Autonomous skimming robot

Abstract

A robot skimmer that is has one or more proximity sensors below the water surface and / or one or more proximity sensors above the water line of a body of water that is configured to collect debris. A controller connected to the sensors adapted for: receiving sensory data captured by the sensors, anayzing the sensory data to detect one or more objects above and / or below water surface, and controlling movements and directs the robot skimmer to recognize fixed and nonfixed objects to avoid the fixed objects and the non-fixed objects that exceed the capacity for collection by the robot skimmer.

Description

[0001] AUTONOMOUS SKIMMING ROBOT

[0002] RELATED APPLICATION / S

[0003] This application claims the benefit of priority of Israel Patent Application No. 310188 filed on 16 January 2024, the contents of which are incorporated herein by reference in their entirety.

[0004] FIELD AND BACKGROUND OF THE INVENTION

[0005] The present invention, in some embodiments thereof, relates to an autonomous skimming robot adapted to clean water pools, more specifically, but not exclusively, to an autonomous skimming robot adapted to clean water pools based on sensory data captured by a plurality of above water and underwater proximity detectors.

[0006] Automated pool equipment units, systems, platforms and / or devices are widely used to carry out one or more tasks and / or operations, for example, cleaning, water purification, maintenance, and / or the like in bodies of water, including artificial bodies of water such as, for example, swimming pools, reservoirs, fountains, bio pools, ponds, lakes, rivers, ocean and / or the like.

[0007] The automated pool equipment may often comprise dynamic units, for example, a pool robot, a skimming robot, a pool cleaning robot, a pool maintenance robot, a water treatment system, and / or the like which may dynamically move in the water pool, for example, on its floor surface, walls, and / or the like to execute their assigned tasks.

[0008] U.S. Publication No. 2017 / 022728A1 by Simik Milan, filed on January 26, 2017 an autonomous pool skimming system having more processing modules to plan and execute a traversal path across a swimming pool, to collect debris into a removable basket. It detects only fixed objects.

[0009] SUMMARY OF THE INVENTION

[0010] According to a first aspect of the present invention there is provided an autonomous skimming robot adapted to collect debris in a pool, comprising a floatable body, one or more proximity detectors below the water surface and / or one or more proximity detectors above the water surface which are coupled to the body such that when the skimming robot floats on a water surface the one or more proximity detectors are under the water surface and the one or more above water proximity detectors are above the water surface, and a controller adapted for: receiving sensory data captured by the one or more above water proximity detectors and the one or more underwater proximity detectors, analyzing the sensory data to detect one or more objects above and / or below water surface, and controlling movement of the skimming robot according to one or more attributes of the one or more detected object.

[0011] According to a second aspect of the present invention there is provided a method of using an autonomous pool skimming robot for cleaning a water pool, comprising deploying an autonomous pool skimming robot in a water pool, and activating a controller of the skimming robot. Wherein the controller is adapted for receiving sensory data captured by one or more above water proximity detectors of the skimming robot which are located above water surface of the water pool and one or more underwater proximity detectors of the skimming robot which are located under the water surface, analyzing the sensory data to detect one or more objects above and / or below water surface, and controlling movement of the skimming robot according to one or more attributes of the one or more detected objects.

[0012] According to a third aspect of the present invention there is provided a method of recharging battery of an autonomous pool equipment units through solar energy, comprising using a controller of an autonomous dynamic pool equipment unit for:

[0013] Collecting sensory data indicative of sun light reaching one or more solar panels deployed on a top side of a body of the dynamic pool equipment unit.

[0014] Analyzing a plurality of samples of the sensory data captured while the dynamic pool equipment unit is moving in a water pool, each of the plurality of samples is captured at a respective one of a plurality of locations travelled by the dynamic pool equipment unit.

[0015] Selecting a high exposure location of the plurality of locations associated with one or more highest level samples of the plurality of samples.

[0016] Operating motion means of the dynamic pool equipment unit to navigate the dynamic pool equipment unit to the selected high exposure location.

[0017] Operate the motion means to hold the dynamic pool equipment unit floating in place at the selected high exposure location for a predefined time period during which one or more rechargeable batteries of the dynamic pool equipment unit is charged using solar energy captured by the one or more solar panels.

[0018] In a further implementation form of the first and / or second aspects, the one or more above water proximity detectors and the one or more underwater proximity detectors are members of a group consisting of: an Infrared sensor (IR), a laser sensor, a photoelectric sensor, an ultrasonic sensor, inertial measurement unit (IMU) and / or an image sensor. In a further implementation form of the first and / or second aspects, the one or more attributes are members of a group consisting of: a size of one or more dimension, a mobility, and / or a location.

[0019] In a further implementation form of the first and / or second aspects, the controller is adapted to control movement of the skimming robot to move away from the one or more objects responsive to estimating, based on analysis of the sensory data, that the one or more object are fixed.

[0020] In a further implementation form of the first and / or second aspects, the controller is adapted to control movement of the skimming robot to move away from the one or more objects responsive to estimating, based on analysis of the sensory data, that one or more dimensions of the one or more objects prevent collection of the one or more objects by the skimming robot.

[0021] In a further implementation form of the first and / or second aspects, the controller is adapted to control movement of the skimming robot to move towards the one or more objects and collect it responsive to estimating, based on analysis of the sensory data, that the one or more objects are floating on the water.

[0022] In a further implementation form of the first and / or second aspects, the controller is adapted to control movement of the skimming robot to move towards the one or more objects and collect them responsive to estimating, based on analysis of the sensory data, that a size of the one or more objects is below a predefined debris size threshold.

[0023] In a further implementation form of the first and / or second aspects, the one or more above water proximity detectors and / or the one or more underwater proximity detectors are mechanically coupled to the body to monitor side regions of the skimming robot.

[0024] In an optional implementation form of the first and / or second aspects, the skimming robot comprises one or more detachable mechanical raised elements adapted for mechanical coupling to the body to increase a height of the skimming robot.

[0025] In a further implementation form of the first and / or second aspects, the floatable body is shaped in backward arch extending backward from a center segment of the front side to both distal ends of the front side.

[0026] In a further implementation form of the first and / or second aspects, the floatable body comprises at least two floating elements adapted to float the skimming robot on the water surface. The at least two floating elements are arranged along a longitudinal axis of the body at a predefined lateral distance between them. The at least two floating elements are shaped to have rear outward curved inner walls such that the lateral distance between the inner walls of the at least two floating elements is longer at the stem of the skimming robot compared to the lateral distance between the inner walls of the at least two floating elements at the bow of the skimming robot. In a further implementation form of the first and / or second aspects, the controller is adapted to control movement of the skimming robot by operating a plurality of side paddle wheels located at both sides of the body. The controller is further adapted to detect a rotation state of one or more of the plurality of side paddle wheels according to rotation sensory data captured by one or more rotation sensors deployed to monitor rotation of the one or more side paddle wheels.

[0027] In a further implementation form of the first and / or second aspects, the one or more rotation sensors comprise a Hall effect sensor adapted to detect a magnetic field induced by one or more magnetic elements attached to each of one or more of the side paddle wheels.

[0028] In an optional implementation form of the first and / or second aspects, the skimming robot comprises one or more removable containers having an inlet facing the bow of the skimming robot adapted to collect floating debris, the removable container adapted to fit beneath the body is shaped to have rear outward curved side walls such that a rear side of the container is larger than its front side.

[0029] In a further implementation form of the first and / or second aspects, the one or more removable containers comprise one or more replaceable filters adapted to prevent debris object from getting out of the respective removable container. The one or more replaceable filter are removable from and pluggable to the one or more removable containers via one or more mechanical provisions.

[0030] In an optional implementation, of the first and second aspects of the ina filter sensor detects the presence and proper installation of a filter.

[0031] In an optional implementation the floatable body has a lens a sensor housed on a PCB adjacent to the lens wherein an adapter holds the sensor against the lens, the adapter having two (2) acting arms that holds the sensor against the lens with a force of between 0.1 and 1 N.

[0032] In an optional implementation form of the first and / or second aspects, the brush is attached with slidable bearings on each side that are attached to the body of the robot skimmer, the brush is dispatchable without disassembly of the bearings.

[0033] In an optional implementation form of the first and / or second aspects, the controller is further adapted to detect that the one or more removable containers are full and initiate one or more notifications indicative of full container.

[0034] In an optional implementation form of the first and / or second aspects, the controller is further adapted to turn the skimming robot ON responsive to detecting the one or more removable containers are inserted into a designated chamber in the body. In a further implementation form of the first and / or second aspects, insertion of the one or more removable containers to the designated place underneath the body is detected using one or more contactless switches installed in skimming robot.

[0035] In an optional implementation form of the first and / or second aspects, the skimming robot comprises one or more front paddle wheels located in front of the container and adapted to collect debris into the container. The one or more front paddle wheels have a plurality of flaps adapted to reduce a forward wave of water in front of the skimming robot created by rotation of the one or more front paddle wheel by one or more of adapting a number of the plurality of flaps in a range of 3-5, and / or shaping each of the plurality of flaps to be at least partially curved along its lateral axis perpendicular to a rotation axis of the one or more front paddle wheel.

[0036] In an optional implementation form of the first and / or second aspects, one or more of the plurality of flaps comprise an elastic edge adapted to clean a surface of pool walls when the one or more front paddle wheels rotate against the pool wall.

[0037] In an optional implementation form of the first and / or second aspects, the controller is further adapted to detect a rotation state of the one or more front paddle wheels according to rotation sensory data captured by one or more rotation sensors deployed to monitor rotation of the one or more front paddle wheels.

[0038] In an optional implementation form of the first and / or second aspects, the controller is further adapted to control movement of the skimming robot according to a wall cleaning movement pattern, the wall cleaning movement pattern comprises advancing the skimming robot to an at least partially slopped surface of one or more pool walls such that the front paddle wheel rotates against the one or more pool walls.

[0039] In an optional implementation form of the first and / or second aspects, the controller is further adapted to control movement of the skimming robot according to a wall adjacent debris collection movement pattern. The wall adjacent debris collection movement pattern comprises advancing the skimming robot forward towards one or more pool walls to push one or more debris objects towards the one or more pool walls, retracting the skimming robot backwards to pull the one or more debris objects away from the one or more pool walls, and / or advancing the skimming robot forward to collect the one or more debris objects.

[0040] In an optional implementation form of the first and / or second aspects, the wall adjacent debris collection movement pattern further comprises increasing a rotation speed of a front paddle wheel of the skimming robot during the forward advancement to induce a jet of water in front of the skimming robot to release one or more debris objects trapped at the one or more pool wall. In an optional implementation form of the first and / or second aspects, the controller is further adapted to control movement of the skimming robot according to one or more rescue mode movement patterns responsive to detecting the skimming robot is stuck in place, the one or more rescue mode movement patterns comprises one or more of: increased forward movement to a single side of the skimming robot, increased backward movement to a single side of the skimming robot, and / or rapid back and forth movement with adjusted side movement in each back and forth movement.

[0041] In an optional implementation form of the first and / or second aspects, the controller is further adapted to move the skimming robot towards one or more of: a charging station according to one or more wireless signals transmitted by the charging station, and / or a user according to one or more wireless signals transmitted by one or more client devices associated with the user.

[0042] In an optional implementation form of the first and / or second aspects, the controller is further adapted to transmit one or more messages to one or more systems via one or more communication channels. The one or more communication channels comprise one or more of: a wireless communication channel for communicating with one or more apparatuses located out of the water pool, and / or an underwater communication channel for communicating with one or more apparatuses which is at least partially submerged in the water of the water pool.

[0043] In a further implementation form of the first and / or second aspects, the controller is adapted to transmit the one or more messages responsive to detecting one or more large objects estimated as debris which exceed a collection capacity of the skimming robot. The one or more messages are indicative of one or more of: a location of the one or more large object, and / or a size of the one or more large objects.

[0044] In a further implementation form of the third aspect, the sensory data comprises light level sensory data captured by one or more light sensors deployed to measure a level of sun light reaching the one or more solar panels.

[0045] In a further implementation form of the third aspect, the sensory data comprises electric energy sensory data captured by one or more sensors deployed to measure a level of electric energy generated by the one or more solar panels.

[0046] In an optional implementation form of the third aspect, the controller is further adapted to analyze a plurality of recent light samples of the plurality of light samples captured at a plurality of locations recently travelled by the dynamic pool equipment unit during a predefined recent time period.

[0047] In a further implementation form of the third aspect, the dynamic pool equipment unit is a member of a group consisting of: a skimming robot, and / or a pool cleaning robot. In a further implementation form of the first and / or second aspects, the controller is further adapted to transmit at least one message to at least one system via at least one communication channel, the at least one communication channel comprises at least one of: a wireless communication channel for communicating with at least one apparatus located out of the water pool, and an underwater communication channel for communicating with at least one apparatus which is at least partially submerged in the water of the water pool.

[0048] In a further implementation form of the first and / or second aspects, controller is adapted to transmit the at least one message responsive to detecting at least one large object estimated as debris which exceeds a collection capacity of the skimming robot, the at least one message is indicative of at least one of: a location of the at least one large object, and a size of the at least one large object.

[0049] In a further implementation form of the first and / or second aspects, The skimming robot battery is rechargeable out of a body of water by and out of water group of one or more of solar cells or a battery charged by solar cells.

[0050] In a further implementation form of the first and / or second aspects, the skimming robot is received by an out of water docking station for charging.

[0051] In a further implementation form of the first and / or second aspects, 2 or more IR sensors connected to the controller are configured to determine the location of a wall of the body of water, and the controller maneuvers the skimming robot then s to clean the wall.

[0052] In a further implementation form of the first and / or second aspects, a magnetometer in combination with an IMU, both connected to the controller are configured to determine the location of a wall of the body of water and other obstacles, and the controller maneuvers the skimming robot then s to clean the wall.

[0053] In a further implementation form of the first and / or second aspects, the is accessible to the user for maintenance or replacement without disassembling the other components of the skimming robot.

[0054] In a further implementation form of the first and / or second aspects, the floating body has a bumper positioned at exterior, the bumper is hollow and has a compressible solid, the compressible solid is filled to improve the stiffness of the bumper to protect the floating body.

[0055] In a further implementation form of the first and / or second aspects, the controller is adapted to receive a signal from a user, and maneuver the skimming robot to a predetermined location in the body of water. In a further implementation form of the first and / or second aspects, the controller is communication with an out of water sensor or rotation sensor, where the controller on receiving a signal from the out of water sensor or an increase in rotation determines that the skimming robot is not in a body of water and deactivates the skimming robot.

[0056] In a further implementation form of the first and / or second aspects, sensors have adjustable resolution that may be varied according to the turbidity of the body of water.

[0057] In a further implementation form of the first and / or second aspects, has a housing, that is formed of more than mor than one part, and are joined with a seal between the parts, the seal having a member with a flexible water tight seal material assembled on the member so that the forces normal to the member are equal with regard to bending.

[0058] Other systems, methods, features, and advantages of the present disclosure will be or become apparent to one with skill in the art upon examination of the following drawings and detailed description. It is intended that all such additional systems, methods, features, and advantages be included within this description, be within the scope of the present disclosure, and be protected by the accompanying claims.

[0059] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0060] Implementation of the method and / or system of embodiments of the invention can involve performing or completing selected tasks automatically. Moreover, according to actual instrumentation and equipment of embodiments of the method and / or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware or by a combination thereof using an operating system .

[0061] For example, hardware for performing selected tasks according to embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to exemplary embodiments of methods and / or systems as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile storage, for example, a magnetic hard-disk and / or removable media, for storing instructions and / or data. Optionally, a network connection is provided as well. A display and / or a user input device such as a keyboard or mouse are optionally provided as well.

[0062] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0063] Implementation of the method and / or system of embodiments of the invention can involve performing or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of embodiments of the method and / or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware or by a combination thereof using an operating system.

[0064] For example, hardware for performing selected tasks according to embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to exemplary embodiments of method and / or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile storage, for example, a magnetic hard-disk and / or removable media, for storing instructions and / or data. Optionally, a network connection is provided as well. A display and / or a user input device such as a keyboard or mouse are optionally provided as well.

[0065] BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0066] Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars are shown by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

[0067] In the drawings:

[0068] FIG. 1 is a schematic illustration of an exemplary autonomous skimming robot deployed in a water pool for collecting debris and / or other objects floating on the water surface of the pool, according to some embodiments of the present invention;

[0069] FIG. 2 shows perspective views of an exemplary autonomous skimming robot, according to some embodiments of the present invention;

[0070] FIG. 3A and FIG. 3B are schematic illustrations of an exemplary autonomous skimming robot shaped with a curved bow side and curved floating elements, according to some embodiments of the present invention;

[0071] FIG. 4 is a schematic illustration of an exemplary removable container of an autonomous skimming robot shaped with a curved side walls, according to some embodiments of the present invention;

[0072] FIG. 5 is a schematic illustration of an exemplary front paddle wheel of an autonomous skimming robot, according to some embodiments of the present invention;

[0073] FIG. 6 is a schematic illustration of an exemplary autonomous skimming robot having a detachable raised mechanical element to increase height of the skimming robot, according to some embodiments of the present invention;

[0074] FIG. 7 is a flowchart of an exemplary process of controlling movement of an autonomous skimming robot deployed in a water pool according to analysis of sensory data captured by above water and underwater proximity detectors, according to some embodiments of the present invention;

[0075] FIG. 8A and FIG. 8B are schematic illustrations of exemplary movement patterns of an autonomous skimming robot for collecting wall adjacent debris objects, according to some embodiments of the present invention; and

[0076] FIG. 9 is a flowchart of an exemplary process of controlling movement of an autonomous dynamic pool equipment unit to a high light level location for charging its batteries from solar panels of the dynamic pool equipment unit, according to some embodiments of the present invention.

[0077] FIG. 10 is a perspective view of the clamp and sensor assembly.

[0078] FIG. 11 is an exploded view of the clamp and sensor assembly.

[0079] FIG. 12 is a perspective view of the clamp and sensor assembly installed.

[0080] FIG. 13 is a side view of the clamp and sensor assembly. FIG. 14 is a perspective view of the zero moment seal and location drawing of the seal on the part of the floating body.

[0081] FIG. 15 is a perspective view of the sliding bearing with an exploded view.

[0082] DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0083] The present invention, in some embodiments thereof, relates to an autonomous skimming robot adapted to clean water pools, more specifically, but not exclusively, to an autonomous skimming robot adapted to clean water pools based on sensory data captured by a plurality of above water and underwater proximity detectors.

[0084] As used in this application, robot skimmer means an autonomous robot skimmer to clean a body of water such as a pool.

[0085] Sensors as used in this application means any device that measures physical conditions and is connected to a controller. The sensor may utilize the electromagnetic spectrum, temperature and chemical composition of the pool of water.

[0086] A zero moment seal as used in this application means a seal that is configured for opposing forces to limit the bending of components to reduce fatigue and deterioration of the parts that are joined.

[0087] “On” as used in this application means activated and “off’ means deactivated.

[0088] “Splash” as used in this application includes “jet".

[0089] ”IMU” is a includes of a gyroscope and / or accelerometer.

[0090] According to some embodiments of the present invention, there is provided an autonomous skimming robot adapted for deployment in water pools, for example, a pool, a swimming pool, a water reservoir, a fountain, a bio pool, a pond, a lake, a river, an ocean, and / or the like.

[0091] The autonomous skimming robot adapted to autonomously float on the water surface of the water pools is configured, adapted, and / or operated to collecting debris objects floating in the water pool, and / or trapped at the water line at their banks, for example, leaves, insects, dirt, soil, litter, rubbish, and / or the like.

[0092] According to some embodiments of the present invention, the skimming robot may comprise one or more other pool equipment units adapted for deployment in water pools for one or more cleaning and / or maintenance operations and capable of floating on the water surface. For example, the skimming robot may be a pool cleaning robot which while configured to clean the pool surfaces including floor and walls and the water surface is also capable of floating on the eater surface of the water pool. The skimming robot may comprise a controller adapted to control movement, operation, actions, and / or modes of the skimming robot according to proximity data captured by a plurality of proximity detectors of the skimming robot.

[0093] In particular, the proximity data may be captured by one or more above water proximity detectors located above the water surface when the skimming robot floats on the water surface and one or more underwater proximity detectors located below the water surface.

[0094] Analyzing proximity data captured by both the above and under water proximity detectors may significantly increase the controller’s object detection performance, for example, accuracy, reliability, consistency, robustness, and / or the like since the controller may effectively estimate and / or determine attributes of detected objects, for example, dimensions (e.g., size, length, width, height, depth, etc.), mobility, submergences, and / or the like.

[0095] Utilizing the improved object detection, the controller may distinguish with increased efficiency between floating objects, under water objects, objects which extend out of the water, dynamic objects, fixed objects and / or the like which in turn may enable the controller to control the skimming robot accordingly with significantly improved accuracy and effectivity which may significantly improve debris collection performance of the skimming robot.

[0096] Moreover, one or more of the proximity detectors may be deployed and mechanically coupled to the skimming robot such that their field of view may encompass at least part of one or more side regions of the skimming robot which are not in front of the skimming robot and thus not in its advancement path. Detecting objects at the flanks of the skimming robot may further improve object detection and classification performance of the controller which may further improve the debris collection functionality of the skimming robot.

[0097] As described herein after in detail, the skimming robot disclosed herein may include a plurality of mechanical and object detection improvements which may further improve its debris collection performance through, for example, improved water flow through its debris collection container (basket), scenario based movement patterns, and more.

[0098] According to some embodiments of the present invention, there are provided methods, and systems for efficiently charging one or more rechargeable batteries of dynamic pool equipment units, specifically dynamic pool equipment units having solar panels and capable of floating on the water surface, for example, a skimming robot, a pool cleaning robot, a buoy, and / or the like using solar energy captured by their solar panels.

[0099] In particular, the controller of the dynamic pool equipment unit may analyze light level sensory data captured by one or more light sensors deployed to measure the level of sun light heating the solar panel(s) of the dynamic pool equipment unit. The sensory data comprise a plurality of light samples captured at a plurality of locations travelled by the dynamic pool equipment units, optionally recently travelled by the dynamic pool equipment units during a certain recent time period, for expel, fine minutes, ten minutes, fifteen minutes, and / or the like.

[0100] Based on the analysis, the controller may identify one or more high light exposure locations associated with one or more highest light samples and may control and / or navigate the dynamic pool equipment unit to the a selected one of the high light exposure locations. The controller may further operate the dynamic pool equipment unit to stay in its place (park) at the selected high sun light exposure location to recharge its battery(s) using solar energy captured by its solar panel(s). Th

[0101] Locating high sun light locations and operating the dynamic pool equipment units to recharge their batteries at these locations may significantly increase batteries recharge performance, for example, reduced charging time, increased charging capacity, increase robot's operating time, and / or the like.

[0102] The skimming robot may be optionally further installed with one or more sensors for measuring, capturing and / or collecting water, and / or environment, as well as surrounding objects. For example, the skimming robot may include one or more water quality sensors adapted to sense one or more water parameters of the water pool, for example, Oxidation-reduction potential (ORP), pH, chlorine, and / or the like. In another example, the skimming robot may comprise one or more sensors adapted to capture one or more environmental parameters, for example, temperature, humidity, light level, and / or the like. In another example, the skimming robot may include one or more image sensors, for example, a camera, an infrared sensor, a thermal sensors, and / or the like adapted to capture images of the surroundings of the slimming robot, for example, front, sides, rear, and / or a combination thereof.

[0103] Based on analysis of the images of the skimming robot’s surroundings, the controller of the skimming robot may detect debris, navigate the skimming robot, initiate an alert, and / or the like.

[0104] Optionally, the skimming robot may include one or more sound based sensors, for example, an ultrasonic sensor, a Sound Navigation and Ranging (SONAR) sensors, and / or the like which may be used, for one or more applications, for example, navigation, under water object detection, communication, and / or the like.

[0105] The skimming robot may optionally include one or more wireless communication adaptors adapted for connecting to one or more wireless communication channels and / or networks, for example, Wireless Local Area Network (WLAN, e.g., Wi-Fi), Radio Frequency (RF), Bluetooth, and / or the like. Via the wireless channels, the skimming robot may communicate with one or more remote apparatuses, for example, a device, a system, a platform, and / or the like located out of the water pool, for example, a pool robot, a dry docking station located out of the water pool, control station, a cloud service, a remote server, and / or the like to transmit and / or receive data. For example, the skimming robot may transmit data over the wireless channels to one or more remote servers and / or cloud services, for example, transmit one or more alerts, transmit its captured water parameters information and / or environmental information, its operation state and / or the like. In another example, via the wireless channels, and / or networks, the skimming robot may communicate with one or more other robots to transmit object detection data for and / or instruct them to navigate to debris on the pool surface.

[0106] Optionally, the skimming robot may further include one or more wireless underwater communication adaptors adapted for connecting to one or more underwater wireless communication channels and / or networks, for example, an ultrasonic communication channel, a sound based communication channel, and / or the like. Via the wireless underwater communication channel(s), the skimming robot may communicate with one or more apparatuses, for example, a device, a system, a platform, and / or the like which are at least partially submerged in the water pool, for example, a submerged pool robot, a floating chlorinator, an underwater docking station, and / or the like. For example, the skimming robot may communicate with one or more submerged apparatuses to instruct them to take one or more actions.

[0107] Moreover, the skimming robot may connect to one or more external apparatuses located out of the water pool via the wireless communication channel(s) and to one or more submerged apparatuses via the wireless underwater communication channel(s). In such case, the skimming robot may be configured to perform as a relay for transferring and / or exchanging data between the external apparatus(s) and the submerged apparatus(s).

[0108] Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

[0109] As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or computer program product. Accordingly, aspects of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” or “system.” Furthermore, aspects of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0110] Any combination of one or more computer readable medium(s) may be utilized. The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhau stive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable readonly memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0111] Computer program code comprising computer readable program instructions embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0112] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0113] The computer readable program instructions for carrying out operations of the present invention may be written in any combination of one or more programming languages, such as, for example, assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages.

[0114] The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention.

[0115] Aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer readable program instructions.

[0116] The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0117] Referring now to the drawings, FIG. 1 is a schematic illustration of an exemplary autonomous skimming robot deployed in a water pool for leaning collecting debris and / or other objects floating on the water surface of the pool, according to some embodiments of the present invention.

[0118] An exemplary autonomous skimming robot 100 may be deployed in a body of water, specifically manmade (artificial) body of water such as, for example, a pool, a swimming pool, a water reservoir, a fountain, a bio pool, a pond, a lake, a river, an ocean, and / or the like designated water pool 102 herein after.

[0119] In particular, the autonomous skimming robot 100 may be adapted to float on the water surface of the water pool 102 for cleaning the water pool 102, specifically its water surface by collecting debris objects, interchangeably designated debris herein after, floating on the water and / or adjacent to walls of the water pool 102, for example, leaves, insects, dirt, soil, litter, rubbish, and / or the like.

[0120] The skimming robot 100 may therefore comprise a floatable body comprising one or more floatable elements adapted, shaped, and / or configured to float the skimming robot 100 on the surface of the water in the water pool 102. The exterior of the skimming robot 100 has a bumper along the perimeter of the floating body.

[0121] The skimming robot 100 may further comprise one or more proximity detectors 110, a controller 112 for controlling operation, and one or more electric motors 114 adapted to actuate and / or operate advancing means of the skimming robot 100, for example, one or more paddle wheels, one or more propellers, one or more water splash propulsion elements, a combination thereof, and / or the like.

[0122] The electric motor(s) 114, for example, a self-commutated motor, an external commutated motor, a synchronous motor, an asynchronous motor, a servo-motor, a stepper motor, and / or the like may be operated by the controller 112 for moving and / or advancing the skimming robot 100 in one or more directions, for example, forward, backward, rotation, and / or the like.

[0123] The controller 112 may comprise one or more microcontroller, processors, and / or a combination thereof. The controller 112 may be comprise one or more non-transitory memory devices for storing data and / or program code. The memory device(s) may include persistent nonvolatile devices, for example, a ROM, a Flash array, an E2PROM, a hard drive, an SSD, etc. and / or one or more volatile devices, for example, a RAM device, a cache memory, etc. The controller 112 may execute one or more software modules, for example, a process, a script, an application, an agent, a utility, a tool, an Operating System (OS), a service, a plug-in, an add-on and / or the like each comprising a plurality of program instructions stored in the non- transitory memory device(s) (program store).

[0124] Optionally, the controller 112 may include, utilize and / or apply one or more hardware elements available in the skimming robot 100, for example, a circuit, a component, an Integrated Circuit (IC), an ASIC, an FPGA, a Digital Signals Processor (DSP), a Graphic Processing Unit (GPU), and / or the like.

[0125] The controller 112 may therefore execute one or more functional modules, utilized by one or more software modules, one or more of the hardware modules and / or a combination thereof, for controlling operation, movement, actions, and / or mode of the skimming robot 100. For brevity, the controller 112 itself is described herein after to perform a plurality of tasks, for example, operations, processes, computations, analyses, and / or the like while in practice the controller 112 may execute one or more functional modules to accomplish these tasks.

[0126] The proximity detectors 110 may comprise proximity detectors and / or proximity sensors employing one or more proximity detection (sensing) technologies, for example, IR, laser ranging, photo-electricity, ultrasonic, imaging (e.g., camera, etc.), IMU and / or the like. Typically, the proximity detectors 110 may be mechanically coupled to a body of the skimming robot 100, for example, attached, integrated, mounted, and / or the like. However, one or more of the proximity detectors 110 may be detachable devices which may detachably attached to the body of the skimming robot 100.

[0127] In particular, the proximity detectors 110 may include one or more underwater proximity detectors and one or more above water proximity detectors. The underwater (below water) proximity detector(s) may be positioned on the body of the skimming robot 100 such that when the skimming robot 100 floats on the water surface of the water pool 102, the underwater proximity detector(s) are below the water surface. The above water proximity detector(s), on the other hand, may be positioned on the body of the skimming robot 100 such that when the skimming robot 100 floats on the water surface of the water pool 102, the above water proximity detector(s) are above the water surface.

[0128] The proximity detectors 110 may be electrically and / or communicatively coupled to the controller 112 such that the controller 112 may receive (e.g., collect, fetch, etc.) the proximity data captured by the proximity detectors 110. Optionally, one or more of the proximity detectors 110 may be adapted to receive commands, instructions, and / or data from the controller 112, for example, configuration data for adjusting one or more operational parameters of the respective proximity detector 110, for example, a detection range i.e., reaction distance, a Field of View (FOV), a detection sensitivity level, and / or the like.

[0129] The skimming robot 100 may optionally include an Input / Output (I / O) interface 116 comprising one or more wireless interfaces, ports and / or links implemented via hardware, software, and / or a combination thereof, for example, Wireless Local Area Network (WLAN, e.g. Wi-Fi), Bluetooth (BT), Radio Frequency (RF), and / or the like.

[0130] While the skimming robot 100 is typically not wired, i.e., not connected to cables, in some embodiments, the skimming robot 100 may be connected via one or more cable to a host station typically deployed outside the water pool. Via the cable(s), the skimming robot 100 may receive power (inductive or conductive) and optionally operational instructions. The charging is to be used in warehouse or as an alternative to solar charging . In such embodiments, the I / O interface 116 may include one or more wired interfaces, ports, and / or interconnections implemented via hardware, software, and / or a combination thereof, for example, Local Area Network (LAN), Controller Area Network (CAN) bus, and / or the like.

[0131] The input / output (“I / O”) interface 116, for example, via the wireless communication channel(s) supported by the I / O interface 116, the skimming robot 100, specifically the controller 112 may connect to a network 104 comprising one or more wired and / or wireless communication channels and / or networks, for example, Local Area Network (“LAN”), Wide Local Area Network (“WLAN”), Wide Area Network (“WAN”), Metropolitan Area Network (“MAN”), cellular network, the internet, a Radio Frequency (“RF”) channel, and / or the like. As such via the wireless communication channel(s), the controller 112 may communicate with one or more remote resources 106 connected to the network 104. In particular, via the wireless communication channel(s), the controller 112 may communicate with one or more external apparatus, for example, a device, a system, a service, a platform, and / or the like located out of water of the water pool 102, for example, a server, a cloud service, and / or the like. In another example, the skimming robot 100 may communicate via the wireless communication channel(s) with one or more other pool equipment units, for example, another skimming robot 100, a pool robot, a floating chlorinator, a dry docking station, and / or the like while located out of the water pool 102 and thus able to communicate via the wireless communication channel(s).

[0132] Optionally, the I / O interface 116 may include one or more underwater wireless communication adaptors, interfaces, and / or links adapted for communicating via one or more wireless underwater communication, for example, an ultrasonic communication channel, a sound based communication channel, and / or the like. At least part of the underwater communication adaptor(s), interface(s), and / or link(s) may be submerged while the skimming robot 100 is deployed in the water pool 102 such that they may establish wireless underwater communication. Via the wireless underwater communication channel(s), the skimming robot 100, specifically the controller 112 may communicate with one or more apparatuses, for example, a pool robot, a floating chlorinator, an underwater docking station, and / or the like which are at least partially submerged in the water of the water pool 102 and thus able to communicate via the wireless underwater communication channel(s).

[0133] Optionally, the skimming robot 100 may connect to one or more wireless communication channels and one or more wireless underwater communication channels. In such case, the skimming robot 100 may serve as a relay for transferring and / or exchanging data between one or more external (dry) apparatuses located out of the water pool 102 and one or more wet apparatuses which are at least partially submerged in the water pool 102.

[0134] The skimming robot 100 and its electrical components may be powered by one or more power batteries, specifically rechargeable batteries which may be recharged from an external power source, for example, mains power outlet, a charging station, and / or the like. Optionally, one or more of the rechargeable batteries of the skimming robot 100 may be recharged by a current generated by one or more solar panels deployed on a top side of the body of the skimming robot 100.

[0135] Reference is now made to FIG. 2, which is shows perspective views of an exemplary autonomous skimming robot, according to some embodiments of the present invention.

[0136] An autonomous skimming robot 200 such as the autonomous skimming robot 100 may include a plurality of proximity detectors such as the proximity detectors 110 which are deployed and mechanically coupled to a body of the skimming robot 200 such when the skimming robot 200 is floating on the water surface of the water pool 102, one or more of the proximity detectors 210 are above the water surface while one or more other proximity detectors are under the water surface.

[0137] For example, two of the proximity detectors 210, designated proximity detectors 210A may be located above the water surface (level) when the skimming robot 200 is floating on the water surface while two other proximity detectors 210, designated proximity detectors 210B are located under (below) the water surface.

[0138] The skimming robot 200 may include a floatable body comprising one or more floating elements 212 adapted, shaped and constructed to float the skimming robot 200 on the water surface of a water pool such as the water pool 102. The floating elements 210 may be arranged in one or more constructions, arrangements, and / or designs to effectively float the body of the skimming robot 200 on the water surface. For example, the skimming robot 200 may be shaped and / or constructed to have a catamaran structure with two elongated floating elements 210 arranged along a longitudinal axis of the body of the skimming robot 200 with a space between them.

[0139] The skimming robot 200 may a container (basket) located underneath the body of the skimming robot 200 in the space between the two elongated floating elements 212. The container adapted to collect the debris may typically be a removable container which may be pulled out of its place for removing the collected debris and cleaning the container.

[0140] The skimming robot 200 may further include one or more front paddle wheels214 located at the bow of the skimming robot 200 in front of the container. The front paddle wheel 214 may improve funneling and collection of floating debris objects into the container located under the body of the skimming robot 200.

[0141] The advancing means of the skimming robot 200 may include one or more side paddle wheels 216 typically located on both sides of the body of the skimming robot 200 for moving the skimming robot 200 on the water surface of the water pool 102.

[0142] The skimming robot 200 may include one or more solar panels 218 deployed on a top side of its body which are adapted to convert solar energy to electrical energy for recharging one or more rechargeable batteries of the skimming robot 200 electrically connected to power the electrical components of the skimming robot 100, for example, its propulsion means (e.g., motors, water splash, etc.), the controller 112, the proximity detectors 110, and / or the like.

[0143] The skimming robot 200 may be constructed according to one or more structure, constructions and / or designs. For example, the body of the skimming robot 200 may be shaped in backward arched front side (bow) extending backward from a center segment of the front side to both distal ends of the front lateral side of the skimming robot 200. Optionally, the rear side (stem) of the body of the skimming robot 200 may be also shaped to have and rear side extending forward from a center segment of the rear side to both distal ends of the rear side of the skimming robot 200.

[0144] Reference is now made to FIG. 3A and FIG. 3B, which are schematic illustrations of an exemplary autonomous skimming robot shaped with a curved bow side and curved floating elements, according to some embodiments of the present invention.

[0145] As seen in FIG. 3A, an exemplary autonomous skimming robot such as the autonomous skimming robot 100, for example, the autonomous skimming robot 200 may be shaped with a curved bow side, i.e., a front side facing the advancement direction of the autonomous skimming robot 200. Its curved and rounded body shape may enable the skimming robot 200 to efficiently collect debris objects and items which are adjacent to edges (walls) of the water pool 12 and possibly stuck at the edges, for example, below an inward extension and protrusion of one or more pool side walls. Such debris may include, for example, dirt, leaves, and / or the like moved by wind and / or water flow to the vicinity of the pool edges. The curved skimming robot 200 may penetrate such tight confinement areas to collect such debris, optionally through rocking motion, and collect them before they sink to the bottom of the water pool 102.

[0146] As seen in FIG. 3B, one or more floating the floating elements 310 such as the floating elements 210 may be arranged in one or more constructions, arrangements, and / or designs to effectively float the body of the skimming robot 200 on the water surface.

[0147] For example, an exemplary autonomous skimming robot such as the autonomous skimming robot 100, for example, the autonomous skimming robot 200 may have a catamaran body structure with two or more floating elements 310 arranged along the longitudinal axis of the body with a certain predefined lateral distance between them such that one or more floating elements 310 are located at each side of the body.

[0148] In particular, the floating elements 310 may be arranged such that the lateral distance between them is smaller at the bow of the skimming robot 200 and increases towards the stem. The inner walls of the floating elements 310 may be therefore shaped to have rear outward curved inner walls such that a lateral distance D2 between the inner walls of the floating elements 310 is longer at the stem of the skimming robot 200 compared to the lateral distance DI between these inner walls at the bow.

[0149] The longitudinal widening formed by the curved construct of the floating elements 310 may increase the flow rate of water underneath the skimming robot 200 while reducing the inlet resistance of the container located underneath the body. This may significantly increase collection performance of the skimming robot 200 since the curved bow shape may reduce a front wave preceding the skimming robot 200 thus allowing it to collect microscopic debris with virtually zero mass (e.g. pollen grains) from the surface.

[0150] Such floating elements 310 may be constmcted, for example, using two elongated floating 310 which are arranged along the longitudinal axis of the body. In another example, multiple floating elements 310 may be deployed at each side of the skimming robot 200 along its longitudinal axis to jointly form an elongated floating element at each side extending from the bow to the stem of the skimming robot 200.

[0151] The controller 112 may control movement of the skimming robot 100 by operating the advancing means of the skimming robot 100, for example, one or more paddle wheels, one or more propellers, one or more water splash propulsion elements, a combination thereof, and / or the like. For example, the controller 112 may operate the advancing means by controlling, adjusting, and / or otherwise operating one or more motors of the skimming robot 100 which are driving the advancing means. In another example, the controller 112 may operate one or more steering mechanism adapted to control the movement direction of the skimming robot 100.

[0152] Optionally, one or more of the advancing means may be monitored to determine their operation state, a failures, a malfunction, and / or the like.

[0153] For example, a skimming robot such as the skimming robot 200 may include two side paddle wheels 218 deployed on each side of the body of the skimming robot and operable for propelling the skimming robot 200 on the water surface of the water pool 102. The skimming robot 200 may further include one or more rotation sensors deployed and adapted to monitor rotation of one or more of the side paddle wheels 218, for example a respective rotation sensor may be deployed to monitor a respective side paddle wheels 218.

[0154] The controller 112 which is electronically and / or communicatively coupled to the rotation sensor(s) may analyze rotation sensory data captured by the rotation sensor(s) and detect, based on the analysis, whether a respective side paddle wheel 218 rotates properly as instructed by the consoler 112, for example, at the instructed direction (e.g., front, reverse), at the instructed speed, and / or the like.

[0155] The rotation sensor(s) may employ one or more technologies and / or operational schemes. For example, one or more of the rotation sensor(s), deployed to monitor a respective side paddle wheel 218 may comprise a Hall effect sensor adapted to detect a magnetic field induced by one or more magnetic elements attached to the respective side paddle wheel 218.

[0156] As stated herein before, the skimming robot 100 may include one or more containers (baskets) for storing debris collected by the skimming robot 100. For brevity, a single debris storage container is described herein after. This, however, should not be construed as limiting since the skimming robot 100 may include multiple containers shaped and adapted to function and perform as the single container described herein after.

[0157] Reference is now made to FIG. 4, which is a schematic illustration of an exemplary removable container of an autonomous skimming robot shaped with a curved side walls, according to some embodiments of the present invention.

[0158] An exemplary autonomous skimming robot such as the autonomous skimming robot 100, for example, the autonomous skimming robot 200 may comprise a container 400 adapted for storing debris and other objects collected by the skimming robot 200. The container 400 may be typically removable such that it may be removed, and / or extracted from the skimming robot 200 to empty the container 400 from the collected objects and place it back in the skimming robot 200.

[0159] The container 400 may be placed in a designated location underneath the body of the skimming robot 200 with its inlet (opening) facing the advancement direction of the skimming robot 200, i.e., the bow of the skimming robot 200 and its outlet facing the stem. The body of the skimming robot 200 may be equipped and / or adapted with one or more mechanical elements for receiving, accommodating, and securely holding the container 400 in its place, for example, a chamber, a rail, an aperture, an opening, a notch, a protrusion, and / or the like.

[0160] The container 400 adapted to fit beneath the body of the skimming robot 200 may be shaped to have rear outward curved longitudinal side walls such that a rear side of the container is larger than its front side. In particular, the container 400 may be shaped to fit beneath the catamaran structured skimming robot 200 between its floating elements 210, for example, floating elements such as the floating elements 310 arranged to face each other along the longitudinal axis of the body of the skimming robot 200.

[0161] As such, the rear outward curved longitudinal side walls of the container 400 may be shaped to align with the inner walls of the floating elements 310. The lateral rear side of the of the container 400 at its outlet may be therefore wider than the lateral front side of the of the container 400 at its inlet. For example, the lateral front side of the of the container 400 may be set for a little less than DI to fit in the lateral distance between the inner walls of the floating elements 310 at the bow while the lateral rear side of the of the container 400 may be set for a little less than D2 to fit in the lateral distance between the inner walls of the floating elements 310 at the stem.

[0162] The reduced inlet width and the widening of the container 400 toward its outlet may significantly increase the volume of water flowing through the container 400 thus allowing increased efficiency of debris collection. In addition, this widening structure may significantly reduce drag of the skimming robot 200 and increase its movement performance and / or reduce power consumption of its motor(s) driving its advancing means, for example, one or more side paddle wheels 216.

[0163] The container 400 may be shaped to be inserted from the rear of the body of the skimming robot 200 and easily fit and / or slide into its place between the floating elements 310. The body may further include one or more locking elements, for example, a snap, a clasp, a fastener, a latch, and / or the like adapted to lock the container 400 and prevent it from moving and / or getting out of place.

[0164] The container 400 may be adapted to allow water to flow through it with minimal drag whole efficiently trapping, capturing, and storing debris objects collected by the skimming robot 200 and entering the container 400. The container 400 may therefore include one or more filters adapted to prevent debris objects from getting out of the container 100. The filter may be typically located at the outlet of the container, i.e., at its rear side such that when the container 400 is installed in the skimming robot 200, the filter are located towards the stem of the skimming robot 200 and in the bottom of it.

[0165] In order to support high water flow and efficient debris trapping, the filter(s) constructed of one or more materials, for example, plastic, polyethylene, silicon, metal, and / or the like may be shaped, and / or structured with a plurality of small openings through which water may flow but other objects, even very small objects (e.g., sand, dirt, etc.) may be trapped.

[0166] The filter(s) may be typically replaceable filter and may be therefore adapted to be removable from and pluggable to the container 400 via one or more mechanical provisions, for example, a chamber, a rail, a snap, a clasp, a latch, and / or the like adapted to receive, accommodate and lock the filter(s) in their place.

[0167] Optionally, a controller such as the controller 112 of the skimming robot 100 may be adapted to detect that the removable container 400 is full and initiate one or more notifications indicative of full container. For example, assuming the skimming robot 100 includes the I / O interface, the controller may transmit, via the network 104, one or more notification messages to one or more remote resources, for example, one or more client devices of one or more users (e.g., pool owner, pool maintenance person, etc.), a cloud maintenance service, a docking station of the skimming robot 100, and / or the like. In another example, assuming the skimming robot 100 comprises one or more local alert elements, for example, an indication light, a Light Emitting Diode (LED), a speaker, and / or the like, the controller 112 may operate one or more of the local alert elements to output a basket full indication, for example, turn ON one or more indication lights and / or LEDs, operate the speaker to play one or more sounds, and / or the like.

[0168] In response to the container full indications the informed party(s) may take one or more actions to empty the full container 400. For example, one of the user(s) may physically access the skimming robot 100 to take out the full container 400, empty it and place back in the skimming robot 100. In another example, an automated system, for example, the docking station may instruct the skimming robot 100 to arrive and dock at the docking station where the full container 400 may be manually and / or automatically cleaned, for example, removed, emptied, and placed back in the skimming robot 100, cleaned using a vacuum cleaning system, and / or the like.

[0169] Optionally, insertion of the container 400 into its designated place, location and / or space in the skimming robot 100 may trigger turn ON of the skimming robot 100. The controller 112 may be therefore optionally adapted to turn ON the skimming robot 100 responsive to detecting that the removable container 400 is inserted into its designated place, for example, chamber, space, and / or the like in the body of the skimming robot 100. The skimming robot 100 may include one or more devices, circuits, sensors, and / or the like which may be used by the controller 112 for detecting that the container 400 is inserted in its designated place. For example, the skimming robot 100 be installed with one or more contactless switches deployed and located in the body such that the contactless switch(s) transition between one state to another when the container 400 is inserted in its designated place and when removed from that place. In another example, the skimming robot 100 be installed with one or more light sensors deployed and located in the body such that a light beam of the light sensor(s) is blocked when the container 400 is inserted in its designated place and unblocked when the container 400 is removed from that place.

[0170] The skimming robot 100, for example, the skimming robot 200 may optionally include one or more front paddle wheels such as the front paddle wheel 214 for improving cleaning performance of the skimming robot 100. For brevity, a single front paddle wheel is described herein after. This, however, should not be construed as limiting since the skimming robot 100 may include multiple front paddle wheels shaped and adapted to function and perform as the single container described herein after.

[0171] Reference is now made to FIG. 5, which is a schematic illustration of an exemplary front paddle wheel of an autonomous skimming robot, according to some embodiments of the present invention.

[0172] An exemplary autonomous skimming robot such as the autonomous skimming robot 100, for example, the autonomous skimming robot 200 may comprise a front paddle wheel 516 such as the front paddle wheel 216 for collecting debris and routing, funneling, and / or directing them towards the inlet of a container such as the container 400.

[0173] The front paddle wheel 516 having a plurality of flaps may be located in front of the container, i.e., in front of the inlet of the container 400 to effectively collecting, routing, funneling, and / or directing debris into the container 400.

[0174] The front paddle wheel 516 may be adapted to reduce a forward wave of water in front of the skimming robot 200 created by rotation of the front paddle wheel 516. Reducing the forward wave may prevent debris objects, specifically small and / or light weight objects located in front of the skimming robot 200 from being pushed away from the skimming robot 200. Rather, the debris objects may remain at their place and be efficiently collected through the front paddle wheel 516 into the container 400 thus significantly increasing debris collection performance of the skimming robot 200. The front paddle wheel 516 may employ one or more designs, structures, and / or features for reducing the forward wave of water in front of the skimming robot 200 which may further reduce motion resistance and hence reduce energy consumption of the skimming robot 200.

[0175] For example, the front paddle wheel 516 may be constructed and / or shaped to have a reduced number of flaps, for example, the number of flaps of the front paddle wheel 516 may be in a range of 3-5. Reducing the number of flaps may increase the collection space of the paddle wheel 516 to enable efficient collection of large debris objects (e.g. cones, leaves with long stems, etc.) which otherwise may be pushed in front of the skimming robot rotation 200. Moreover, the reduced flaps number may reduce frequency of the flaps hitting the water surface thus diminishing and / or reducing forward waves compared to waves formed by a larger number of flaps hitting the water at higher frequency thus stirring higher waves.

[0176] In another example, each of the plurality of flaps of the front paddle wheel 516 may be shaped to be at least partially curved along its lateral axis perpendicular to a rotation axis of the front paddle wheel 516 such that each flap may be bent or twisted along its lateral axis, as common in rotors. Due to their curved structure, the flaps hit the water in a gradual manner thus reducing stirring of the water and hence significantly reducing forward waves created by the rotation of the front paddle wheel 516.

[0177] Optionally, one or more of the plurality of flaps of the front paddle wheel 516 may comprise an elastic edge coated, and / or constructed of one or more elastic materials, for impale, silicon, rubber, and / or the like adapted to clean surfaces, for example, pool walls, and / or the like when the front paddle wheel rotates against this surface. In case the skimming robot 200 is positioned in front of a vertical and / or slopped surface such that the front paddle wheel 516 rotates against the surface, the elastic edge of the flap(s) may scrub and / or wipe the surface thus cleaning it and / or removing debris, for example, dirt, insects and / or the like caught and / or clung to the surface thus increasing debris collecting and pool cleaning performance of the skimming robot 200.

[0178] Optionally, the controller 112 may detect the rotation state of the front paddle wheel 516 according to analysis of rotation sensory data captured by one or more rotation sensors deployed and adapted to monitor rotation of the front paddle wheel 516 as described herein before for the side paddle wheels 218. Based on analysis of such rotation sensory data, the controller 112 may identify that the front paddle wheel 516 is not properly rotating which may be indicative of an object stuck in the front paddle wheel 516. In addition, the controller 112 may actively control rotation of the front paddle wheel 516 according to the rotation sensory data. For example, the controller 112 may analyze the rotation sensory data to identify the rotational (angular) position of the front paddle wheel 516 and may operate it, for example, to prevent debris objects from escaping from the front of the collection container by positioning the front paddle wheel 516 at an angular position where the large (side) surface of one of the flaps of the front paddle wheel 516 is positioned in front of the inlet of the container.

[0179] Optionally, the skimming robot 100 may comprise one or more provisions to prevent it from getting stuck in tight places, for example, under elevated objects in the water pool 102, objects protruding into the water pool and having a space, a gap and / or void underneath them in which the skimming robot 100 may get stuck. For example, the skimming robot 100 may be installed with one or more mechanical elements, optionally detachable elements comprise which may increase the height of the skimming robot 100 and prevent it from getting into places in which it may get stuck and unable to get out of on its own without assistance.

[0180] Reference is now made to FIG. 6, which is a schematic illustration of an exemplary autonomous skimming robot having a detachable raised mechanical element to increase height of the skimming robot, according to some embodiments of the present invention.

[0181] An exemplary autonomous skimming robot 600 such as the autonomous skimming robot 100 may comprise one or more detachable mechanical raised elements 602, for example, an arm, a bow, a bumper, and / or the like adapted for mechanical coupling to the body of the skimming robot 600 to increase the height of the skimming robot 600 and prevent it from getting stuck under elevated and / or protruding objects at the water pool 102, for example, protruding bank of the water pool 102, a low bridge, an overhanging walkway, a deck surface, and / or the like.

[0182] According to some embodiments of the present disclosure, the controller 112 may control the operation, movement, actions, and / or mode of the skimming robot 100 based on analysis of proximity data captured by the proximity detectors 110.

[0183] Reference is now made to FIG. 7, which is a flowchart of an exemplary process of controlling movement of an autonomous skimming robot deployed in a water pool according to analysis of proximity data captured by above water and underwater proximity detectors, according to some embodiments of the present invention.

[0184] An exemplary process 700 may be executed by a controller such as the controller 112 of an autonomous skimming robot such as the autonomous skimming robot 100 for controlling operation, movement, actions, and / or mode of the skimming robot 100 according to proximity data captured by one or more proximity detectors such as the proximity detectors 110. In particular, the controller 112 may control the skimming robot 100 according to proximity data captured by one or more above water proximity detectors such as the above water proximity detectors 110A and / or one or more underwater proximity detectors such as the above water proximity detectors HOB. As shown at 702, the process 700 starts with deploying the autonomous skimming robot 100 in a water pool such as the water pool 102 such that the skimming robot 100 floats on the water surface of the water pool 102.

[0185] As shown at 704, the controller 112 may receive proximity data captured by the proximity detectors 110 of the skimming robot 100, specifically proximity data captured by one or more above water proximity detectors and one or more underwater proximity detectors.

[0186] The proximity data may comprise data defined according to one or more formats, values, and / or parameters. For example, the proximity data captured by one or more of the proximity detectors 110 may comprise a distance to a detected object (blocking object). In another example, the proximity data captured by one or more of the proximity detectors 110 may comprise an angle (direction) to a detected object. In another example, the proximity data captured by one or more of the proximity detectors 110 may comprise a simple TRUE / FALSE (‘17’0’) signal indicative whether the respective proximity detector detects a blocking object within its predefined detection range (distance).

[0187] The above water and underwater proximity detectors 210 may be arranged, deployed, and / or mechanically coupled to the body of the skimming robot 200 such that they may have a wide, enhanced, and / or improved detection field, range, and / or the like. For example, as demonstrated in FIG. 2, a right and left above water proximity detectors such as the above water proximity detectors 210A may be located at the comers (ends) of the front side (bow) of the body of a skimming robot such as the skimming robot 200, and a right and left underwater proximity detectors such as the underwater proximity detectors 210B may be also located at the comers of the skimming robot 200, optionally below respective above water proximity detectors 210A.

[0188] Moreover, one or more of the above water proximity detectors 210A and / or one or more of the underwater proximity detectors 210B may be mechanically coupled to the body of the skimming robot 200 to monitor one or more side regions if the skimming robot 200 which are outside an advancement path of the skimming robot 200. Such proximity detectors 210A and / or 210B may therefore detect objects which are on the sides of the skimming robot 200 and not necessarily in front of the skimming robot 200 in its advancement path.

[0189] As stated herein before, one or more parameters of one or more of the proximity detectors 110 may be defined or even dynamically adjusted by the controller 112, for example, the detection range i.e., reaction distance, the FOV, the detection sensitivity level, and / or the like.

[0190] For example, assuming the proximity detectors 110 are IR proximity detectors employing IR sensing technology, the radiation angle of the IR rays may be optically rectified by optical lenses in each proximity detector 110. The IR transmitter of each proximity detectors 110 may generate IR beams at one or more angle ranges (sections) defining the FOV of the respective proximity detector 110, for example, 25, 30, 40 degrees and / or the like. IR sensor wavelengths optimized for underwater and above-water use (e.g. 850nm and 940nm)

[0191] Located at the comers of a skimming robot such as the skimming robot 200, IR based above water and underwater proximity detectors 210 such as the proximity detectors 110 may have their optical axes directed at least partially to the sides of the skimming robot 200 thus covering a wide FOV, for example, the entire area in front of the skimming robot 200 including at least part of area to the sides of the skimming robot 200, for example, 35 degree FOV to the left and right sides.

[0192] The proximity detectors 210 may employ one or more detraction schemes typically according to their proximity sensing technology. For example, assuming the proximity detectors 210 are adapted to detect objects, obstacles, at up to a certain (reaction) distance, for example, 0.1. 0.3, 0.5 meters and / or the like, for example, IR proximity detectors 210 adapted to transmit IR rays and detect reflected rays at up to the reaction distance. In such case, the proximity data captured or generated by these proximity detectors 210 may include TRUE (‘1’) for positive detection of an object within the reaction distance and FALSE (‘0’) for negative detection.

[0193] The IR sensors may identify wall\cable (pool cleaning robot cable) / or other objects using the two IR sensors and compering their intensity.

[0194] The capability of wall identification allow to preform edge cleaning, pool perimeter cleaning mode.

[0195] As shown at 706, the controller 112 may analyze the proximity data received from the proximity detectors 110 to detect one or more objects in proximity to the skimming robot 100, for example, in front of the skimming robot 100, on one or more sides of the skimming robot 100, and / or the like.

[0196] Moreover, based on analysis of the proximity data, the controller 112 may further determine and / or estimate one or more attributes of one or more detected objects according to the location of the proximity detector(s) 110 which detected the object, for example, a location of the object with respect to the skimming robot 100, a dimension (e.g., size, length, width, height, depth, etc.), of the object, mobility of the object, and / or the like.

[0197] In order to demonstrate analysis of the proximity data it is assumed that the proximity detectors 110 are IR sensors which output ‘1’ or ‘0’ values according to reflection of their IR rays (beams) which is indicative of objects located in their FOV within their reaction distance. Based on the positive (‘1’) and negative (‘0’) output values the controller 112 may determine whether an object is detected in proximity to the skimming robot 100. This, however, should not be construed as limiting, since the controller 112 may apply similar analysis to detect objects and their attributes based on proximity data captured by one or more other proximity detectors 110 employing other proximity sensing technologies.

[0198] For example, assuming the proximity data received from two above water proximity detectors such as the proximity detectors 210A located at the front comers of the skimming robot 200 indicate positive detection (‘1’), based on analysis of this proximity data, the controller 112 may determine and / or estimate that an object is located in front of the skimming robot 200. In another example, assuming the proximity data received the two above water proximity detectors 210A includes a ‘1’ from the right sensor and ‘0’ from the left sensor, based on analysis of this proximity data, the controller 112 may determine and / or estimate that an object is located to the right of the skimming robot 200.

[0199] In another example, assuming the proximity data received from one of the above water proximity detectors 210A, for example, the right corner sensor indicates positive detection (‘1’) and the proximity data received from the right underwater proximity detector 210B also indicates positive detection (‘1’). In such case, based on analysis of this proximity data, the controller 112 may determine that an object detected at the right side of the skimming robot 200 is at both submerged in the water pool 102 and also extends out of the water. The controller 112 may therefore estimate that the detected object is a large object extending out of the water, for example, a pool wall, a ladder, another pool equipment unit, and / or the like.

[0200] In another example, assuming the proximity data received one of the above water proximity detectors 210A, for example, the right corner sensor indicates positive detection (‘1’) while the proximity data received from the right underwater proximity detector 210B indicates negative detection (‘0’). In such case, based on analysis of this proximity data, the controller 112 may determine that an object detected at the right side of the skimming robot 200 is floating on the water surface of the water pool 102 and is not submerged. The controller 112 may therefore estimate that the detected object may be one or more debris objects, for example, a leaf, an insect, and / or the like.

[0201] Optionally, the controller 112 may analyze proximity data captured by one or more of the proximity detectors 110 over time in attempt to determine and / or estimate one or more attributes of one or more detected objects.

[0202] For example, the controller 112 may analyze proximity data captured by a certain proximity detector 110 for a certain time period, for example, 300 milliseconds (ms) while the skimming robot 100 is stationary, i.e., does not move. In case, the proximity data received from the proximity detectors 110 is consistently indicative of positive detection (‘ 1 ’), the controller 112 may estimate that the detected object is static, i.e., fixed in place, for example, a pool wall and / or the like. However, in case the proximity data received from the proximity detectors 110 intermittently indicates of positive detection (‘1’) and negative detection (‘0’), the controller 112 may estimate that the detected object is mobile and moving, for example, a cable, a hose, a debris, and / or the like.

[0203] In another example, the controller 112 may analyze proximity data captured by a certain proximity detector 110 for a certain time period, for example, 150 ms while the skimming robot 100 is turning or rotating. In such case, the controller 112 may analyze the proximity data received from the proximity detector 110 and identify one or more dimensions of the detected object, for example, a size, a width, a length, and / or the like according to the rotation (turn) speed and / or angle coupled with positive detection (‘1’) of the object by the proximity detector 110. For example, in case the object is detected by the proximity detector 110 for a significantly large section of the rotation, the controller 112 may determine the object’s size, length, and / or width is significantly large. On the other hand, in case the object is detected by the proximity detector 110 for only a small section of the rotation, the controller 112 may determine that the object’s size, length, and / or width is significantly small.

[0204] As shown at 708, the controller 112 may control the skimming robot 100, for example, movement, operation, actions, and / or states according to one or more attributes of one or more of the objects detected based on analysis of the proximity data captured by the proximity detectors 110.

[0205] For example, responsive to estimating, based on analysis of the proximity data, that an object detected in proximity to the skimming robot 100 is fixed, i.e., a fixed and / or stationary object, the controller 112 may control movement of the skimming robot 200 to move away from the detected object.

[0206] In another example, assuming that based on analysis of the proximity data, the controller 112 estimates that one or more attributes of the detected object, for example, dimensions, e.g., size, length, width, height, etc. prevents its collection by the skimming robot 200. In such case, responsive to this estimation. The controller 112 may control movement of the skimming robot 200 to move away from the detected object.

[0207] In another example, assuming that based on analysis of the proximity data, the controller 112 estimates that one or more detected objects are floating on the water surface, statically and / or dynamically moving, the controller 112 may estimate these are debris objects and may control movement of the skimming robot 100 to move towards the detected objects and collect them. The controller 112 may further adjust an advancement direction of the skimming robot 100 towards the detected objects to efficiently collect them and store them in the container of the skimming robot 100.

[0208] In another example, assuming that based on analysis of the proximity data, the controller 112 estimates that one or more attributes of the detected object, for example, dimensions, e.g., size, length, width, height, etc. are below a predefined debris size threshold, for example, 5 centimeters (cm), 10 cm, 15 cm, and / or the like the controller 112 may control movement of the skimming robot 100 to move towards the detected objects and collect them.

[0209] As shown at 710, the process 700 is typically a continuous and iterative process in which the controller 112 may branch back to step 704 to receive additional proximity data captured by the proximity detectors 110 and further control the skimming robot 100, its operation, movement, actions, and / or states accordingly.

[0210] The controller 112 may be further adapted to control movement of the skimming robot 100 according to a wall cleaning movement pattern for cleaning vertical and / or an at least partially slopped surfaces in the water pool 102. The wall cleaning movement pattern may comprise and or define advancing the skimming robot 100 to an at least partially slopped surface in the water pool 102, for example, a pool wall, a pole, and / or the like until a front paddle wheel such as, for example, the front paddle wheel 516 rotates against the slopped surface. The wall cleaning movement pattern may further dictate the controller 112 to control movement of the skimming robot 100 to maintain its position in front of the at least partially slopped surface, and / or slowly turn and / or move along the surface while the front paddle wheel 516 rotates against the surface and the elastic edges of one or more flaps of the front paddle wheel 516 scrub and / or wipe the surface to clean it by removing debris objects attached, stuck, and / or clung to the surface, for example, dirt, soil, insects, and / or the like

[0211] Reference is now made to FIG. 8 A and FIG. 8B, which are schematic illustrations of exemplary movement patterns of an autonomous skimming robot for collecting wall adjacent debris objects, according to some embodiments of the present invention.

[0212] A controller such as the controller 112 of a skimming robot such 800 as the skimming robot 100, for example, the skimming robot 200 may be adapted to control movement of the skimming robot 800 according to a wall adjacent debris collection movement pattern for collecting debris objects located adjacent to and or stuck at one or more walls of a water pool such as the water pool 102.

[0213] As seen in FIG. 8A, a wall adjacent debris collection movement pattern may comprise instructions for the controller 112 to advance the skimming robot 800 forward towards a pool wall of the water pool 102 (A) to push one debris objects towards a pool wall (B), retract the skimming robot 800 backwards (C) to pull the debris object(s) away from the pool wall, and advance the skimming robot 800 forward again (D) to collect the debris object(s) which have floated away from the pool wall. The adjacent debris collection movement pattern may further include instructions to instruct the controller 112 to control movement of the skimming robot 800 to move away from the pool wall (E) and optionally move in a different direction (F) to collect debris objects in other areas of the water pool 102.

[0214] Optionally, as seen in FIG. 8B, the wall adjacent debris collection movement pattern may further comprise instructions for increasing a rotation speed of a front paddle wheel such as the front paddle wheel 216 of a skimming robot such as the skimming robot 800 during the forward advancement to induce a stream and / or splash of water in front of the skimming robot 800, as seen in seen in illustration B, in order to release one debris objects trapped at the pool wall.

[0215] Optionally, the controller 112 may be further adapted to control movement of the skimming robot 100 according to one or more rescue mode movement patterns responsive to detecting that the skimming robot 100 is stuck in place, such a scenario may occur when one or more paddle wheels of a skimming robot such as, for example, the skimming robot 200, are stuck and stop rotating due, for example, entanglement with a cable, a branch, and / or the like.

[0216] As described herein before, the controller 112 may detect such no rotation and / or incorrect rotation of the paddle wheel(s) according to rotation sensor data captured by one or more rotation sensors deployed to monitor rotation of one or more of the paddle wheels.

[0217] For example, one or more of the rescue mode movement pattern may comprise movement instructions to release the skimming robot 200 from one or more objects, for example, a hose, a branch, and / or the like stuck with one of the side paddle wheels 218 of the skimming robot 200. Such rescue mode movement pattern may include instructions for the controller 112 to operate the motor(s) of the skimming robot 200 which drive the side paddle wheels 218 to move the skimming robot 200 in one or more movement attempt intimate in attempt to release the side paddle wheel(s) 218 from the object it is tangled with.

[0218] For example, the instructions of the rescue mode movement pattern may include instructions for a first movement attempt comprising increasing forward movement to a single side of the skimming robot 200 for example, by increasing power to the opposite side paddle wheel 218. In another example, the instructions of the rescue mode movement pattern may include instructions for a second movement attempt comprising increasing backward movement to a single side of the skimming robot 200 for example, by increasing power to the side paddle wheel 218 at the desired side. In another example, the instructions of the rescue mode movement pattern may include instructions for a third movement attempt comprising rapid back and forth movement with adjusted side movement in each back and forth movement by intermittently increasing and decreasing power to the side paddle wheels 218 at the two sides of the skimming robot 200 to induce a rattling effect which may release the stuck paddle wheel(s) 218.

[0219] Optionally, the controller 112 may be further adapted to control movement of the skimming robot 100 to move towards one or more devices, systems and / or apparatuses, collectively designated devices, according to wireless signals transmitted by these devices which is intercepted by one or more wireless receivers of the skimming robot 100 available, for example, in the I / O interface 116.

[0220] For example, the controller 112 may intercept wireless signals transmitted by one or more charging stations. Based on analysis, of the intercepted wireless signals, the controller 112 may identify a location and / or directing of the charging station and may control movement of the skimming robot 100 to advance towards the charging station and optionally automatically dock in the charging station for charging one or more rechargeable batteries of the skimming robot 100.

[0221] In another example, the controller 112 may intercept wireless signals transmitted by one or more client devices associated, for example, carried, held, and / or work by one or more users typically standing on a bank of the water pool 102. Such users, for example, a pool maintenance person and / or the like may wish to physically access the skimming robot 100 for one or more maintenance actions, for example, store it, clean it, recharge it, and / or the like.

[0222] Optionally, the controller 112 may be adapted to transmit, via one or more of the communication channels available through the VO interface 116, one or more messages to one or more systems, for example, another pool robot, a maintenance service, a monitoring system, a client device used by a user, and / or the like to report of one or more objects which the controller 112 determines could not be collected by the skimming robot 100. For example, responsive to detecting that one or more large objects are estimated as debris which exceed a collection capacity of the skimming robot 100, the controller 112 may transmit one or more messages to report of the detected large objects. The transmitted message(s) may further include information indicative of one or more attributes of one or more of the detected large objects, for example, a location of the respective large object, a size of the respective large object, and / or the like.

[0223] In another example, the controller 112 may communicate with a client device used by a user to coordinate a pick-up of the skimming robot 100 by the user, in such case the skimming robot 100 may exchange messages with the client device and / or intercept wireless transmission originating from the client device to identify the client device’s location and advance towards that location to be picked-up by the user. In another example, the skimming robot 100, specifically the controller 112, may communicate with one or more cloud services, typically via one or more wireless infrastructure devices (e.g., router, access point, etc.) to transmit data, for example, water parameters measured by the skimming robot 100 to the cloud services.

[0224] Moreover, via underwater communication supported by the I / O interface 116, for example, ultrasonic communication, the controller 112 may transmit one or more messages to one or more pool equipment units, for example, a pool robot, a floating chlorinator, an underwater docking station, and / or the like which are at least partially submerged in the water pool 102 and instruct them to execute one or more operations, and / or provide them with information. For example, responsive to detecting that chlorine level of the water in the water pool 102 is below a certain threshold, the controller 112 may transmit one or more messages to a floating chlorinator deployed in the water pool 102 thus informing the floating chlorinator that it need to apply chlorine to the water in the water pool 102. via the wireless communication channel(s) and / or the underwater communication channels the skimming robot 100 may therefore communicate with one or more systems, for example, another pool robot, a cloud service, a monitoring system, a client device used by a user, and / or the like which are either out of the water of the water pool 102 and / or submerged in the water pool 102.

[0225] The receiving part(s), responsive to receiving the message(s), may take one or more actions. For example, assuming the message is transmitted to another pool equipment unit deployed to serve the water pool 102, this pool equipment unit may approach the large object(s) and handle it, for example, attempt to collect it. In another example, assuming the message is transmitted to a cloud maintenance service, the cloud maintenance service may transmit one or more messages to one or more users relating to the water pool 102, for example, an owner of the pool, a maintenance person, and / or the like.

[0226] Solar Charging

[0227] According to some embodiments of the present disclosure, one or more autonomous dynamic pool equipment units, specifically dynamic pool equipment units which may float on the water surface of a water pool such as the water pool 102, for example, a skimming robot such as the skimming robot 100, a pool cleaning robot, and / or the like deployed in the water pool 102 may be operated to recharge their rechargeable battery(s) from solar energy captured by one or more of their solar panels. For example, a skimming robot such as the skimming robot 100, for example, the skimming robot 200 may be operated to recharge its rechargeable battery(s) from solar energy captured by one or more of solar panels such as the solar panels 218. In particular, a controller of the dynamic pool equipment unit such as the controller 112 may be adapted to identify, during movement of the dynamic pool equipment unit on the water surface of the water pool 102, one or more optimal locations in the water pool 102 where sun light intensity may be highest. The controller may further navigate the dynamic pool equipment unit to park at one or more of the identified high sun light level locations recently travelled by the dynamic pool equipment unit and park it there for recharging its battery(s).

[0228] Locating high sun light locations and operating the dynamic pool equipment unit to recharge its battery(s) at these location(s) may significantly increase battery(s) recharge performance, for example, reduced charging time, increased charge capacity, and / or the like.

[0229] The dynamic pool equipment may have conductive charging in addition to the solar charging to enable out of water charging in a warehouse or any or shady dry environment.

[0230] The dynamic pool equipment may also have battery that is charged by the solar panel so that there is a reserve battery or that the battery may operate as a charging station where the charging battery stores electrical power from the dynamic pool equipment solar panels. The robot charger can then be connected by a docking station. The docking station allows the robot skimmer to be charged out of water, without the necessity of direct connection to a solar panel. This allows for charging on days without direct sunlight.

[0231] The robot skimmer may have smart solar charging. There is a battery bypass and if the battery is fully charged or optionally partially charged to protect the battery on the robot skimmer, the robot skimmer is powered directly from solar panels. The robot skimmer may have a human machine interface (“HMI”) display on the front. Three LED indicators for battery indication (battery indication is also in the user application), and one Red Green Blue (“RGB”) LED for on / off and sleep mode status.

[0232] The battery bypass protects the battery by preventing overcharging that may damage the battery or shorten the life of the battery as it cycles from charged to uncharged states.

[0233] The user application may have Green Indicator providing information regarding environmentally renewable energy, the status of the charging energy received, and the energy used by the robot skimmer.

[0234] Basket

[0235] The robot skimmer may have an additional optional "add-on" chamber for chemicals and antibacterial materials. The chamber will carry additional supplies for cleaning a pool. In this case basket means a container,

[0236] The collection basket is a container, having filters, to collect debris. The robot skimmer is configured to replace a filter basket with an additional filter basket. The filter basket optionally may be a filter basket with a larger volume without adapting the robot skimmer. Where the environment for the water body is a pool located between trees that has an increased volume of leaf and other organic material that is received by the pool.

[0237] Maintenance

[0238] The robot skimmer is optionally configured with a filter identification sensor. The filter indicator measure the fullness of the filter with debris and alerts the user. The filter identification sensor can be mechanical of a switch, whether contact or contactless filter indicator sensor can be pressure sensor or optical sensor. The sensor or switch detects whether the filter is full and requires service to dispose of the contents.

[0239] The identification of a filter also allows the robot skimmer to operate with the filter properly installed. Without a proper filter or installation, the collection of debris would be hindered and there would be an increased risk of debris evading the filter and damaging the robot skimmer.

[0240] The filter indication is optional to the filter basket and may be installed or retrofitted into the filter basket. Similarly, the robot skimmer can be optionally configured with a cover port or attaching arrangement for the motors. The motors and batteries can be conveniently removed for service or replacement screws, bolts with a regular, Phillip’s head or other convenient head, or snaps. This also applies to batteries that need to be serviced or replaced periodically. The attaching arrangement here is a combination of placing the motors or battery in a location that does not require further disassembly or reassembly of other components that do not require periodic maintenance or replacement.

[0241] Bumper

[0242] Bumper is installed on the robot skimmer and is shown in FIG. 8A as the robot skimmer encounters a pool wall. Optionally, the bumper is injected with a material that is elastic, plastic, deformable, or crushable. The injection may be rubber or a plastic. Plastics include polypropylene, polyethylene, or other plastic with similar properties. A combination of two injections of plastics with different properties to provide more elasticity with a stiffer plastic to maintain the integrity of the bumper to withstand a higher impact.

[0243] Some materials included Closed-cell foam: Material: Polyurethane foam Silicone rubber, by liquid silicone rubber (LSR) injection, and thermoplastic elastomer (TPE), such as TPE pellets injection.

[0244] A two material injection for better sealing, includes rigid outer shell with soft inner core materials: The outer shell being a rigid thermoplastic (e.g., ABS or polypropylene) and the inner core a soft thermoplastic elastomer (TPE). The method would be a two-shot injection molding or overmolding. This would be done by injecting the rigid outer shell material into the bumper. After the outer shell has cooled and solidified, inject the softer TPE material into the core of the bumper. Alternatively, a foam-filled elastomer skin using an outer skin of a Thermoplastic elastomer (TPE) or liquid silicone rubber (LSR) and an inner core of Polyurethane foam. The process: is to inject the outer skin material (TPE or LSR) into the bumper using either standard injection molding or liquid injection molding. Then after the skin has cured, inject the two-component polyurethane foam into the hollow core of the bumper through small injection ports. The benefits of using two materials is improved impact absorption and energy dissipation, better control over the bumper's overall stiffness and flexibility, potential for cost savings by using a less expensive material for the core, and enhanced durability with a tougher outer layer and softer inner core.

[0245] Sealing

[0246] FIG.14 shows a seal. The lower figure illustrates the installed seal 1402. For this purpose seal also means gasket. The upper portion of the illustration show an upper portion of the robot skimmer 1408 that is to be sealed with the lower portion 1406. The seal 1402 is installed over a member 1410 that extends from the lower por 1406. The sealing arrangement results in equal forces on the member 1410 Fl an F2. Therefore there a zero moment for reduce any bending. Most seals do not fail because of the seal which may be any rubber such as closed or open cell, plastics, or cork.

[0247] More particularly water-resistant materials such as silicone, EPDM (Ethylene Propylene Diene Monomer), or Viton® (Fluoroelastomer) for the seals. These materials offer excellent resistance to chemicals, UV radiation, and prolonged water exposure. The housing provides compression on the seals when the parts are closed. A compression of 20-30% of the seal's original height is optimal sealing, The mating surfaces for the seals are smooth (32 microinches or better) to promote proper sealing, An IP68 rating, provides protection against prolonged submersion in water. The housing with easily accessible seals for periodic inspection and replacement.

[0248] The seal is positioned at a specific point between the two housing members and is at or very near the center of seal. In this way the force distribution is even across the seal interface. This even distribution prevents the creation of a moment arm that would cause bending.

[0249] This all serves to increase longevity and proper functioning robot skimmer in an aquatic environment.

[0250] However, failure more often caused by fatigue because of bending that causes micro cracks that over time result in failure. By using a zero moment, the life of the seal is extended. Additional Navigation Enhancement

[0251] Optionally the robot skimmer has a magnetometer, The robot skimmer using a magnetometer which either alone or in combination with an IMU to detect a homing location predetermined by the user, return to other location for example to the user, to the specific place where the user is located, which can be different from time to time. The homing, that is navigation to a specific location can be installed in a user application. When the homing function is engaged, the controller receiving magnetometer signals can maneuver the robot skimmer to the predetermined location. Another embodiment would be for the robot skimmer, once it has mapped the pool retain the location of the predetermined location in memory and when the homing function is engaged, the controller retrieves the predetermined location and maneuvers the skimmer robot.

[0252] Another embodiment would be to equip the robot skimmer with a GPS capable chip or connection to a cell network. The robot skimmer would then poll the GPS system or cell phone network for location.

[0253] Out of Water Detection

[0254] The robot skimmer optionally has an out of water sensor switch or the controller detects excessive rotation of the paddle wheels when the robot skimmer is removed from the body of water. The switch can be a detects the lack of buoyance by mechanical movement of a switch. When the out of water condition is detected, the controller deactivates the robot skimmer in an off status, that at least switches off the current to the motors. The out of water detection prevents excessive rotation that may damage the robot skimmer without intervention by a user.

[0255] The out of water sensor in one embodiment detects a change in the current drawn by the electric motor where it is not operating in the body of water. The change in current is used by the controller to determine that the robot skimmer is out of the body of water.

[0256] In another embodiment an IR sensor, has an additional ambient light sensor that detects the change from the body of water and the out of water condition. The IR sensor is connected to the controller to determine that the robot skimmer is out of the body of water.

[0257] Another embodiment by an algorithm that activates engines in a particular scenario and reads an accelerometer (IMU) and analyzes the expected response to behavior in water or out-of- water behavior.

[0258] The out of water detectors include conductivity sensors that use two or more electrodes to measure water conductivity, when out of water, the circuit is broken, indicating the robot is not in the pool. Capacitive Sensors that detect changes in capacitance between the sensor and its surroundings. These sensor can operate through non-conductive materials, for waterproofing. Optical Sensors include IR emitters and receivers that detect the difference in light refraction between air and water. Pressure Sensors that measure the difference in pressure between air and water. Multiple sensors placed at different points on the floatable body to ensure at least one sensor is always submerged.

[0259] The controller can be a microcontroller (e.g., Arduino, Raspberry Pi Pico) to process sensor data. The robot skimmer can have a voltage divider circuit when implementing resistive sensors. Waterproof connectors are used for all electronic components Water Clarity

[0260] Optionally, the robot skimmer sensors for locating fixed and non-fixed objects can be adjusted based on water clarity. Sensor adjustment according to water turbidity, lack of clarity, may be useful in turbid conditions. By increasing the sensitivity of the sensors, the robot skimmer is better able to determine objects. Variable sensitivity can be selected by the user or the controller. The controller receiving sensor data can determine the turbidity and make the sensitivity adjustment or the user can manually or remotely, by application switch the sensitivity. The sensitivity can be adjusted by use of a sensor that is adjustable, or by having an array of sensor that are have different sensitivities.

[0261] For example IR sensors can be used and sensitivity adjustment would be either by potentiometer. Many sensors have a built-in potentiometer to adjust sensitivity. There is also digital adjustment by the controller and by digital sensitivity adjustment through programming. The detection range can vary widely, from a few cm to several meters. Also, the beam angle can vary between 15° to 45°. The IR sensor can have digital communication protocols

[0262] Cleaning

[0263] The robot skimmer can have a forward impeller for collecting leaves with soft edges. Soft in this sense means elastic so that the impeller blades flex. The flexing of the blades is more effective in the leaf collection.

[0264] Similarly, the side paddle wheel impeller may extend beyond the edge of the floatable body (not shown) and have an end portion that is elastic. This way, the robot skimmer can move parallel to the pool wall and engage the pool wall, touching the wall.

[0265] The paddle wheel impellers can be made of Thermoplastic elastomers (TPE), Ethylene Propylene Diene Monomer (EPDM) rubber, Neoprene, Flexible PVC (Polyvinyl Chloride), and Polyurethane. These are examples of material that are resistant to water and pool chemicals.

[0266] Also, the robot skimmer has a night mode. In night mode, the robot skimmer electric motors are run at a reduced rate to lower the sound emitted. In many locations there are regulations that limit noise. The night mode allows the robot skimmer to operated in residential neighborhoods that are subject to noise regulation. In night mode. Night is identified by the output from the solar panels, I another embodiment by using ambient sensor that embedded on the IR sensor.

[0267] Removable Brush

[0268] The brush is attached to the floatable body with a mechanical connector. Mechanical connections include Snap-fit connection, molded plastic components with interlocking features bayonet mount with pins or lugs on one component and a corresponding L- shaped slots on the mating component that requires a push-and-twist motion to engage, and a frictionfit with a tapered or cylindrical surfaces with interference fit

[0269] FIG. 15 shows an arrangement of a slidable bearing holding a brush. The advantage of the slidable bearing is that the brush can be removed without complete disassembly. The bearings 1501 shown on the left side and 1502 shown on the right side are slidable bearings. Alternatively, split bearing can be used. Also shown for context in removing the brush (not shown) is a hinge with a snap fit to make room for the brush in assembly.

[0270] Process

[0271] Reference is now made to FIG. 9, which is a flowchart of an exemplary process of controlling movement of an autonomous dynamic pool equipment unit to a high light level location for charging its betties from solar panels of the dynamic pool equipment unit, according to some embodiments of the present invention.

[0272] The process 900 is described for a single dynamic pool equipment unit, this, however, should not be construed as limiting since the same process may be expanded, duplicated and / or scaled for a plurality of dynamic pool equipment units.

[0273] Moreover, for brevity, the controller 112 is described to execute the process 900. However, the process 900 may be executed by one or more other controller, processors, and / or devices of the dynamic pool equipment unit. Furthermore, the process 900 may be executed by one or more remote systems, servers, services, and / or the like adapted to receive sensory data captured by sensors at the dynamic pool equipment unit and transmit movement instructions back to the dynamic pool equipment unit.

[0274] As shown at 902, the process 900 executed, for example, by a controller such as the controller 112, may start with collecting sensory data indicative of a level of sun light reaching one or more solar panels deployed on a top side of a body of the dynamic pool equipment unit, for example, a skimming robot such as the skimming robot 100, a pool cleaning robot, and / or the like deployed in the water pool 102.

[0275] The sensory data may include, for example, light level sensory data captured by one or more light sensors of the dynamic pool equipment unit deployed to measure the level of sun light hitting the solar panel(s) of the dynamic pool equipment unit. The light sensor(s) may be deployed to measure the level of sun light reaching one or more solar panels deployed on a top side of a body of the dynamic pool equipment unit.

[0276] In another example, the sensory data may include electric energy sensory data expressing a level of electric energy (e.g., current, voltage power, etc.) generated by the solar panel(s) which may be indicative of its exposure to sun light. For example, a high electric energy output may be indicative that the solar panel(s) is exposed to a higher level of sun light while a low electric energy output may be indicative that the solar panel(s) is exposed to a lower level of sun light. The electric energy may be measured by one or more sensors, devices, components, circuits and / or the like configured to measure electric power at the output of the solar panel(s), for example, current, voltage, power, and / or the like.

[0277] The sensory data may therefore include a plurality of samples captured while the dynamic pool equipment unit is moving in the water pool 102, specifically while travelling on top the water surface of the water pool 102. Each of the plurality of samples may reflect the sun light level at a respective one of a plurality of locations travelled by the dynamic pool equipment unit.

[0278] As shown at 904, the controller 112 may analyze the plurality of samples each captured at a respective one of the plurality of locations travelled by the dynamic pool equipment unit.

[0279] As shown at 906, based on analysis of the samples, the controller 112 may identify one or more high exposure locations of the plurality of locations which are associated with one or more highest level samples of the samples, i.e., locations where the solar panel(s) are exposed to high sun light levels.

[0280] As shown at 908, the controller 112 may select one of the one or more high exposure locations.

[0281] While the primary criterion for selecting the high exposure location is the light level, i.e., locations associated with highest level samples, the controller 112 may optionally apply one or more additional conditions for selecting the high exposure location, for example, a distance to the location, selection from a list of predefined locations, and / or the like.

[0282] As shown at 910, the controller 112 may control the dynamic pool equipment unit to move to the selected high exposure location. In practice, the controller 112 may operate the motion means of the dynamic pool equipment unit, for example, a motor, a paddle wheel, a water splash, a propeller, and / or the like to navigate the dynamic pool equipment unit to the selected high exposure location.

[0283] As shown at 912, the controller 112 may control the dynamic pool equipment unit to float in place at the selected high exposure location for a predefined time period during which one or more rechargeable batteries of the dynamic pool equipment unit may be charged using solar energy captured by one or more of the solar panel(s) of the dynamic pool equipment unit.

[0284] Optionally, the controller 112 may analyze one or more subsets of the plurality of samples. For example, the controller 112 may be adapted to analyze a plurality of recent samples of the plurality of samples which are captured at a plurality of locations recently travelled by the dynamic pool equipment unit during a predefined recent time period, for example, fine minutes, ten minutes, fifteen minutes, and / or the like.

[0285] Limiting the analysis of the samples to only recent samples may significantly reduce computing and / or storage resources of the comptroller 112 since only a smaller number of samples is analyzed. Moreover, reducing the locations to recent locations may further reduce computing and / or storage resources of the comptroller 112 since less resources may be allocated for logging (recording) these locations and / or movement instructions for reaching these locations.

[0286] FIG. 10-13 shows a structure to obtain optimal sensing of the IR sensor, it is necessary be placed at a minimum distance on the lens. The optimum placement is the contact between a sensor and a lens. It is known to place the sensor using screws. However, screws stressed the sensor, resulting in micro-cracks on the sensor damaging the function. To place the sensor on the lens and prevent excessive force on the sensor PCB card an adapter is used. The arms on the adapter exert minimal force on the PCB card, while the sensor is secured on the lens, at minimum proximity of 0 mm. The minimal force protects the sensor. The arms are constructed from lightweight, rigid materials. It maintains a minimal force of 0.1 to 1 N.

[0287] The adapter 1000 has with two spring-acting arms 1002. The role of these arms is to pin the IR sensor on the PCB card 1004 onto the transparent lens 1006 on the floatable body. A bracket 1008 extends from the lens 1006 to secure the adapter 1000

[0288] The adapter 1000 is configured to extend from the arms 1002 so that it can be installed at a distance from the arms 1002. The adapter itself is secured with brackets 1008.

[0289] The descriptions of the various embodiments of the present invention have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

[0290] It is expected that during the life of a patent maturing from this application many relevant systems, methods and computer programs will be developed and the scope of the terms proximity sensing technologies, and pool equipment units are intended to include all such new technologies a priori.

[0291] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0292] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

[0293] It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is / are hereby incorporated herein by reference in its / their entirety.

[0294] The terms "comprises", "comprising", "includes", "including", “having” and their conjugates mean "including but not limited to".

[0295] The term “consisting of’ means “including and limited to”.

[0296] The term "consisting essentially of" means that the composition, method or structure may include additional ingredients, steps and / or parts, but only if the additional ingredients, steps and / or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

[0297] As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise.

[0298] The term “and / or” is used to include conjunction and disjunction meaning either one or one and more.

Claims

WHAT IS CLAIMED:

1. An autonomous skimming robot adapted to collect debris in a pool, comprising: a floatable body; solar panels connected to the floatable body; a controller adapted for receiving sensory data captured by the at least one underwater proximity detector, analyzing the sensory data to detect at least one object above and / or below water surface, estimating, based on analysis of the sensory data, that the at least one object is floating on the water and / or the at least one object is fixed, and controlling movement of the skimming robot according to at least one attribute of the at least one detected object.

2. A robot skimmer of claim 1, wherein at least one underwater proximity detector and at least one above water proximity detector which are coupled to the floatable body such that when the skimming robot floats on a water surface the at least one underwater proximity detector is under the water surface and the at least one above water proximity detector is above the water surface.

3. The skimming robot of claim 1, wherein the at least one above water proximity detector and the at least one underwater proximity detector are members of a group consisting of: an Infrared (“IR”) sensor, a laser sensor, a photoelectric sensor, an ultrasonic sensor, and an image sensor.

4. The skimming robot of claim 1, wherein the at least one attribute is a member of a group consisting of: a size of at least one dimension, a mobility, and a location.

5. Movement of the skimming robot to move away from the at least one object responsive to estimating, based on analysis of the sensory data, that the at least one object is fixed.

6. The skimming robot of claim 1, wherein the controller is adapted to control movement of the skimming robot to move away from the at least one object responsive to estimating, based on analysis of the sensory data, that at least one dimension of the at least one object prevents collection of the at least one object by the skimming robot.

7. The skimming robot of claim 1, wherein the controller is adapted to control movement of the skimming robot to move towards the at least one object and collect it responsive to estimating, based on analysis of the sensory data, that the at least one object is floating on the water.

8. The skimming robot of claim 1, wherein the controller is adapted to control movement of the skimming robot to move towards the at least one object and collect it responsive to estimating, based on analysis of the sensory data, that a size of the at least one object is below a predefined debris size threshold.

9. The skimming robot of claim 1, wherein the at least one above water proximity detector and / or the at least one underwater proximity detector are mechanically coupled to the body to monitor side regions of the skimming robot.

10. The skimming robot of claim 1, further comprising at least one detachable mechanical raised element adapted for mechanical coupling to the body to increase a height of the skimming robot.

11. The skimming robot of claim 1, wherein the floatable body is shaped in backward arch extending backward from a center segment of the front side to both distal ends of the front side.

12. The skimming robot of claim 1, wherein the floatable body comprises at least two floating elements adapted to float the skimming robot on the water surface, the at least two floating elements are arranged along a longitudinal axis of the body at a predefined lateral distance between them, the at least two floating elements are shaped to have rear outward curved inner walls such that the lateral distance between the inner walls of the at least two floating elements is longer at the stem of the skimming robot compared to the lateral distance between the inner walls of the at least two floating elements at the bow of the skimming robot.

13. The skimming robot of claim 1, wherein the controller is adapted to control movement of the skimming robot by operating a plurality of side paddle wheels wherein the plurality of side paddles is at least one located at each side of the floating body, and wherein, the controller is further adapted to detect a rotation state of at least one of the plurality of side paddle wheels according to rotation sensory data captured by at least one rotation sensor deployed to monitor rotation of the at least one side paddle wheel.

14. The skimming robot of claim 12 wherein each of the at least at least one side paddle located on each side of the floating body extend exterior to the side of the floatable body.

15. The skimming robot of one of claim 13, wherein at least a portion of the end of at least one of the side paddles extending exterior to the floating body is elastic and is adapted to clean the surface of at least one pool wall such that the side paddle wheel rotates against the at least one pool wall.

16. The skimming robot of one of claim 13, wherein at least a portion of the end of at least one of the side paddles extending exterior to the floating body is a brush and is adapted to clean the surface of at least one pool wall such that the side paddle wheel rotates against the at least one pool wall.

17. The skimming robot of claim 12, wherein the at least one rotation sensor comprises a Hall effect sensor adapted to detect a magnetic field induced by at least one magnetic element attached to at least one side paddle wheel.

18. The skimming robot of claim 1 , further comprising at least one removable container having an inlet facing the bow of the skimming robot adapted to collect floating debris, the removable container adapted to fit beneath the body is shaped to have rear outward curved side walls such that a rear side of the container is larger than its front side.

19. The skimming robot of claim 18 wherein the at least one removable container comprises at least one replaceable filter adapted to prevent debris object from getting out of the at least one removable container, the at least one replaceable filter is removable from and pluggable to the at least one removable container via at least one mechanical provision.

20. The skimming robot of claim 18 wherein the controller is further adapted to detect that the at least one removable container is full and initiate at least one notification indicative of full container.

21. The skimming robot of claim 18, wherein the controller is further adapted to turn the skimming robot ON responsive to detecting the at least one removable container is inserted into a designated chamber in the body.

22. The skimming robot of claim 18, wherein insertion of the at least one removable container to the designated place underneath the body is detected using at least one contactless switch installed in skimming robot.

23. The skimming robot of claim 18, further comprising at least one front paddle wheel located in front of the container and adapted to collect debris into the container, the at least one frontpaddle wheel has a plurality of flaps adapted to reduce a forward wave of water in front of the skimming robot created by rotation of the at least one front paddle wheel by at least one of: adapting a number of the plurality of flaps in a range of 3-5, and shaping each of the plurality of flaps to be at least partially curved along its lateral axis perpendicular to a rotation axis of the at least one front paddle wheel.

24. The skimming robot of claim 18, further comprising at least one of the plurality of flaps comprises an elastic edge adapted to clean a surface of pool walls when the at least one front paddle wheel rotates against the pool wall.

25. The skimming robot of claim 24, wherein controller is further adapted to detect a rotation state of the at least one front paddle wheel according to rotation sensory data captured by at least one rotation sensor deployed to monitor rotation of the at least one front paddle wheel.

26. The skimming robot of claim 24, wherein the controller is further adapted to control movement of the skimming robot according to a wall cleaning movement pattern, the wall cleaning movement pattern comprises advancing the skimming robot to an at least partially sloped surface of at least one pool wall such that the front paddle wheel rotates against the at least one pool wall.

27. The skimming robot of claim 1, wherein the controller is further adapted to control movement of the skimming robot according to a wall adjacent debris collection movement pattern, the wall adjacent debris collection movement pattern comprises: advancing the skimming robot forward towards at least one pool wall to push at least one debris object towards the at least one pool wall, retracting the skimming robot backwards to pull the at least one debris object away from the at least one pool wall, and advancing the skimming robot forward to collect the at least one debris object.

28. The skimming robot of claim 27 wherein the wall adjacent debris collection movement pattern further comprises increasing a rotation speed of a front paddle wheel of the skimming robot during the forward advancement to induce a splash of water in front of the skimming robot to release at least one debris object trapped at the at least one pool wall.

29. The skimming robot of claim 1, wherein the controller is further adapted to control movement of the skimming robot according to at least one rescue mode movement patternresponsive to detecting the skimming robot is stuck in place, the at least one rescue mode movement pattern comprises at least one of: increased forward movement to a single side of the skimming robot, increased backward movement to a single side of the skimming robot, and rapid back and forth movement with adjusted side movement in each back and forth movement.

30. The skimming robot of claim 1, wherein the controller is further adapted to move the skimming robot towards at least one of: a charging station according to at least one wireless signal transmitted by the charging station, and a user according to at least one wireless signal transmitted by at least one client device associated with the user.

31. The skimming robot of claim 1 , wherein the controller is further adapted to transmit at least one message to at least one system via at least one communication channel, the at least one communication channel comprises at least one of: a wireless communication channel for communicating with at least one apparatus located out of the water pool, and an underwater communication channel for communicating with at least one apparatus which is at least partially submerged in the water of the water pool.

32. The skimming robot of claim 31, wherein the controller is adapted to transmit the at least one message responsive to detecting at least one large object estimated as debris which exceeds a collection capacity of the skimming robot, the at least one message is indicative of at least one of: a location of the at least one large object, and a size of the at least one large object.

33. The skimming robot of claim 1, wherein the skimming robot has a battery and the battery is rechargeable out of a body of water by one or more of a group of solar cells or a battery charged by solar cells.

34. The skimming robot of claim 33, wherein the skimming robot power to charge a battery received by a docking station.

35. The skimming robot of claim 2, wherein there are 2 or more IR sensors connected to the controller, the configured to determine the location of a wall of the body of water, the skimming robot then maneuvers to clean the wall.

36. The skimming robot of claim 1, wherein the skimming robot has a motor, the motor, the motor is accessible to the user for maintenance or replacement.

37. The skimming robot of claim 1, wherein the floating body has a bumper positioned at exterior of the floating body.

38. The skimming robot of claim 37, wherein the bumper is hollow and has a compressible solid, the compressible solid is filled in two stages to improve the stiffness of the bumper to protect the floating body.

39. The skimming robot of claim 1, wherein the controller is adapted to receive a signal from a user, and maneuver the skimming robot to a predetermined location in the body of water.

40. The skimming robot of claim 1, wherein the controller is communication with an out of water sensor or rotation sensor, where the controller on receiving a signal from the out of water sensor or a increase in rotation determines that the skimming robot is not in a body of water and deactivates the skimming robot.

41. The skimming robot of claim 2, wherein the sensors have adjustable resolution that may be varied according to the turbidity of the body of water.

42. The skimming robot of claim 1, wherein the floating body further comprises a housing,The housing is formed of more than mor than one part, the more than one parts are joined with a seal between the parts, the seal having a member with a flexible water tight seal material assembled on the member so that the forces normal to the member are equal with regard to bending.

43. A robot skimmer of claim 1 wherein the floatable body has a lens; a sensor is housed on a PCB card that is adjacent to the lens; an adapter holds the sensor against the lens, the adapter having two (2) acting arms that holds the sensor against the lens with a force of between 0.1 and 1 N.

44. The robot skimmer of claim 15, wherein the brush is mechanically connected to the floatable body and is removable.

45. The robot skimmer of claim 15, wherein the brush is attached with slidable bearings on each side that are attached to the body of the robot skimmer, the brush is removable without disassembly of the bearings.

46. The robot skimmer of claim 1, wherein the robot skimmer has a night mode that operates electric motors as a reduced rate to lower the noise emitted.

47. The robot skimmer of claim 46, wherein the robot skimmer activates night mode where the controller determines one or more of the output of the solar panels is reduced and an ambient light sensor embedded in an IR sensor.

48. A robot skimmer of claim 1, wherein there is a battery bypass, the controller monitors the battery, and when the battery is fully charged , the charging is terminated and to protect the battery.

49. A robot skimmer of claim 1 , wherein the battery is charged by a solar panel, the solar panel is one of coupled to the floating body or out of water.

50. A method of using an autonomous pool skimming robot for cleaning a water pool, comprising: deploying an autonomous pool skimming robot in a water pool; activating a controller of the skimming robot; wherein the controller is adapted for: receiving sensory data captured by at least one above water proximity detector of the skimming robot which is located above water surface of the water pool and at least one underwater proximity detector of the skimming robot which is located under the water surface, analyzing the sensory data to detect at least one object above and / or below water surface, estimating, based on analysis of the sensory data, that the at least one object is floating on the water and / or the at least one object is fixed, and controlling movement of the skimming robot according to at least one attribute of the at least one detected object.

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