets; provides a flow of water toward the
mouth of the debris container 111 to keep debris from escaping when
operating in the backup state (FIG. 11);
114--Sweep Hose; discharges a water flow through hose 115 to cause
it to whip and sweep against wall surface 8;
116--Front Chamber Fill; provides water to fill a chamber interior
to hollow front fin 117 for creating a downward force on the front
of body 100 when operating in the water surface cleaning mode (FIG.
10).
Attention is now directed to FIG. 3 which schematically depicts how
positive pressure water supplied to inlet 101 from pump 10 is
distributed to the various outlets of the body 100 of FIG. 2. The
pump 10 is typically controlled by an optional timer 120 to
periodically supply positive pressure water via supply hose 9 to
inlet 101. The supplied water is then variously distributed as
shown in FIG. 3 to the several outlets depending upon the defined
mode and state.
More particularly, water supplied to inlet 101 is directed to an
optional timing assembly 122 (to be discussed in detail in
connection with FIG. 12) which operates a level controller 124 and
a direction controller 126. The direction controller 126 controls a
direction valve 128 to place it either in a normal forward state or
a backup rearward state. When in the backup state, water from
supply inlet 101 is directed via valve supply inlet 130 to rearward
outlet 132 for discharge through the aforementioned Rearward Thrust
Jet 104 and Debris Retention Jets 112. When in the forward state,
water from supply inlet 101 is directed through outlet 134 to
supply inlet 136 of level valve 138.
Level valve 138 is controlled by controller 124 capable of defining
either a wall surface cleaning mode or a water surface cleaning
mode. When in the wall surface cleaning mode, water flow to supply
port 136 is discharged via outlet 140 to Vacuum Jet Pump Nozzle 108
and Forward Thrust Jet 102. When the level control valve 138 is in
the water surface leaning mode, water flow supplied to port 136 is
directed via outlet port 142 to Forward Thrust/Lift Jet 106 and to
Skimmer Jets 110.
Note also in FIG. 3 that an override control 146 is provided for
enabling a user to selectively place the level valve 138 in either
the wall surface cleaning mode or the water surface cleaning mode.
Also note that positive pressure water delivered to supply inlet
101 is preferably also distributed via an adjustable flow control
device 150 and the aforementioned Sweep Hose outlet 114 to sweep
hose 115. Additionally, note that the positive pressure water
supplied to inlet 101 is preferably also directed to Fill outlet
116 for filling a chamber interior to hollow front fin 117 to be
discussed in detail in connection with FIG. 8.
The system of FIG. 3 can be implemented and operated in many
different manners, but it will be assumed for purposes of
explanation that the level valve 138 is caused to be in the water
surface cleaning mode and about fifty percent of the time and the
wall surface cleaning mode about fifty percent of the time. This
scenario can be implemented by, for example, responding to a
particular event such as the cycling of external pump 10 or by the
expiration of a time interval defined by timing assembly 122. The
timing assembly 122 will typically, via direction controller 126,
place the direction valve 128 in its normal forward state a
majority of the time and will periodically switch it to its backup
state. For example, in typical operation the direction valve 128
will remain in its forward state for between one and one half to
five minutes and then be switched to its backup state for between
five to thirty seconds, before returning to the forward state. In a
typical swimming pool situation this manner of operation will
minimize the possibility of the cleaner body becoming trapped
behind an obstruction for an extended period of time. In certain
pool environments, where obstructions are more likely to be
encountered, it may be desirable to more promptly initiate the
backup state once the forward motion of the body has diminished
below a threshold rate. Accordingly, the distribution system of
FIG. 3 is preferably equipped with an optional motion sensor 152
which is configured to recognize a diminished forward motion of the
body to cause the direction valve 128 to switch to its backup
state. An exemplary implementation of the water flow distribution
system of FIG. 3 will be described hereinafter in connection with
FIG. 12. An exemplary implementation of the water distribution
system of FIG. 3 including the motion sensor 152 will be described
hereinafter with reference to FIG. 13.
Attention is now directed to FIGS. 4-8 showing a structural
implementation of the first body embodiment 100 which is
essentially comprised of upper and lower molded sections 154T and
154B. The lower section or chassis 154B is formed of a concave
floor member 160 having side rails extending around its periphery.
More particularly, note left and right shoulder side rails
162L,162R which diverge rearwardly from a chassis nose portion 164.
Side rails 166L, 166R extend rearwardly from the shoulder rails
162L, 162R converging toward the rear or tail end 168 of the
chassis 154B. The chassis is supported on three traction wheels 170
mounted for free rotation around horizontally oriented parallel
axes. More particularly, the wheels 170 are comprised of a front
center wheel 170F, mounted proximate to the chassis nose portion
164, and rear left and rear right wheels 170RL and 170RR. The
wheels typically carry tires 171 which provide circumferential
surfaces preferably having a sufficiently high coefficient of
friction to normally guide the body along a path essentially
parallel to its longitudinal axis. However, front wheel 170F
preferably has a somewhat lower coefficient of friction than wheels
170RL and 170RR to facilitate turning.
The chassis preferably carries a plurality of horizontally oriented
guide wheels 176 mounted around the perimeter of the chassis for
free rotation around vertical axes to facilitate movement of the
body past wall and other obstruction surfaces.
As can best be seen in FIGS. 2, 6 and 7, the chassis 154B defines
an inclined vertical passageway 180 which extends upwardly from a
vacuum inlet opening 109 on the underside of the chassis (see FIG.
6). The passageway 180 is inclined rearwardly from the opening 109
extending to a vacuum discharge opening 182 proximate to the tail
end 168 of the chassis 154B. The aforementioned Vacuum Jet Pump
Nozzle 108 is mounted within the passageway 180 proximate to the
opening 109 and oriented to discharge a high velocity stream
upwardly and rearwardly along the passageway 180, as represented in
FIG. 2. This high velocity stream creates a suction at the vacuum
opening 109 which draws water and debris from adjacent the wall
surface 8 into the passageway 180 for discharge at the opening 182.
The vertical component of the stream assists in producing a hold
down force when the unit is operating in the wall surface cleaning
mode acting to urge the wheels 170 against the wall surface 8.
The body 100 upper portion or frame 154T defines a perimeter
essentially matching that of the chassis 154B. The frame is
comprised of a deck 200 having upstanding side walls 202L and 202R
extending therefrom. Each of the walls 202 defines an interior
volume containing material 203 (FIG. 5), e.g., solid foam, selected
to provide a weight/buoyancy characteristic to facilitate the
body's assuming a desired orientation in the wall and water surface
cleaning modes and in transition therebetween. The frame 154T also
defines the aforementioned front fin 117 which is centrally mounted
on deck 200 proximate to the forward or nose portion. The fin 117
is shaped with a rounded front surface 208 and with side surfaces
210L and 210R converging toward a rear edge 212. Aforementioned
Skimmer Jets 110 and Debris Retention Jets 112 are mounted
proximate to the rear edge 212. The Jets 110 are comprised of three
rearwardly directed outlets including a center outlet 110C and left
and right outlets 110L and 110R. The outlet 110C is directed
essentially along the center line of the body 100 whereas the Jets
110L and 110R diverge or fan out slightly from the center line. All
of the Jets 110 are preferably oriented slightly downwardly with
respect to deck 200 (see FIG. 10) to produce a vertical lift force
component when active. The Debris Retention Jets 112 are also
comprised of three outlets including a center outlet 112C and left
and right outlets 112L and 112R. Outlets 112L, 112R also diverge in
an essentially fan pattern similar to the Skimmer Jets 110.
However, whereas the Skimmer Jets 110 are oriented slightly
downwardly, the Debris Retention Jets 112 are oriented slightly
upwardly (see FIG. 11) directed toward a rear debris entrance
opening 218.
More particularly, the side walls 202L, 202R respectively define
inner surfaces 220L, 220R which converge rearwardly to guide water
moving past fin 117 toward the rear debris opening 218 which is
framed by rear cross member 227, deck 200, and the side wall
surfaces 220L, 220R. A slot 228 is formed around opening 218 for
removably accommodating an open frame member 230. The frame member
230 has the aforementioned debris container 111, preferably
comprising a bag formed of flexible mesh material 231, secured
thereto so that water flow through opening 218 will flow into the
container 111.
A front cross member 240 extends between the walls 202L and 202R,
preferably supported by the fin 117 proximate to the rear edge 212.
The cross member 240 defines rearwardly inclined hydrodynamic
surfaces 242 (see FIG. 2) which, together with deck surface 200,
act to produce a downward force on the body as the body moves
forward in the wall surface cleaning mode. This force assists in
maintaining the traction wheels 170 against the wall surface 8 to
properly position the vacuum inlet opening 109 in close proximity
to the wall surface 8 (see FIG. 9).
The vacuum passageway 180 extends from vacuum inlet opening 109 and
terminates at vacuum discharge opening 182 in close proximity to
the upper surface of deck 200. Thus, water drawn from the wall
surface 8 through the vacuum passageway 180 will exit at the
discharge opening 182 and be directed rearwardly through opening
218 and into the aforementioned debris container 111. In order to
assure relatively unobstructed water flow through debris container
111, it is formed of a relatively coarse mesh material 231
sufficient to trap small pieces of leaves, for example, but
insufficient to trap finer debris such as silt. In order to trap
such finer material which sometimes accumulates on the wall surface
8, a second or auxiliary debris container 250 is provided for
mounting adjacent the vacuum discharge opening 182 (FIG. 7). The
details of a preferred implementation of container 250 will be
discussed in connection with FIGS. 14-16. However, at this
juncture, it is to be noted that the container 250 comprises a bag
formed of mesh material 253 (preferably having a finer mesh than
that of bag 111) closed at an upper end 254 (FIG. 14). The bag 250
lower end 255 defines an open mouth extending around frame member
256 which is configured to be mounted in the vacuum discharge
opening 182 so that the bag 250 extends rearwardly, into the main
debris container bag 111, as represented in FIG. 4.
Attention is now specifically directed to FIGS. 5 and 7 which
generally depict a "plumbing" subassembly 260 for implementing the
water distribution system schematically represented in FIG. 3. It
will be recalled from FIG. 3 that positive pressure water is
supplied via supply inlet 101 and then distributed to the various
outlets 102, 104,106,108,110, 112,114, and 116, all of which can be
seen in FIG. 7. The plumbing subassembly 260 is mounted between the
body chassis 154B and the body frame 154T. More specifically, the
chassis floor member 160 is concaved and defines a recess for
accommodating the plumbing subassembly 260 which is retained to the
chassis by bracket 270. Although the plumbing subassembly 260
contains the various elements of the distribution system shown in
FIG. 3, including the timing assembly 122, the direction controller
126, the direction valve 128, the level controller 124, and the
level valve 138, they are not visible in FIG. 7 but will be
discussed hereinafter in connection with FIG. 12.
FIG. 8 shows a cross-section of front fin 117 and depicts interior
chamber 262 having awater inklet 263 in its bottom wall 264. The
inlet 263 is coupled to aforementioned Front Chamber Filled outlet
116. Overflow tubes 265 are mounted in chamber 262 having entrances
266 positioned to establish the height of the water volume in the
chamber. The tubes 265 are open at their lower ends 267 to permit
overflow water to exit from the chamber 262.
Attention is now directed to FIGS. 9, 10 and 11 which respectively
depict operation in the wall surface cleaning mode (forward state),
the water surface cleaning mode (forward state), and the backup
state (either mode). In each of FIGS. 9, 10, and 11, a water
discharge stream is represented as exiting from the outlets active
during that mode and/or state. The primary force components acting
on the body are also represented in FIGS. 9-11.
FIG. 9 shows the body 100 in the wall surface cleaning mode with
its wheel 170 engaged against a horizontally oriented portion of
wall surface 8. In this situation, note that the body assumes a
nose down, tail up attitude, being oriented at an approximately
11.degree. angle with respect to the horizontal. This attitude
facilitates the development of appropriate vertical forces as the
body moves forwardly through the water pool to hold the wheels
against the wall surface 8. More particularly, when operating in
the wall surface cleaning mode, water is discharged from the
Forward Thrust Jet 102 and the Vacuum Jet pump Nozzle 108. Note
that with the attitude depicted in FIG. 9, both of these outflows
are directed to develop nominal vertical force components in the
direction to press the wheels 170 against the wall surface 8.
Additionally, both of these outflows provide nominally horizontal
thrust components acting to propel the body in a forward direction,
i.e., to the left as depicted in FIG. 9. This forward motion of the
body through the water in turn develops vertical force components,
e.g., 270, attributable to relative motion of the water acting
against the various hydrodynamics surfaces, particularly surfaces
200 and 242. The motion of the body 100 through the water in the
wall surface cleaning mode will be somewhat randomized by the
totality of forces acting on the body including the drag force of
the supply hose 9 and debris container 111, as well as the reaction
forces produced by the whipping of the sweep hose 15. The precise
path followed by the body 100 will additionally be largely affected
by the contours of the containment wall surfaces acting against the
traction wheels 170. As the body 100 moves along the wall surface,
different ones of the forces will dominate at different times to
cause the body to deviate from an essentially straight line travel
path defined by the traction wheels 170. This deviation is an
intended consequence of the overall design of the apparatus and
serves to randomize the motion of the body along the wall surface
to clean the entire wall surface including bottom and side
portions. To achieve optimum path travel for the contours of a
particular containment wall, various ones of the thrust jets, e.g.,
Forward Thrust Jet 102, are preferably mounted so that they can be
adjustably directed, e.g., via a ball and socket configuration 274
(FIG. 7). Additionally, front wheel 170F preferably exhibits a
lower coefficient of friction than the other wheels 170 to
facilitate turning from a single line path.
Attention is now directed to FIG. 10 which depicts the body 100
operating in the water surface cleaning mode adjacent to the water
surface 7. Note that in the water surface cleaning mode, Forward
Thrust/Lift Jet 106 and Skimmer Jets 110 discharge water with a
downward component to produce a vertical lift force to overcome the
weight of the unit and maintain the body with an essentially
horizontal attitude adjacent the water surface 7. Note that in the
water surface cleaning mode (FIG. 10), deck surface 200 is
essentially parallel to the water surface 7 and the hydrodynamic
surface 242 is above the water surface. Thus, neither surface
produces the vertical downward force component in the water surface
cleaning mode that it does in the wall surface cleaning mode of
FIG. 9. Also, note that the water filled front fin 117 is at least
partially lifted out of the water in FIG. 10 so that its weight
contributes a vertical downward force component. The path of travel
along the water surface taken by the body 100 will be primarily
determined by the direction of discharge of the Forward Thrust/Lift
Jet 106 and Skimmer Jets 110. Additionally, of course, it will be
affected by the totality of other forces acting on the body
including the drag forces attributable to the supply hose 9 and
debris bag 111, the reaction forces produced by the whipping of the
sweep hose 115, and the contact with wall and other obstruction
surfaces.
Attention is now directed to FIG. 11 which depicts the active water
outflows during the backup state which, it will be recalled, is
defined by the direction valve 128 (FIG. 3). In the backup state,
water is discharged from the Debris Retention Jets 112 and the
Rearward Thrust Jet 104. It will be recalled from FIG. 6 that the
Thrust Jet 104 is displaced from the center line of the body 100 so
that in providing rearward thrust, the body will tend to rotate
around a vertical axis and thus be able to work its way around
obstructions. The Debris Retention Jets 112 discharge through
opening 218 into the bag 111 and thus prevent debris from coming
out of the bag when the body is moving rearward as represented in
FIG. 11.
Although the embodiment described in FIGS. 2-11 has been assumed to
use a heavier-than-water body, which uses water outflows to thrust
it to the water surface, it should be understood that it could
alternatively use a lighter-than-water body with the water outflows
being directed to thrust the body down to the wall surface.
Attention is now directed to FIG. 12A which schematically
represents a preferred implementation 300 of the water distribution
system depicted in FIG. 3. The implementation 300 is basically
comprised of:
a. Direction valve 128 implemented by valve assembly 304;
b. Level valve 138 implemented by a valve assembly 306;
c. Direction controller 126 implemented by controller assembly
308;
d. Level controller 124 implemented by controller assembly 310;
and
e. Timing assembly 122 implemented by nozzle 312, turbine 314,
timing gear train 316, and reduction gear train 318.
For clarity of explanation, it will be assumed that the
implementation 300 is designed to cause the body 100 to operate in
accordance with the following exemplary schedule:
PROPULSION CLEANING MODE DURATION STATE DURATION WATER SURFACE 30
Min. FORWARD 90 Sec. BACKUP 7 Sec. WALL SURFACE 30 Min. FORWARD 90
Sec. BACKUP 7 Sec.
Direction valve assembly 304 comprises a cylindrical valve body
330D having a first end 331D defining a supply inlet 332D and a
sealed second end 333D. Forward outlet 334D and rearward outlet
336D open through side wall 337D (respectively corresponding to
outlets 134 and 132 in FIG. 3). The inlet 332D communicates with
either outlet 334D or 336D depending upon the position of valve
element 338D. Valve elements 338D is carried by rod 340D secured to
piston 342D. A spring 346D contained within the valve body 330D
normally pushed piston 342D toward the end 331D of the valve body
to seat outlet 334D and communicate inlet 332D with outlet 336D.
The valve body 330D also defines a control post 350D which opens
through side wall 337D between fixed partition 352D and piston
342D. Positive pressure water supplied to control port 350D acts to
move piston 342D toward end 333D against spring 346D, thus causing
valve element 338D to seal rearward outlet 336D and open forward
outlet 334D.
Direction valve control port 350D is controlled by the output 364D
of the direction controller assembly 308. The direction controller
assembly 308 is preferably comprised of a cylindrical controller
body 360D having a circumferential wall defining an inlet 362D and
an outlet 364D. Additionally, body 360D defines an end wall 366D
having an exhaust port 368D formed therein. A disk shaped valve
element 370D is mounted on shaft 372D for rotation within the
controller body as depicted in FIG. 12B. During a portion of its
rotation, the valve element 370D seals exhaust port 368D enabling
positive pressure water supplied to controller inlet 362D to be
transferred via outlet 364D to direction valve control port 350D.
During the remaining portion of its rotation, exhaust port 368D is
open, and positive pressure water from inlet 362D is exhausted
through port 368D so that no significant pressure is applied to
control port 350D. Positive pressure water is supplied to inlet
362D from tubing 380 coupled to direction valve body outlet 382D
which communicates directly with supply inlet 332D.
In the implementation of FIG. 12, the direction valve assembly 304
inlet 332D is connected to the aforementioned positive pressure
supply inlet 101 shown in FIG. 3. The direction valve assembly 304
forward outlet 334D is connected to the inlet 332L of level valve
assembly 306. Level valve assembly 306 is implemented essentially
identical to direction valve assembly 304 and defines outlets 334L
and 336L which respectively correspond to the water surface
cleaning outlet 142 and the wall surface cleaning outlet 140 of
FIG. 3.
The positive pressure water from outlet 382D is also delivered to
turbine nozzle 312 and, via tubing 384, to the inlet 362L of the
level controller assembly 310. The outlet 364L of the level
controller assembly 310 is connected to the control port 350L of
the level valve assembly 306. Level controller assembly 310 is
implemented essentially identical to direction controller assembly
308.
Nozzle 312 is positioned to turn turbine 314 which rotates drive
shaft 386 of timing gear train 316 which drives both output gear
388 and output drive shaft 390. Gear 388 forms part of a train to
rotate the direction controller valve element 370D. Shaft 390 forms
part of a train to rotate the level controller valve element 370L.
More specifically, shaft 390 drives reduction gear train 318 to
rotate the level controller valve element 370L at a slow rate,
e.g., once per hour, to alternately define thirty minute intervals
for the water surface and wall surface cleaning modes.
Gear 388 drives the direction controller valve element 370D via a
clutch mechanism 392 depicted in FIG. 12A. The clutch mechanism 392
normally disengages gear 388 from direction controller shaft 372D
but periodically (e.g., fifteen seconds during each ninety second
interval) engages to rotate the shaft 372D and direction controller
valve element 370D. The clutch mechanism 392 is implemented via a
throw-out gear 393 carried by swing arm 394. A tension spring 395
normally acts on swing arm 394 to disengage gears 393 and 388.
However, gear 388 carries cam 396 which, once per cycle, forces cam
follower 397 to pivot swing arm 394 so as to engage gears 393 and
388. Gear 393 is coupled via gear 398 to gear 399 which is mounted
to rotate direction controller shaft 372D.
In the operation of the apparatus of FIG. 12A, assume initially
that the apparatus is in its quiescent state with direction valve
assembly 304 rearward outlet 366D open and forward outlet 334D
closed and with level valve assembly 306 wall surface cleaning
outlet 336L open and water surface cleaning outlet 334L closed.
When positive pressure water is supplied via inlet 101 to inlet
332D of direction valve assembly 304, it will be directed via
tubing 380 to inlet 362D of direction controller assembly 308.
Positive pressure water will also be supplied to nozzle 312 to
drive turbine 314. As a consequence, gear train 316 and reduction
gear train 318 will rotate the level controller valve element 370L
to periodically seal exhaust port 368L and periodically pressurize
control port 350L of level valve assembly 306. When pressurized, it
will move the piston of assembly 306 against spring 364L to open
water surface cleaning outlet 334L. When control port 350L is not
pressurized, wall surface cleaning port 366L will be open. Thus,
the level valve assembly 306 will alternately open outlets 334L and
336L depending upon the position of the disk valve member 370L of
the level controller assembly 310. In the assumed implementation,
the water and wall surface cleaning modes will be alternatively
defined for approximately equal periods of about thirty minutes
each.
The direction valve assembly 304 similarly will open forward outlet
334D when its control port 350D is pressurized. When control port
350D is not pressurized, then the rearward outlet 336D will be
open. Water pressure delivered to control port 350D is determined
by the position of disk valve element 370D within direction
controller 308. In the assumed implementation, the direction
controller 308 defines the forward propulsion state for
approximately ninety seconds and then switches the direction valve
assembly 304 to the backup propulsion state for approximately seven
seconds.
From the foregoing explanation of FIG. 12A, it should be understood
that the spring 395 normally acts to disengage gears 393 and 388 so
that direction controller valve element 370D is not driven.
However, cam 396 periodically raises cam follower 397 to engage
gears 393 and 388 to rotate the valve element 370D to switch
direction valve 304 to its backup state. Attention is now directed
to FIG. 13 which illustrates an alternative water distribution
implementation which incorporates a motion sensor (152 in FIG. 3)
for the purpose of sensing when the forward motion of the body 100
has diminished below a certain threshold. This may occur, for
example, when the body 100 gets trapped behind an obstruction, such
as the entrance of a built-in skimmer. In such an instance, it is
desirable to promptly switch the direction valve 128 to the back-up
state. Whereas in FIG. 12A, spring 395 operates to normally
disengage gears 393 and 388, in the embodiment of FIG. 13, spring
402 is connected to swing arm 404 to normally engage gear 406 and
output drive gear 408. A motion sensor in the form of paddle 412 is
structurally connected to the swing arm 404. The paddle 412 is
mounted so that when the body 100 is moving through the water in a
forward direction (413), the relative water flow will act to pivot
the paddle in a clockwise direction (as viewed in FIG. 13) to
overcome the action of spring 402 to disengage gears 406 and 408.
So long as the body keeps moving in a forward direction above a
threshold rate, the paddle 412 will overcome the spring 402 to
disengage gears 406,408 and the direction controller shaft 372 will
not rotate. However, when the forward motion of the body diminishes
to below the threshold rate, the paddle 412 no longer overcomes the
force of spring 402 and the shaft 372 is caused to rotate to switch
the direction valve 304 to the backup state.
Notwithstanding the foregoing, even if the forward motion of the
body is maintained, it is nevertheless desirable to periodically
switch the direction valve 304 to its backup state. For this
purpose, gear 408 carries a cam 414 which periodically lifts cam
follower 415 to force engagement of gears 406 and 408.
As noted, it has been assumed that the embodiments of FIGS. 12A and
13 define substantially equal intervals for the water surface
cleaning mode and the wall surface cleaning mode. The relative
split between the mode is, of course, determined by the
configuration of level controller valve element 370L. As depicted,
valve element 370L defines an arc of about 180.degree. and thus,
during each full rotation of valve element 370L, it will open and
close exhaust port 368 for essentially equal intervals. If desired,
the valve element could be configured to define an arc either
greater or less than 180.degree. to extend one of the cleaning mode
intervals relative to the other cleaning mode interval. For
example, in order to extend the water surface cleaning interval,
the exhaust port 368L must remain closed for a greater portion of
the valve element rotation, meaning that the valve element 370L
should extend through an arc greater than 180.degree..
It is sometimes desirable to enable a user to maintain the
apparatus in either the water surface cleaning mode or the wall
surface cleaning mode for an extended period. For this purpose, the
piston rod 340L of valve assembly 306 can be configured so that it
extends through the closed end of the level control valve body
330L. The free end of rod 340L is connected to a U-shaped bracket
416 (FIG. 13) having legs 416A and 416B. Bracket 416 moves with the
piston rod 340L between the two positions respectively represented
in solid and dash line in FIG. 13. A user operable control knob 417
is provided for selectively rotating shaft 418, carrying a
perpendicular arm 419, between the three positions shown in FIG. 13
to selectively (1) bear against bracket leg 416A to hold piston rod
340L in its left-most position defining the wall surface cleaning
mode, (2) bear against the bracket leg 416B to hold piston rod 340L
in its right-most position defining the water surface cleaning
mode, or (3) move clear of the bracket legs to allow the bracket
416 to move without interference. The control knob 417 is
preferably provided with a ball 420 which can be urged by spring
421 into a fixed recess to selectively detent the knob in any of
the three positions.
Attention is now directed to FIGS. 14-16 which illustrate the inner
debris container 250 in greater detail. The container 250 is formed
of fine mesh material 253 rolled into an essentially cylindrical
form with edge 422A overlapping edge 422B. The material 253 is sewn
or otherwise sealed to close end 254. The second bag end 255 is
secured to frame member 256 so that the position of the access
opening defined by overlapping edges 422A, 422B is keyed to the
frame member 256. More particularly, frame member 256 defines
projecting key 424 which is configured to be received in keyway 426
adjacent vacuum discharge opening 182 to orient the overlapping
edges 422A, 422B upwardly. This orientation allows silt to be
collected in the bag 250 without tending to bear against and leak
out from between the edges. However, this configuration still
allows a user to readily remove the frame 256 from the discharge
opening 182 and spread the edges 422A,422B to empty debris from
bag. Short pull tables 430,432 are preferably provided to
facilitate spreading the edges.
SECOND EMBODIMENT (FIGS. 17A, 17B, 17C)
In the first embodiment depicted in FIGS. 2-16, the
heavier-than-water body 100 is lifted to and maintained at the
water surface by a vertical force produced primarily by water
outflow from the body (e.g., outlets 106, 110) in a direction
having a vertical component.
In the second heavier-than-water embodiment 500 depicted in FIGS.
17A-17C, the vertical force to maintain the body at the water
surface is produced in part by selectively modifying the
weight/buoyancy characteristic of the body 502. The body 502 is
configured similarly to body 100 but differs primarily in the
following respects:
1--Front fin 517 is provided with an air hole 518, preferably near
its upper edge 520, opening into interior chamber 522.
2--Side walls 526L, 526R respectively define interior chambers
528L, 528R.
3--Awater powered jet pump 530 is provided for selectively pulling
water out of, and air into, chambers 522, 528L, 528R. Jet pump 530
is supplied by positive pressure water via inlet 532 to create a
suction at port 534 and a discharge at outlet 536.
4--Tubing 540 extends from suction port 534 to drain ports 542L,
542R in the bottom panel of chambers 528L, 528R. Tubing 544 extends
from the top of chambers 528L, 528R to drain port 546 in the bottom
panel of front chamber 522.
5--Skimmer jets 110 can be deleted.
In the wall surface cleaning mode, the body 502 (FIGS. 17A-1517C)
will operate essentially the same as the body 100 (FIGS. 2-16).
However, in the water surface cleaning mode, the level valve 550
(FIG. 17C) will supply positive pressure water to inlet 532 of pump
530 to draw water from chambers 522, 528L 528R, via tubing 540,
544, while the body is concurrently lifted by water outflow from
Forward Thrust/Lift Jet 554. After the body rises sufficiently to
place air hole 518 above the water surface, pump 530 will pull air
in via hole 518 to fill chambers 522, 528L, 528R. By replacing the
water in chambers 522, 528L, 528R with air, the weight/buoyancy
characteristic of the body 502 is modified to first elevate and
then stabilize body 502 proximate to the water surface with the
deck 560 just below the water surface for effective skimming
action. When level valve 550 next switches to the wall surface
cleaning mode, positive pressure water flow to pump inlet 532
terminates, allowing pool water to backflow into jet pump 530 to
fill the chambers 522, 528L, 528R with water, and force air out
through hole 518, thus causing the body 500 to descend to the wall
surface bottom.
The Skimmer Jets 110 of the first embodiment may be deleted from
the embodiment 500. The outer water outlets (i.e., Forward Thrust
Jet 564, Rearward (backup) Thrust Jet 568, Debris Retention Jet
570, and Vacuum Jet Pump Nozzle 572) perform essentially the same
in body 502 as in previously described body 100.
THIRD EMBODIMENT (FIGS. 18A, 18B, 18C)
Attention is now directed to FIGS. 18A-18C which illustrate a third
embodiment 600 comprising a heavier-than-water body 602. As will be
seen, the embodiment 600 differs from the first embodiment depicted
in FIGS. 2-16 in that the vertical force required to lift the body
602 to the water surface and maintain it at the water surface is
produced primarily by selectively modifying the weight/buoyancy
characteristic of the body 602 rather than directly by a water
outflow. The body 602 is configured similarly to body 100 but
differs primarily in the following respects:
1--Sidewalls 620L, 620R respectively define air holes 624L, 624R
near their upper surfaces which open into central interior chambers
626L, 626R, The chambers 626L, 626R respectively define drain ports
628L, 628R opening through bottom panel 629.
2--A water powered jet pump 632 is provided having a supply inlet
634, a suction port 635, and a discharge outlet 636. The suction
port 653 is coupled to drain ports 628L, 628R. When positive
pressure water is supplied to pump inlet 634 from level valve 638
(FIG. 18C) in the water surface cleaning mode, a suction is created
at port 635 to draw water out of chambers 626L, 626R. When valve
638 switches to the wall surface cleaning mode, the positive
pressure supply to inlet 634 terminates and pool water flows
backwards through pump 632 to fill central chambers 626L, 626R via
drain ports 628L, 628R.
3--Front fin 640 defines a front interior chamber 642 having a
drain port 644 in bottom panel 645.
4--A water powered jet pump 648 is provided having a supply inlet
650, a suction port 651 and a discharge outlet 652. When positive
pressure water is supplied to jet pump 648 from level valve 638
(FIG. 18C) in the water surface cleaning mode, a suction is created
at port 651 to draw water out of chamber 642. When the supply to
inlet 650 terminates, pool water flows backwards through pump 648
to fill front chamber 642 via drain port 644.
5--Rear interior chambers 660L, 660R are respectively formed
rearwardly of central chambers 626L, 626R by partition wall 662.
The chambers 660L, 660R open via ports 664L, 644R and tubing 666 to
a flaccid bag 668 physically contained within front chamber 642.
The chambers 660L, 660R are filled with air at atmospheric pressure
(prior to installation) via a removable plug 670.
6--Skimmer Jets 110 and Forward Thrust Lift Jet 106 of the first
embodiment can be deleted from the embodiment 600 of FIGS. 18A-18C.
Note in FIG. 18C that the Thrust Jet 672 is supplied from the
forward outlet 674 of the direction valve 676 rather than from the
level valve 638.
When operating in the wall surface cleaning mode, the front chamber
642 and central chambers 626L, 626R will be filled with water,
primarily via backflow through pumps 648, 632, and flaccid bag 668
will be collapsed by the water in chamber 642. When operation is
switched to the water surface cleaning mode by level valve 638, jet
pump 648 pumps water out of front chamber 642 to permit bag 668 to
inflate with air supplied from rear chambers 660L, 660R. This
action fills chamber 642 with air (at a pressure less than
atmospheric) enabling the body 602 to float to the water surface
and lift air holes 624L, 624R above the water surface. With the
holes 624L, 624R above the water surface, jet pump 632 evacuates
water from central chambers 626L, 626R and fills them with air
thereby providing additional buoyancy to elevate and stabilize the
body 602 and position the deck 678 at just below the water surface
for effective skimming action.
When valve 638 switches back to the wall surface cleaning mode, the
positive pressure water supply to pump inlets 634 and 650
terminates allowing pool water to backflow through jet pumps 632,
648 into central chambers 626L, 626R and front chamber 642. As a
consequence, bag 668 collapses forcing its interior air back into
rear chambers 660L, 660R while the air in central chambers 626L,
626R flows out of air holes 624L, 624R as pool water fills the
central chambers. As a consequence, the body 602 will descend to
the wall surface bottom.
The Skimmer Jets 110 and Forward Thrust/Lift Jet 106 of the first
embodiment may be deleted from the embodiment 600. The other water
outlets (i.e., Forward Thrust Jet, Rearward (backup) Thrust Jet and
Vacuum Jet Pump Nozzle) perform essentially the same in body 602 as
in previously described body 100. Note that the Thrust Jet 672,
because of its placement at the forward outlet 674 of direction
valve 676 (FIG. 18C), operates to provide forward propulsion in
both cleaning modes.
FOURTH EMBODIMENT (FIGS. 19A, 19B, 19C)
Attention is now directed to FIGS. 19A-19C which illustrate a
fourth embodiment 700 comprising a body 702. Whereas the first
three embodiments thus far described were referred to as being
heavier-than-water inasmuch as they sink in a quiescent or rest
state and are lifted to the water surface in an active state, the
body 702 can be considered as being lighter-than-water inasmuch as
it floats in its quiescent state and is caused to descend in an
active state. As will be described hereinafter, the body 702 is
caused to descend in the wall surface cleaning mode primarily by
selectively modifying its weight/buoyancy characteristic. The body
702 is configured similarly to body 100 but differs primarily in
the following respects:
1--Sidewalls 720L defines a rear interior chamber 726L and a
central chamber 728L. Similarly sidewall 720R defines rear and
central chambers 726R, 728R.
2--Front fin 740 defines a front interior chamber 742.
3--Central chambers 728L, 728R and front fin chamber 742
respectively contain flaccid bags 744L, 744R, and 746.
4--An air tube 748 is provided opening into rear chambers 726L,
726R at 750L, 750R and into flaccid bags 744L, 744R and 746 at
752L, 752R and 754. The rear chambers 726L, 726R and flaccid bags
744L, 744R and 746 are filled with air at atmospheric pressure
(prior to installation) via removable plugs 760.
5--A tube 764 is provided to selectively supply positive pressure
water to central chambers 728L, 728R via outlets 766L, 766R and to
front fin chambers 742 via outlet 768.
6--Skimmer Jets 110 and Forward Thrust Lift Jet 106 of the first
embodiment can be detected from the embodiment 700 of FIGS.
19A-19C.
In operation in the water surface cleaning mode, rear chambers
726L, 726R and flaccid bags 744L, 744R and 746 will all be filled
with air at atmospheric pressure to produce a net buoyancy which
floats the body at the water surface. When operation is switched to
the wall surface cleaning mode by valve 770 (FIG. 19C), this will
supply pressurized water via water fill tube 764 to outlets 766L,
766R and 768. This action will collapse flaccid bags 744L, 744R,
and 746 and force the air therein via air tube 748, into rear
chambers 726L, 726R at a pressure above atmospheric.
When valve 770 (FIG. 19C) switches back to the water surface
cleaning mode, the positive water pressure supplied to tube 764 is
terminated, permitting the compressed air in rear chambers 726L,
726R to expand to fill bags 744L, 744R and 746 thus modifying the
weight/buoyancy characteristic of the body to enable it to float to
the water surface.
The water outlets (i.e., Rearward (backup) Thrust Jet, and Vacuum
Jet Pump Nozzle) perform essentially the same in body 702 as in
previously described body 100. However, the Forward Thrust Jet 772
is supplied directly from the forward outlet 774 (FIG. 19C) of the
direction valve 776 (FIG. 19C) so that it operates in both cleaning
modes to provide forward propulsion.
The water distribution systems of FIGS. 17C, 18C, and 19C can each
be implemented substantially as shown in FIGS. 12A or 13. Attention
is now directed to FIGS. 20 and 21 which respectively depict
implementations alternative to those shown in FIGS. 12 and 13.
More particularly, FIG. 20 illustrates a water distribution system
implementation 800 basically comprised:
a. Direction valve assembly 802
b. Level valve assembly 804
c. Direction controller 806
d. Level controller 808
e. Level controller timing assembly 810 primarily comprised of
nozzle 812, turbine 814, timing gear train 816, output shaft 818,
and timing disk 820.
f. Direction controller timing assembly 830 primarily comprised of
nozzle 832, turbine 834, timing gear train 836, output shaft 838,
and timing disk 840.
The direction valve assembly 802 and level valve assembly 804 can
be substantially identical to the corresponding elements discussed
in conjunction with FIG. 12A. More particularly, direction valve
assembly 802 is comprised of a cylindrical body 850 defining a
supply inlet 852, a forward outlet 854, a rearward outlet 856, a
control port 858, and a pressurized water outlet 860. Spring 862
biases valve element 864 to the backup state, i.e., with forward
outlet 854 closed and rearward outlet 856 open. When positive water
pressure is supplied to control port 858, valve element 864 moves
downwardly to define the forward state, i.e., with forward outlet
854 open and rearward outlet 856 closed.
Level valve assembly 804 is similarly comprised of a cylindrical
body 870 which defines a supply inlet 872, a wall surface outlet
874, a water surface outlet 876, and a control port 878. Spring 880
biases valve element 882 to the water surface cleaning mode, i.e.,
with wall surface outlet 874 closed and water surface outlet 876
open. When positive water pressure is supplied to control port 878,
valve element 882 is moved to define the wall surface mode with
water surface outlet 876 closed and wall surface outlet 874
open.
Direction controller 806 and level controller 808 are substantially
identical to the corresponding elements discussed in conjunction
with FIG. 12A. Direction controller 806 is comprised of a
cylindrical body 888 having a peripheral wall 890 and an end wall
892. The peripheral wall 890 defines an inlet 894 and an outlet
896. The end wall 892 defines an exhaust port 898. A disk shaped
valve element 900 is mounted on the aforementioned output shaft 838
for rotation in the body 888. During a portion of its rotation,
valve element 900 seals exhaust port 898 enabling positive pressure
applied to inlet 894 to be transferred via outlet 896 and tube 902
to direction valve control port 858. During the remaining portion
of its rotation, exhaust port 898 is open and positive pressure
water from inlet 894 is exhausted through port 898 so that no
significant pressure is applied to control port 858. Positive
pressure water is supplied to inlet 894 via tubing 906 coupled to
pressurized water outlet 860.
Level controller 808 also comprises a cylindrical body 908 having a
peripheral wall 910 and an end wall 912. The peripheral wall 910
defines an inlet 914 and an outlet 916. The end wall defines an
exhaust port 918. A disk shaped valve element 920 is mounted on
aforementioned output shaft 818 for rotation in the level
controller body 908. During a portion of its rotation, valve
element 920 seals exhaust port 918 enabling positive pressure
applied to inlet 914 to be transferred via outlet 916 to level
valve control port 878. During the remaining portion of its
rotation, exhaust port 918 is open and positive pressure water from
inlet 914 is exhausted through port 918 so that no significant
pressure is applied to control port 878. Positive pressure water is
supplied to inlet 910 via aforementioned tubing 906.
Tubing 906 also supplies positive pressure water to nozzles 812 and
832 to respectively rotate turbines 814 and 834. Turbine 814 is
mounted on shaft 924 and drives gear train 816 to drive output
shaft 818. Additionally, gear train 816 drives timing disk 820.
Similarly, turbine 834 drives shaft 930 which via gear train 836
drives output shaft 838. Gear train 836 additionally drives timing
disk 840.
As can be seen in FIG. 20, timing disks 820 and 840 are mounted
side by side in the same plane. A latch bar 950 mounted for hinged
movement around pin 952 between a latched and unlatched position
extends across the faces of disks 820 and 840. Spring 954 normally
urges latch bar 950 toward the latched position proximate to the
faces of disks 820 and 840. Disk 820 carries one or more lifter
cams 960 on its face. Lifter cam 960 preferably has a ramp at its
leading edge 962 configured to engage latch element 964 to lift
latch 950 to its unlatched position as the disk 820 rotates in the
direction of arrow 966.
Disk 840 carries one or more stop elements 970 on its face, each
configured to engage latch element 964 to stall rotation of disk
840 and output shaft 838 in its forward state when latch bar 950 is
in its latched position. Stop element 970 is oriented relative to
valve element 900 such that its engagement against latch element
964 acts to maintain direction controller 806 and direction valve
802 in the forward state. Periodically, when lifter cam 960 on disk
820 lifts latch bar 950 to its unlatched position, stop element 970
moves past latch element 964 enabling disk 840 and valve element
900 to rotate through substantially 360.degree. passing through the
backup or rearward state and returning to the forward state. At
some point in its cycle, stop member 970 again engages latch
element 964 thus stalling direction controller 806 in the forward
state.
Thus, to summarize the operation of FIG. 20, rotation of the
turbine 814 drives the gear train 816 to cause the level controller
808 to alternately define the wall surface and water surface
cleaning modes. As the gear train 816 rotates, lifter cam 960
periodically lifts latch bar 950 to its unlatched position enabling
stop element 970 of disk 840 (driven by turbine 834) to move past
latch element 964 to cycle through the backup state. Although FIG.
20 depicts a single fixedly positioned lifter cam 960 and a single
fixedly positioned stop element 970 on the face of disks 820 and
840 respectively, it is pointed out that a more complex and
detailed timing pattern could be achieved if desired by utilizing
multiple lifter cams and/or stop elements, and/or mounting them so
that their respective positions on the disks can be varied.
Attention is now directed to FIG. 21 which illustrates a water
distribution system 972 similar to that depicted in FIG. 20 but
modified to sense when the forward motion of the cleaner body
diminishes below a certain threshold. This can occur, for example,
when the body gets trapped by an obstruction, such as the entrance
to a built-in pool skimmer. In such an instance, it is generally
desirable to promptly cycle the direction controller 806 to the
backup state in order to free the cleaner body. To introduce this
capability, the system of FIG. 21 differs from FIG. 20 in that the
latch. bar 950 is no longer spring urged to the latched position.
Rather, a paddle 974 is mounted at the free end of latch bar 950
and oriented such that forward motion of the cleaner body through
the water pivots bar 950 around pin 952 toward the disks 820, 840,
i.e., the latched position. As long as the forward motion of the
cleaner body remains above a certain threshold sufficient to press
the latch element 964 with sufficient force to prevent movement of
stop element 970 past latch element 964, direction controller 806
will remain in its forward state (except for periodic interruption
by lifter cam 960, e.g., once every five minutes). If, however, the
forward motion of the cleaner body diminishes below the threshold,
the ramped leading edge of stop element 970, will lift bar 950 and
move past latch element 964 as disk 840 and output shaft 838 are
allowed to turn. If disk 840 carries only a single stop element
970, this action immediately initiates the valve element 900 cycle
through the backup state and then to the forward state. FIG. 21,
however, depicts multiple spaced stop elements 970.sub.1,
970.sub.2, 970.sub.3 which function to essentially introduce a time
delay in the forward state before the valve element 900 cycle is
launched. Thus, if in the interval after the first stop element
970.sub.1 passes latch element 964, and prior to a subsequent stop
element, i.e., 970.sub.2 or 970.sub.3 passing latch element 964,
the cleaner body frees itself and resumes its forward motion, then
the initiation of the subsequent stop element will engage latch
element 964 to stall output shaft 838 movement and defer rotation
of valve element 900 to the backup state.
Attention is now directed to FIG. 22A which schematically depicts a
preferred arrangement, alternative to FIG. 3, for distributing
positive pressure water supplied to inlet 101A to the various
outlets of the body 100 of FIG. 2, depending upon the defined mode
and state.
More particularly, water supplied to inlet 101A passes through
in-line filter 101B and is directed via inlet 121A to an optional
timing assembly 122A (to be discussed in detail in connection with
FIG. 23) which operates a state/mode controller 124A. The
controller 124A controls a state/mode valve 128A to place it either
in a redirection (e.g., backup) state, or in a forward state
defining a water surface mode or a wall surface mode. When in the
redirection state, water from supply inlet 101A is directed via
valve supply inlet 130A to outlet 132A for discharge through the
debris jets 112A and redirection nozzle 104A. Nozzle 104A and open
tube 104B from a jet pump 104C which increases the effectiveness of
the discharge from nozzle 104A. That is, nozzle 104A discharges
into the throat of tube 104B to pull or entrain additional pool
water into the tube so that discharge orifice 104D delivers an
outflow of greater mass at lower velocity as compared to the
discharge from nozzle 104A. Note (FIG. 22B) that the tube 104B
preferably bends toward the nose of the body to discharge an
outflow having a significant lateral component, i.e., substantially
perpendicular to the longitudinal front-to-rear direction of the
body. The effect of the outflow is to redirect the body, that is
extricate from obstructions, as is generally represented in FIG.
22C which first shows the body in solid line and then succeeding
positions in phantom line. When the redirection state expires,
controller 124A will switch to the forward state to resume body
forward motion.
When in the forward state/wall surface mode, water from supply
inlet 101A is directed through outlet 134A to the vacuum jet pump
nozzle 108A and the forward thrust jet 102A. When in the forward
state/water surface mode, water from supply inlet 101A is directed
through outlet 142A to the thrust lift jet 106A and the skimmer
jets 110k.
Note also in FIG. 22A that an override control 146A is provided for
enabling a user to selectively place the valve 128A, via controller
124A, in either the wall surface cleaning mode or the water surface
cleaning mode. Also note that the positive pressure water delivered
to supply inlet 101 A is preferably also distributed via an
adjustable flow control device 150A and the aforementioned sweep
hose outlet 114A to sweep hose 115A. Additionally, note that the
positive pressure water supplied to inlet 101A is preferably also
directed to fill outlet 116A for filling a chamber interior to the
hollow front fin previously discussed in connection with FIG. 8. It
is also pointed out that the body preferably carries a pressure
indicator 101C comprised of a housing containing a diaphragm 101D
carrying an indicator pin 101E. The diaphragm and housing together
define a chamber 101F which is coupled to the water distribution
system (FIG. 22A) just downstream from in-line filter 101B. The
pressure in chamber 101F bears against diaphragm 101D to establish
the position of indicator pin 101E relative to an index marker
101G. This relative positioning indicates to a user whether or not
the magnitude of the supplied positive pressure is within the
appropriate operating range for the unit.
The system of FIG. 22A can be implemented and operated in many
different manners, but it will be assumed for purposes of
explanation that the valve 128A is caused to be in the water
surface cleaning mode about fifty percent of the time and the wall
surface cleaning mode about fifty percent of the time. As was
mentioned in conjunction with the description of FIG. 3, this
scenario can be implemented by, for example, responding to a
particular event such as the cycling of an external pump, or by the
expiration of a time interval. The valve 128A switches from the
forward state to the backup state in response to the expiration of
a time interval and/or a reduction of forward body motion. Reduced
forward body motion can be detected by an optional motion sensor
152A configured to recognize diminished forward motion below a
certain threshold to cause valve 128A to switch to its backup
state. A preferred implementation of the water flow distribution
system of FIG. 22A is depicted in FIGS. 23-28, described
hereinafter.
Attention is now directed to FIG. 23A which illustrates a preferred
implementation 300A of the water distribution system depicted in
FIG. 22A. The implementation 300A is basically comprised of:
a. Valve assembly 1002 (implementing state/mode valve 128A of FIG.
22A) comprising valve body 1004, state actuator 1006 and mode
actuator 1008; and
b. Controller assembly 1010 (implementing sate/mode controller
124A, motion sensor 152A, timing assembly 122A and override control
146A of FIG. 22A) comprising turbine 1012, gear box 1014, housing
1015 defining interior chamber 1016, state disk 1018, mode disk
1020, motion sensor paddle 1022, and override disk 1024.
FIGS. 24A, 24B, 24C schematically depict the various operational
states and modes of the valve assembly 1002; i.e., the backup state
(FIG. 24A), the forward state/water surface mode (FIG. 24B), and
the forward state/wall surface mode (FIG. 24C). The valve body 1004
defines an inlet chamber 1030 and three outlet chambers 1032, 1034,
1036. Ports 1040, 1042, 1044 respectively couple inlet chamber 1030
to outlet chambers 1032, 1034, 1036. Valve elements 1050 and 1052,
respectively controlled by actuators 1006 and 1008, operate to
selectively couple the inlet chamber 1030 to only one outlet
chamber at a time.
Inlet chamber 1030 defines an inlet port 1054 which is supplied
with high pressure water via supply inlet 130A. Outlet chamber 1032
defines an outlet port 1056 which is coupled to the aforementioned
rearward thrust jet 104A and debris retention jets 112A. Outlet
chamber 1034 defines outlet ports 1058 and 1060 which are
respectively coupled to the aforementioned thrust lift jet 106A and
skimmer jets 110A. Outlet chamber 1036 defines the outlet ports
1062 and 1064 which are respectively coupled to the aforementioned
forward thrust jet 102A and vacuum jet pump nozzle 108A.
The actuators 1006 and 1008 comprise conventional hydraulic
cylinders and are controlled by the selective application of a
positive control pressure to their respective control ports 1066
and 1068. The absence of a positive pressure applied to state
actuator control port 1066 is represented by the terms Ps and
allows state actuator spring 1067 to position valve element 1050 to
close port 1042. The presence of a positive pressure applied to
port 1066 is represented by the terms Ps and causes state actuator
1006 to move valve element 1050 to the left to close port 1040.
Similarly, with respect to mode actuator 1008, a positive pressure
applied to control port 1068 is represented by the term Pm which
moves valve element 1052 to the left to close port 1042. The
absence of a positive pressure applied to control port 1068,
represented by the term Pm, allows mode actuator spring 1069 to
move valve element 1052 to the right to close port 1044.
The following table I summarizes the various operational conditions
for the valve assembly 1002 which are depicted in FIGS. 24A,
24B,24C:
STATE MODE CONT. CONT. PRESS. PRESS. STATE/MODE FIG. Ps (default)
(default) BACKUP 24A Ps Pm FORWARD/WATER SURFACE 24B Ps Pm
FORWARD/WALL SURFACE 24C
The controller assembly 1010 functions to selectively apply
positive pressure to actuator control ports 1066 and 1068, via
tubes 1070 and 1072 in accordance with various operating conditions
to be discussed hereinafter with reference to FIGS. 23A, 23B and
25-28.
Initially note that the controller assembly housing 1015 defines
the following external ports communicating with interior chamber
1016:
a. inlet supply port 1080 which receives high pressure water via
tube 1082 to fill interior chamber 1016;
b. main relief port 1084, which is either open or closed dependent
on the action of state disk 1018 and motion sensor paddle 1022 to
either relieve or maintain pressure in the chamber 1016;
c. supplemental relief port 1086 which is normally closed to
maintain pressure in chamber 1016 but which opens once per cycle of
the state disk 1018 to relieve pressure in the chamber;
d. outlet state port 1088 which transfers the pressure in chamber
1016 to state actuator control port 1066 (i.e., either Ps or
Ps);
e. outlet mode port 1090 which is either open or closed dependent
on the action of mode disk 1020 and override disk 1024; when open,
port 1090 transfers the pressure in chamber 1016 to mode actuator
control port 1068 (i.e., either Pm or Pm).
The state disk 1018 is mounted on shaft 1100 which is continuously
rotated by turbine 1012, via gearing (not shown) in gear box 1014,
driven by a waterflowdelivered by nozzle 1102 from the high
pressure supply 130A. The state disk 1018 defines a plurality of
openings 1104 extending therethrough arranged along an outer
annular track. The disk 1018 is mounted on shaft 1100 in interior
chamber 1016 adjacent to the entrance aperture A1 to main relief
port 1084. When the disk 1018 aligns an opening 1104 with aperture
A1, aperture A1 is said to be open and its open condition is
represented by the term A1. When no disk opening 1104 is aligned
with aperture A1, the aperture is said to be closed and its
condition is represented by the term A1.
The exit aperture A2 of main relief port 1084 is open or closed by
the action of paddle 1022. The paddle is mounted to pivot on pin
1108 such that when the cleaner body 100 is moving forward, in
either the water surface or wall surface modes, the paddle tail
1110 will close the aperture A2. When forward motion falls below a
certain threshold, the exit aperture will open attributable to
water pressure within chamber 1016. These open and closed
conditions of exit aperture A2, respectively represented by the
terms A2 and A2, are depicted in FIG. 23B.
Inasmuch as the entrance aperture A1 and exit aperture A2 are
arranged in series, the relief port 1084 will be open to relieve
pressure in chamber 1016 and at outlet state port 1088 when
apertures A1 AND A2 are open (which can be expressed in logic
notation as (A1*A2). Relief port 1084 is closed when either
aperture A1 OR A2 is closed; i.e., A1+A2.
State disk 1018 defines an inner annular track shown as containing
a single opening 1112 placed to align with supplemental relief port
1086 once per state disk cycle. When aligned, the entrance aperture
A0 to port 1086 is open, expressed as A0, and when misaligned, the
aperture is closed, expressed as A0.
Thus, the pressure available at outlet state port 1088 for
application to state actuator control port 1066 can be summarized
in logic notation as:
It will be recalled from table I that when the state control
pressure is Ps, the valve assembly 1002 defines the default backup
state. When the control pressure has a value of Ps, the forward
state is defined which for a mode control pressure value of Pm will
be the water surface mode and for value Pm will be the wall surface
mode.
In typical operation, the cleaner body will stay in the forward
state for a full cycle of state disk 1018. It will be switched to
the backup state once per cycle when opening 1112 moves into
alignment with supplemental relief port 1086. Throughout the
remainder of the state disk cycle, if the forward motion of the
body is sufficient to cause the paddle tail 1110 to close aperture
A2, the periodic opening of aperture A1 (attributable to movement
of disk openings 1104 therepast) will have no effect. If the body's
forward motion falls below a certain threshold allowing paddle tail
1110 to swing away and open aperture A2, then when a disk opening
1104 moves into alignment with aperture A1, the backup state will
be initiated. It is parenthetically pointed out that the openings
1104 are preferably comprised of different length openings (long
and short) alternately arranged along the annular track. In typical
situations, a short backup state interval (initiated by a short
opening 1104) will suffice to extricate the cleaner body from an
obstruction which interrupted its forward motion. The longer
openings 1104 are provided to create longer backup state intervals
which may occasionally be desired for more significant
obstructions.
In the forward state, the pressure at the outlet mode port 1090,
i.e., either Pm or Pm, is determined by the rotational position of
mode disk 1020 and override disk 1024 relative to the entrance to
port 1090. The override disk 1024 is mounted immediately adjacent
to the entrance 1115 to port 1090 on shaft 1116 whose rotational
position is intended to be set by a user, e.g., by a handle 1117.
The override disk 1024 is configured so it can define three
distinct user selectable conditions relative to the port entrance
1115; namely,
a. Condition A4 in which entrance 1115 is open regardless of the
position of mode disk 1020 (FIG. 27);
b. Condition A4 in which entrance 1115 is closed regardless of the
position of mode disk 1020 (FIG. 26); and
c. Condition A4 in which entrance 1115 is either open or closed
dependent on position of mode disk 1020 (FIG. 27). In this
position, the override disk is essentially disabled and the system
operates automatically.
In order to function in the aforedescribed manner, the override
disk 1024 is configured with first and second arcuate portions of
different radii; i.e., a small radius portion 1120 and a large
radius portion 1122. When the large radius portion 1122 is adjacent
port entrance 1115, as represented in FIG. 26, condition A4 is
defined in which the port 1090 is blocked from chamber 1016. Thus,
for condition A4, the mode control pressure valve is low Pm.
However, the portion 1122 includes an opening 1124 situated so that
it can be aligned with port entrance 1115. When aligned (condition
A4 as represented in FIG. 25), the override disk is essentially
disabled and port 1090 will either be open or closed dependent on
the position of mode disk 1020. FIG. 27 depicts the third condition
A4 when the small radius portion 1120 of override disk 1024 is
proximate to the port entrance 1115. This position establishes an
open path to the chamber 1016 regardless of the orientation of mode
disk 1020.
The mode disk 1020 is mounted on and is rotated by shaft 1128 which
is continually driven by turbine 1012 via gearing (not shown) in
gear box 1014. The mode disk 1020 is configured with first and
second arcuate portions of different radii; i.e., a small radius
portion 1130 and a large radius portion 1132. The mode disk 1020 is
mounted immediately adjacent to the override disk 1024. When the
override disk is in the position represented in FIG. 25, the
orientation of mode disk 1020 determines whether the output mode
port 1090 opens to chamber 1016. Port 1090 will be open to chamber
1016 when mode disk portion 1130 is proximate to opening 1124 in
override disk 1024. When mode disk 1020 rotates to move portion
1132 proximate to opening 124, the mode disk will cover and close
the opening. The open and closed conditions are respectively
defined by the terms A3 and A3.
The following table 11 summarizes the aforementioned terms and in
logic notation sets forth the respective conditions for producing
the mode control pressure value Pm or Pm.
VARIABLES OPEN CLOSED DISABLE (1) State Disk Aperture A1 A1 (2)
Motion Sensor Aperture A2 A2 (3) Mode Disk Aperture A3 A3 (4)
Override Disk Aperture A4 A4 A4 (5) Periodic Backup Aperture A0 A0
STATE BACKUP Ps = (A1*A2) + A0 FORWARD Ps = (A1 + A2)*A0 MODE WATER
SURFACE Pm = [(A1 + A2)*A0]*[(A3*A4) + A4] WALL SURFACE Pm = [(A1 +
A2)*A0]*[(A3*A4) + A4]
When the mode control pressure drops from high Pm to low Pm, the
mode actuator spring 1069 forces the actuator piston to the right
requiring the displacement of water from port 1068 back through
tube 1072. To permit this reverse flow through tube 1072, drainage
paths are defined by the override disk 1024 and the mode disk 1132
as shown in FIGS. 25 and 26. More particularly, FIG. 25 shows a
drainage path 1133 through port 1090, override disk opening 1024,
one of the multiple radial trenches 1134 in mode disk 1020,
override disk opening 1135, annular recess 1136 and out through
housing drainage port 1137.
In FIG. 26, the drainage path 1138 is via radial trench 1139 and
then through annular recess 1136 and housing drainage port
1137.
Reference is now directed to FIG. 28 which depicts a timing chart
describing the operation of the controller assembly 1010 for an
exemplary situation.
It will be assumed that the state disk 1018 completes a full cycle
in about three minutes and the mode disk 1020 completes a full
cycle in about twelve minutes. It will also be assumed that the
water surface mode and wall surface mode have substantially equal
durations; i.e., that the mode disk arcuate portions 1130 and 1132
subtend equal angles. It should be understood that these assumed
quantities can be readily modified by a change in gearing and/or
disk geometry. It should also be understood that although sharp
edge transitions have been shown for the sake of simplicity in FIG.
28, in actuality all transitions would have a discernable
slope.
Line (a) of FIG. 28 represents aforementioned aperture A0 which is
opened once per state disk cycle at 1140 as a consequence of
opening 1112 aligning with relief port 1086.
Line (b) represents aforementioned aperture A1 which opens
periodically as state disk openings 1104 align with the entrance to
main relief port 1084. Note that line (b) represents long openings
1104 at 1142 and short openings at 1144.
Line (c) represents the functioning of aperture A2 for an assumed
action of the motion sensor paddle 1022. When the cleaner body
forward motion exceeds a threshold rate, paddle 1022 closes
aperture A2 (as at 1146) and when the body encounters an
obstruction to drop the rate of forward motion below the threshold,
aperture A2 opens (as at 1148).
Line (d) represents aperture A3 which is closed at 1150 when the
mode disk large arcuate portion 1132 blocks port entrance 1115.
When the mode disk rotates to bring the small arcuate portion 1130
proximate to the port entrance, aperture A3 opens at 1152.
Line (e) represents the functioning of aperture A4 for an assumed
action of the override disk 1024. The values A4 A4, and A4 are
represented at 1158, 1160, and 1162, respectively.
Line (f) represents the pressure applied to state control port 1066
attributable to the conditions represented in lines (a) through
(e). It will be recalled that pressure values Ps and Ps
respectively produce the backup and forward states. Line (f) shows
the pressure at Ps 1164 because the aforementioned equation
Ps=(A1+A2)*A0 is satisfied. The pressure drops to Ps at 1166 to
initiate the backup state because aperture A1 and A2 are both open
(lines (b) and (c)) at 1144 and 1148 thus satisfying the equation
Ps=(A1*A2)+A0.
Line (g) represents the pressure applied to mode control port 1068
attributable to the conditions represented in lines (a) through
(e). Note that the pressure value is Pm (water surface mode) at
1170 because the aperture A3 is closed (i.e. value A3) at 1150 in
line (d). The pressure value is show as changing to Pm (wall
surface mode), at 1172 attributable to the override disk (line (e))
being switched to value A4 at 1160. With the override disk disabled
(i.e., A4) at 1162, the value of aperture A3 at 1152, causes the
mode port pressure to have a value of Pm (wall surface mode) at
1174. The mode port pressure is shown as switching to Pm at 1176
when the override disk (line (e)) is switched to A4.
Attention is now directed to FIG. 29 which depicts a functional
block diagram similar to FIG. 18C but modified to incorporate
various enhancements including in-line filter 1200 and pressure
indicator 1206, which are identified to the corresponding elements
discussed in conjunction with FIG. 22A. Most significantly,
however, FIG. 29 incorporates a pitch control subsystem 1210 which
is used to selectively orient the body 6 either (1) nose (i.e.,
front) up/tail (i.e., rear) down, as represented in FIG. 31, or (2)
nose down/tail up as represented in FIG. 30.
The pitch control subsystem 1210 includes a tube 1212 defining an
elongate interior volume 1214. The tube defines end fittings 1216
and 1218 respectively coupling opposite ends of the elongate volume
1214 to the outlet ports 1220 and 1222 of level valve 1224.
The tube 1212 contains a weighted member 1226 bearing ring seals
1228. The member 1226 is configured to slide in the elongate volume
1214 from one end to the other with the ring seals 1220 engaging
and sealing against the tube interior wall surface. The tube 1212
is mounted on the body 6 extending in the longitudinal direction
from front to rear as depicted in FIGS. 30, 31.
Fitting 1216 is coupled to level valve outlet port 1220 which
supplies a positive pressure when the water surface cleaning mode
is defined by level valve 1224. As a result, weighted member 1226
is forced along tube 1212 toward the rear of body 6 to orient body
6 as shown in FIG. 31 in the nose up pitch orientation.
Fitting 1218 is coupled to level valve outlet port 1222 which
supplies a positive pressure when the wall surface cleaning mode is
defined to force weighted member 1226 toward the front of body 6 to
orient body 6 as shown in FIG. 30 in the nose down pitch
orientation.
FIG. 29 depicts a single nozzle 1230 used to provide propulsion
thrust when direction valve 1232 defines the forward state. The
thrust provided by nozzle 1230 will drive the body 6 either to the
water surface or wall surface depending on the body's pitch and
will then propel it along the selected surface.
FIG. 32 depicts a functional block diagram identical to FIG. 29
except that it uses buoyancy shift pitch control rather than the
weight shift pitch control used in FIG. 29. More particularly, FIG.
32 shows a buoyancy shift pitch control subsystem 1240 comprised of
chambers 1242 and 1244 respectively containing flaccid bags 1246
and 1248. An air tube 1250 couples the bags 1246 and 1248 which
together contain sufficient air to fully distend one of the
bags.
The chambers 1242 and 1244 are respectively coupled to the water
surface cleaning port 1254 and the wall surface cleaning port 1256.
When port 1254 supplies a positive pressure to chamber 1242, it
acts to squeeze the air out of bag 1246 and transfer it to bag 1248
housed in chamber 1244 located at the front of body 6. This
increases the buoyancy of the body front end and consequently
orients the body nose up. On the one hand, when port 1256 supplies
a positive pressure, this squeezes air out of bag 1248 and
transfers it via tube 1250 to bag 1246. This increases the relative
buoyancy of the body rear end to place it in a nose down pitch.
Attention is now directed to FIG. 33 which depicts an enhanced
debris bag 1280 formed of a flexible water permeable, preferably
mesh, material. The bag defines an entrance opening 1282 for
passing water borne debris into the bag when operating in the
forward state at either the wall surface or water surface. In order
to block debris from exiting the bag when in the redirection or
backup state, one or more flexible baffle sheets is mounted in the
bag proximate to the bag opening 1282.
More particularly, FIGS. 33 and 33A show first and second baffle
sheets 1284 and 1286, each depicted as being substantially
rectangular. Sheet 1284 defines upstream edge 1290 and downstream
edge 1292. Sheet 1268 defines upstream edge 1294 and downstream
edge 1296. Upstream edges 1290 and 1294 are secured along their
lengths to bag 1280 adjacent to opening 1282. The corners of
downstream edges 1292 and 1296 are secured to the bag sides as 1298
and 1300.
In the forward state, water and debris flows into the bag from
opening 1282, between sheets 1284 and 1286 and acts to separate the
downstream edges 1292 and 1296 as shown in FIG. 34B, allowing
debris to move therepast. When the redirection state is defined to
move the body laterally and/or rearwardly through the water, water
may tend to move through the bag toward the opening 1282. This
action causes the edges 1292 and 1294 to close, i.e, move adjacent
to one another to effectively block debris from exiting from the
bag opening 1282.
From the foregoing, it should be appreciated that a method and
apparatus has been disclosed herein responsive to a positive
pressure water source for cleaning the interior surface of a pool
containment wall and the upper surface of a water pool contained
therein. Apparatus in accordance with the invention includes an
essentially unitary cleaner body and a level control subsystem for
selectively moving the body to a position either proximate to the
surface of the water pool for water surface cleaning or proximate
to the interior surface of the containment wall for wall surface
cleaning.
The invention can be embodied in a cleaner body having a
weight/buoyancy characteristic to cause it to normally rest either
(1) proximate to the pool bottom adjacent to the wall surface
(i.e., heavier-than-water) or (2) proximate to the water surface
(i.e., lighter-than-water). With the heavier-than-water body, the
level control subsystem in an active state produces a vertical
force component for lifting the body to proximate to the water
surface for operation in a water surface cleaning mode. With the
lighter-than-water body, the level control subsystem in an active
state produces a vertical force component for causing the body to
descend to the wall surface for operation in the wall surface
cleaning mode. The level control subsystem can produce the desired
vertical force component by any of several different mechanisms
used alone or in combination; e.g., by discharging an appropriately
directed water outflow from the body, by modifying the body's
weight/buoyancy characteristic, or by orienting a hydrodynamic
surface.
Although the present invention has been described in detail with
reference only to a few specific embodiments, those of ordinary
skill in the art will readily appreciate that various modifications
can be made without departing from the spirit and scope of the
invention.
* * * * *