Waterline movement

Abstract

A method for cleaning dirt located at a waterline of a pool, the method includes (a) climbing, by the pool cleaning robot, a sidewall of the pool and reaching the waterline at a first angle; (b) performing one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises: (c) performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle; and moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

Description

WATERLINE MOVEMENTCROSS REFERENCE

[0001] This application claims priority from US provisional patent 63 / 722,051 filing date 18 / 11 / 2024 which is incorporated herein in its entiretyBACKGROUND.

[0002] Cleaning robots are known in the art. They are expected to clean the pool by brushing the surfaces of the pool and filtering the fluid of the pool by removing foreign particles from that fluid.

[0003] Cleaning robots may also be required to climb on vertical wall surfaces, stairs, ledges, and the like to brush these surfaces and remove dirt or dirt that accumulates at the waterline of the pool.

[0004] There is a growing need to provide a pool cleaning robot that is capable to perform waterline cleaning and submerged pool section cleaning.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings in which:

[0006] FIG. 1 illustrates an example of a method;

[0007] FIG. 2 illustrates an example of a pool cleaning robot;

[0008] FIG. 3 illustrates an example of a pool cleaning robot; and

[0009] FIG. 4 illustrates the pool cleaning robots during different phases of the method of FIG. 1. example of waterline cleaning.

[0010] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.DETAILED DESCRIPTION OF THE DRAWINGS

[0011] According to an embodiment of the invention there may be provided a pool cleaning robot that has the capability of performing waterline cleaning by propagating along the waterline.

[0012] FIG. 1 illustrates a method 100 for cleaning dirt located at a waterline of a pool.

[0013] According to an embodiment, method 100 includes step 110 of climbing, by the pool cleaning robot, a sidewall of the pool and reaching the waterline at a first angle. The first angle may be ninety degrees - or any other angle.

[0014] According to an embodiment, step 110 is followed by step 120 of performing one or more positioning and cleaning iterations.

[0015] According to an embodiment, at an end of a positioning and cleaning iteration the method proceeds propagate the pool cleaning robot upwards (may be at the same angle of climbing - or at another angle - for example for compensating for a decline aggregated during step 140.

[0016] According to an embodiment, at an end of a positioning and cleaning iteration the method determines whether there is a need to compensate for any decline aggregated during step 120 (for example if the decline exceeds a threshold) - and if so - propagating the pool cleaning robot upwards.

[0017] According to an embodiment the decline aggregated may be of 0.1, 0.5, 1, 2, 3, 4, 5, 6, 78, 9, 10, 11, 12, 13, 14, 15, centimetre or more.

[0018] According to an embodiment, step 120 includes, for each positioning and cleaning iteration, step 130 of performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle.

[0019] According to an embodiment, step 120 includes, for each positioning and cleaning iteration, step 140 of moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

[0020] According to an embodiment, for at least one positioning and cleaning iteration, step 120 includes step 121 of applying a same fluid suction force during the performing of the rotational movement and the moving along the waterline.

[0021] According to an embodiment, for at least one positioning and cleaning iteration, step 120 includes step 122 of applying a first fluid suction force during at least a portion of the performing of the rotational movement and applying a second fluid suction force that is different from the first fluid suction force, during at least a portion of the moving along the waterline.

[0022] According to an embodiment, the first suction force is lower than the second duction force.

[0023] According to an embodiment, step 130 includes step 131 of rotating a right motor of a right movement unit of the pool cleaning robot at a first direction while rotating a left motor of a left movement unit of the pool cleaning robot at a second direction that is opposite to the first direction.

[0024] According to an embodiment, step 131 includes rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

[0025] According to an embodiment, step 140 includes step 141 of rotating the right motor and the left motor at a same direction.

[0026] According to an embodiment, step 140 includes step 142 of rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

[0027] According to an embodiment, step 130 includes step 132 of operating one or more asymmetrical jet propulsion elements of an asymmetrical jet propulsion system.

[0028] According to an embodiment step 110 includes step 111 of operating one or more symmetrical jet propulsion elements of the asymmetrical jet propulsion system.

[0029] According to an embodiment, the pool cleaning robot has an asymmetrical weight distribution about a longitudinal axis of the robot, and step 130 includes step 133 of using the asymmetrical weight distribution for rotating. Step 110 may include step 112 of compensating for the asymmetrical weight distribution. According to an embodiment the asymmetrical weight distribution provides a pool cleaning robot having a right side that has a different weight than the left side. The weight difference may be provides by using dedicate weights and / or by arranging the pool cleaning robot to be heavier on one side than the other.

[0030] According to an embodiment, the pool cleaning robot has an asymmetrical floating capability about a longitudinal axis of the robot - so that one side of the pool cleaning robot floats better than then other side and step 130 includes step 134 of using the asymmetrical floating capability for rotation. Step 110 may include step 113 of compensating for the asymmetrical floating capability.

[0031] According to an embodiment the asymmetrical floating capabilities are implanted weight distribution provides a pool cleaning robot having a right side that has a different floating capability than the left side. The difference may be applied by having a float at one side only, by using more floating elements (or a larger floating element) at one side and / or by designing the pool cleaning robot to allow more air to enter one side of the pool cleaning robotRT100than entering the other side- especially when at least a top of the pool cleaning robot is positioned above the waterline.

[0032] According to an embodiment, a duration of each positioning and cleaning iteration ranges between two and five seconds.

[0033] According to an embodiment, step 110 includes step 114 of operating a right motor of a right movement unit of the pool cleaning robot and a left motor of a left movement unit of the pool cleaning robot at a same speed and direction starting from a defined period after having the pool cleaning robot reach the waterline.

[0034] According to an embodiment, the second angle does not exceed forty five degrees.

[0035] According to an embodiment , method 100 include step 150 of sensing the status of the pool cleaning robot during the execution of steps 110 and 120 and controlling, by control unit of the pool cleaning robot, the movement of the pool cleaning robot based on the sensed information and a defined movement pattern.

[0036] The status includes at least one of orientation, speed of movement, acceleration and the like.

[0037] Examples of pool cleaning robot that may be adapted (for example by programming its control unit), to execute steps 110 and 120 (and implementing the step 131) include the DOLPHIN™ pool cleaning robots of MAYTRONICS™ of Israel.

[0038] According to an embodiment, method 100 includes (a) climbing at least a portion of the sidewall, (b) identifying the waterline, (c) driving forwards within the right and left engines (in a symmetrical manner) for a first period (for example between 2-5 seconds-especially 3.5 seconds), (d) reducing the suction (for example by 15-20 percent-especially 20 percent) and rotating the pool cleaning robot (for example - executing step 131), a while the upper motor is rotated fasted than the lower motor to keep the pool cleaning robot near the waterline- for a second period (for example between 2.5-) seconds- especially 4.5 seconds) that may exceed the first period or be equal to the first period or be shorter than the first period, and limiting the , maximal angle of the robot (for example up to 25, 30, 350, 50, 45, 50 degrees) in which the pool cleaning robot is tilted and may have its centre of gravity be more submerged in comparison to its position at the end of the first period, and (e) moving along the waterline while cleaning after increasing the suction and maintaining the upper motor at a higher rotational speed than the lower motor for a third period (for example between 3-7.5 seconds- especially 5 seconds).

[0039] Performing multiple repeating steps (c) - (e) for multiple times (for example 2, 3, 4, 5, 6, or more times).RT100

[0040] FIG. 2 illustrates an example of a pool cleaning robot 10 that includes:a. A right movement unit 20 that includes a right motor 22, one or more right movement transfer elements 24 and a rotatable right track 26. b. A left movement unit 30 that includes a left motor 32, one or more left movement transfer elements 34 and a rotatable left track 36. c. One or more sensors 40 for sensing the status of the pool cleaning robot.The status includes at least one of orientation, speed of movement, acceleration and the like. The one or more sensors may be a gyroscope, a compass, an accelerometer, a visual sensor, and the like. d. A control unit 50 for controlling the movement of the pool cleaning robot along the waterline. The control unit (also referred to as a controller) may include one or more processing circuits made of one or more integrated circuits.e. A housing 60.f. A power source 70.g. One or more cleaning elements 80 such as brushes, brush wheels, jetbased cleaning elements, and the like.h. A filtering unit 90.

[0041] Examples of one or more components of a symmetrical pool cleaning robot are illustrated in US patent 10538932 titled "Master and slave pool cleaning robots", US patent application 17 / 448,038 titled "Pool cleaning robot with removable filter and impeller", US patent 10458139 titled "Pool cleaning robot having a filtering unit and a sensor", US patent application 100006217 titled " Pool cleaning robot having waterline movement capabilities" - all being incorporated herein by reference in their entirety.

[0042] FIG. 3 illustrates a bottom of a pool cleaning robot 10 that include a fluid inlet 81 for receiving fluid to be filtered by the filtering unit and an asymmetrical jet outlet 82 located tot eh side of the longitudinal axis 89 - without having a corresponding opening at the other side of the longitudinal axis.

[0043] According to an embodiment the pool cleaning robot is configured to:a. Climb a sidewall of the pool and reach the waterline at a first angle (for example - 90 degrees angle).b. Rotate to be positioned at a second angle (for example between 20 and 70 degrees- for example between 25 and 35 degrees- for example - 30RT100degrees). According to an embodiment, this involves rotating the right rotatable track and the left rotatable track at opposite directions. c. Move along the waterline while performing a waterline cleaning - and substantially (deviation of up to 1, 5 or 10 degrees) maintaining the second angle. This involves rotating the right rotatable track and the left rotatable track at the same direction - for example forward direction. This involves substantially (deviation of up to 1, 5, 10, or 15 percent) maintaining the propagation speed. This involves sensing the status by the one or more sensors and correcting (if required) one or more movement parameter is required.

[0044] According to an embodiment there may be a time gap (for example of 0.1-3 seconds or more) between one iteration to another - or there may not be any time gap.

[0045] According to an embodiment, the pool cleaning robot is asymmetrical (having an asymmetrical weight distribution and / or having an asymmetrical floating capabilities) - which may be useful when the pool cleaning robot reaches the waterline and a portion of the pool cleaning robot extends above the waterline - so that once the robot reaches said location - it tilts to a third angle without rotating the right rotatable track and the left rotatable track at opposite directions. Asymmetrical - have an asymmetrical weigh distribution about a longitudinal axis - for example the left side of the pool cleaning robot had a different weight than the right side of pool cleaning robot.

[0046] According to an embodiment the robot is configured to:a. Climb a sidewall of the pool and reach the waterline at a first angle (for example - 90 degrees angle).b. Rotate to be positioned at a third angle (for example between 5 and 20 degrees). This may be based on the asymmetry of the pool cleaning robot and may not require rotating the right rotatable track and the left rotatable track at opposite directions.c. Move along the waterline while performing a waterline cleaning - and substantially (deviation of up to 1, 5 or 10 degrees) maintaining the third angle. This involves rotating the right rotatable track and the left rotatable track at the same direction - for example forward direction. This involves substantially (deviation of up to 1, 5, 10, or 15 percent) maintaining the propagation speed. This involves sensing the status by the one or more sensors and correcting (if required) one or more movement parameter isRT100required. The asymmetry of the pool cleaning robot assists in maintaining the third angle.

[0047] According to an embodiment, the pool cleaning robot has an asymmetrical jet propulsion system that includes one or more symmetrical jet propulsion elements (symmetrical in the sense that they induce a movement that is aligned with a central longitudinal axis located at the center of the pool cleaning robot) and one or more asymmetrical jet propulsion elements that induce a tilt angle. Figure 3 illustrates a symmetrical jet propulsion element that is a rear jet element that outputs a fluid jet that is aligned with the central longitudinal axis of the pool cleaning robot, and an asymmetrical propulsion element that is located at the front half of the pool cleaning robot and to the side of said central longitudinal axis. The asymmetrical propulsion element sucks fluid from the pool or may output a downward fluid jet. In figure 3 the asymmetrical propulsion element is located to the left of the central longitudinal axis 89, but it can be located to the right of the central longitudinal axis.

[0048] According to an embodiment the robot is configured to:a. Climb a sidewall of the pool and reach the waterline at a first angle (for example - 90 degrees angle).b. Rotate to be positioned at a second angle (for example between 20 and 70 degrees- for example between 25 and 35 degrees- for example - 30 degrees). This involves may involve activating the symmetrical jet propulsion element and the asymmetrical propulsion element.c. Move along the waterline while performing a waterline cleaning - and substantially (deviation of up to 1, 5 or 10 degrees) maintaining the second angle. This involves activating the symmetrical jet propulsion element and the asymmetrical propulsion element. This involves sensing the status by the one or more sensors and correcting (if required) one or more movement parameter is required.

[0049] According to an embodiment, the asymmetrical asymmetrical jet propulsion system includes one or more openings that are not located in a perfect symmetrical manner about the longitudinal axis of the pool cleaning robot.

[0050] According to an embodiment, the asymmetrical asymmetrical jet propulsion system is configured to generate fluid jets having a direction and / or thrust that form an overall asymmetrical force that moves the pool cleaning robot in an asymmetric manner.RT100

[0051] FIG. 4 illustrates example of the state of the pool cleaning robot during different steps of method 100:a. Starting below the water line and climbing (see upward dashed arrow in the net section of FIG. 4).b. Reaching the waterline.c. Rotating (see the curved dashed arrow).d. Move along the waterline (see the sidewards dashed arrow).

[0052] According to an embodiment there is provided a method for cleaning dirt located at a waterline of a pool, the method comprises: climbing, by the pool cleaning robot, a sidewall of the pool and reaching the waterline at a first angle; performing one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises: performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle; moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

[0053] According to an embodiment, for at least one positioning and cleaning iteration the method comprises applying a same fluid suction force during the performing of the rotational movement and the moving along the waterline.

[0054] According to an embodiment, for at least one positioning and cleaning iteration the method comprises applying a first fluid suction force during at least a portion of the performing of the rotational movement, and applying a second fluid suction force that is different from the first fluid suction force, during at least a portion of the moving along the waterline.

[0055] According to an embodiment, the first suction force is lower than the second duction force.

[0056] According to an embodiment, the performing of the rotational movement comprises rotating a right motor of a right movement unit of the pool cleaning robot at a first direction while rotating a left motor of a left movement unit of the pool cleaning robot at a second direction that is opposite to the first direction.

[0057] According to an embodiment, the performing of the rotational movement comprises rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

[0058] According to an embodiment, the performing of the moving along comprises rotating the right motor and the left motor at a same direction.

[0059] According to an embodiment, the performing of the moving along further comprises rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.RT100

[0060] According to an embodiment, the performing of the rotational movement comprises operating one or more asymmetrical jet propulsion elements of an asymmetrical jet propulsion system.

[0061] According to an embodiment, at least the climbing comprises operating one or more symmetrical jet propulsion elements of the asymmetrical jet propulsion system.

[0062] According to an embodiment, the pool cleaning robot has an asymmetrical weight distribution about a longitudinal axis of the robot, wherein the climbing comprises compensating for the asymmetrical weight distribution, and the performing of the rotational movement comprises stopping compensating for the asymmetrical weight distribution.

[0063] According to an embodiment, a duration of each positioning and cleaning iteration ranges between two and five seconds.

[0064] According to an embodiment, the climbing comprises operating a right motor of a right movement unit of the pool cleaning robot and a left motor of a left movement unit of the pool cleaning robot at a same speed and direction starting from a defined period after having the pool cleaning robot reach the waterline.

[0065] According to an embodiment, the second angle does not exceed forty five degrees.

[0066] According to an embodiment there is provided a pool cleaning robot for cleaning dirt located at a waterline of a pool, the pool cleaning robot comprises: a movement system configured to: move the pool cleaning robot to climb on a side wall of the pool till the pool cleaning robot reaches the waterline at a first angle; perform one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises: performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle; moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

[0067] An example of the movement system is the left and right movement units of figure 2. Yet another example of a movement system is a jet propulsion system,

[0068] According to an embodiment, for at least one positioning and cleaning iteration the movement system is configured to apply a same fluid suction force during the performing of the rotational movement and the moving along the waterline.

[0069] According to an embodiment, for at least one positioning and cleaning iteration the movement system is configured to apply a first fluid suction force during at least a portion of the performing of the rotational movement, and apply a second fluid suction force that is different from the first fluid suction force, during at least a portion of the moving along the waterline.

[0070] According to an embodiment, the first suction force is lower than the second duction force.

[0071] According to an embodiment, the movement system is configured to perform the rotational movement comprises by rotating a right motor of a right movement unit of the pool cleaning robot at a first direction while rotating a left motor of a left movement unit of the pool cleaning robot at a second direction that is opposite to the first direction.

[0072] According to an embodiment, the movement system is configured to perform the rotational movement by rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

[0073] According to an embodiment, the movement system is configured to perform the moving along by rotating the right motor and the left motor at a same direction.

[0074] According to an embodiment, the movement system is configured to perform the moving along by rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

[0075] According to an embodiment, the movement system is configured to perform the rotational movement by operating one or more asymmetrical jet propulsion elements of an asymmetrical jet propulsion system.

[0076] According to an embodiment, the movement system is configured to perform at least the climbing by operating one or more symmetrical jet propulsion elements of the asymmetrical jet propulsion system.

[0077] According to an embodiment, the pool cleaning robot has an asymmetrical weight distribution about a longitudinal axis of the robot, wherein the movement system is configured to perform the climbing by compensating for the asymmetrical weight distribution, and the performing of the rotational movement comprises stopping compensating for the asymmetrical weight distribution.

[0078] According to an embodiment, a duration of each positioning and cleaning iteration ranges between two and five seconds.

[0079] According to an embodiment, the movement system is configured to perform the climbing by operating a right motor of a right movement unit of the pool cleaning robot and a left motor of a left movement unit of the pool cleaning robot at a same speed and direction starting from a defined period after having the pool cleaning robot reach the waterline.

[0080] According to an embodiment, the second angle does not exceed forty five degrees.

[0081] According to an embodiment there is provided a non-transitory computer readable medium for cleaning dirt located at a waterline of a pool, the non-transitory computer readable medium stores instructions executable ay a pool cleaning robot for: climbing, by the pool cleaning robot, a sidewall of the pool and reaching the waterline at a first angle; performing one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises: performing a rotational movement by the pool cleaning robot to position the pool cleaning robotat a second angle; moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

[0082] According to an embodiment there is provided a non-transitory computer readable medium that stores instructions for executing any of the steps of any method mentioned above.

[0083] In the foregoing detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the present invention.

[0084] Any reference in the specification to a system should be applied mutatis mutandis to a method that can be executed by the system.

[0085] Because the illustrated embodiments of the present invention may for the most part, be implemented using electronic components and circuits known to those skilled in the art, details will not be explained in any greater extent than that considered necessary as illustrated above, for the understanding and appreciation of the underlying concepts of the present invention and in order not to obfuscate or distract from the teachings of the present invention.

[0086] Any reference in the specification to a method should be applied mutatis mutandis to a system capable of executing the method and should be applied mutatis mutandis to a non-transitory computer readable medium that stores instructions that once executed by a computer result in the execution of the method.

[0087] Any reference in the specification to a system should be applied mutatis mutandis to a method that can be executed by the system and should be applied mutatis mutandis to a non-transitory computer readable medium that stores instructions that once executed by a computer result in the execution of the method.

[0088] In the foregoing specification, the invention has been described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein without departing from the broader spirit and scope of the invention as set forth in the appended claims.

[0089] Moreover, the terms “front,” “back,” “rear” “top,” “bottom,” “over,” “under” and the like in the description and in the claims, if any, are used for descriptive purposes and not necessarily for describing permanent relative positions. It is understood that the terms so used are interchangeable under appropriate circumstancessuch that the embodiments of the invention described herein are, for example, capable of operation in other orientations than those illustrated or otherwise described herein.

[0090] The connections as discussed herein may be any type of connection suitable to transfer signals from or to the respective nodes, units, or devices, for example via intermediate devices. Accordingly, unless implied or stated otherwise, the connections may for example be direct connections or indirect connections. The connections may be illustrated or described in reference to being a single connection, a plurality of connections, unidirectional connections, or bidirectional connections. However, different embodiments may vary the implementation of the connections. For example, separate unidirectional connections may be used rather than bidirectional connections and vice versa. Also, plurality of connections may be replaced with a single connection that transfers multiple signals serially or in a time multiplexed manner. Likewise, single connections carrying multiple signals may be separated out into various different connections carrying subsets of these signals. Therefore, many options exist for transferring signals.

[0091] Although specific conductivity types or polarity of potentials have been described in the examples, it will be appreciated that conductivity types and polarities of potentials may be reversed.

[0092] Those skilled in the art will recognize that the boundaries between various components are merely illustrative and that alternative embodiments may merge various components or impose an alternate decomposition of functionality upon various components. Thus, it is to be understood that the architectures depicted herein are merely exemplary, and that in fact many other architectures can be implemented which achieve the same functionality.

[0093] Any arrangement of components to achieve the same functionality is effectively "associated" such that the desired functionality is achieved. Hence, any two components herein combined to achieve a particular functionality can be seen as "associated with" Each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being "operably connected," or "operably coupled," to Each other to achieve the desired functionality.

[0094] Furthermore, those skilled in the art will recognize that boundaries between the above described operations merely illustrative. The multiple operations may be combined into a single operation, a single operation may be distributed in additionalRT100operations and operations may be executed at least partially overlapping in time. Moreover, alternative embodiments may include multiple instances of a particular operation, and the order of operations may be altered in various other embodiments.

[0095] However, other modifications, variations and alternatives are also possible. The specifications and drawings are, accordingly, to be regarded in an illustrative rather than in a restrictive sense.

[0096] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other elements or steps than those listed in a claim. Furthermore, the terms “a” or “an,” as used herein, are defined as one or more than one. Also, the use of introductory phrases such as “at least one” and “one or more” in the claims should not be construed to imply that the introduction of another claim element by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim element to inventions containing only one such element, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an." The same holds true for the use of definite articles. Unless stated otherwise, terms such as “first” and “second” are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage.

[0097] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents will now occur to those of ordinary skill in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

Claims

WE CLAIM1. A method for cleaning dirt located at a waterline of a pool, the method comprises:climbing, by the pool cleaning robot, a sidewall of the pool and reaching the waterline at a first angle;performing one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises:performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle;moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

2. The method according to claim 1, wherein for at least one positioning and cleaning iteration the method comprises applying a same fluid suction force during the performing of the rotational movement and the moving along the waterline.

3. The method according to claim 1, wherein for at least one positioning and cleaning iteration the method comprises applying a first fluid suction force during at least a portion of the performing of the rotational movement, and applying a second fluid suction force that is different from the first fluid suction force, during at least a portion of the moving along the waterline.

4. The method according to claim 3, wherein the first suction force is lower than the second duction force.

5. The method according to claim 1, wherein the performing of the rotational movement comprises rotating a right motor of a right movement unit of the pool cleaning robot at a first direction while rotating a left motor of a left movement unit of the pool cleaning robot at a second direction that is opposite to the first direction.

6. The method according to claim 5, wherein the performing of the rotational movement comprises rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

7. The method according to claim 1, wherein the performing of the moving along comprises rotating the right motor and the left motor at a same direction.

8. The method according to claim 7, wherein the performing of the moving along further comprises rotating an upper motor of the right motor and the left motor at aspeed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

9. The method according to claim 1, wherein the performing of the rotational movement comprises operating one or more asymmetrical jet propulsion elements of an asymmetrical jet propulsion system.

10. The method according to claim 9, wherein at least the climbing comprises operating one or more symmetrical jet propulsion elements of the asymmetrical jet propulsion system.

11. The method according to claim 1, wherein the pool cleaning robot has an asymmetrical weight distribution about a longitudinal axis of the robot, wherein the climbing comprises compensating for the asymmetrical weight distribution, and the performing of the rotational movement comprises stopping compensating for the asymmetrical weight distribution.

12. The method according to claim 1, wherein a duration of each positioning and cleaning iteration ranges between two and five seconds.

13. The method according to claim 1, wherein the climbing comprises operating a right motor of a right movement unit of the pool cleaning robot and a left motor of a left movement unit of the pool cleaning robot at a same speed and direction starting from a defined period after having the pool cleaning robot reach the waterline.

14. The method according to claim 1, wherein the second angle does not exceed forty five degrees.

15. A pool cleaning robot for cleaning dirt located at a waterline of a pool, the pool cleaning robot comprises:a movement system configured to:move the pool cleaning robot to climb on a sidewall of the pool till the pool cleaning robot reaches the waterline at a first angle;perform one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises:performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle;moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

16. The pool cleaning robot according to claim 15, wherein for at least one positioning and cleaning iteration the movement system is configured to apply a sameRT100fluid suction force during the performing of the rotational movement and the moving along the waterline.

17. The pool cleaning robot according to claim 15, wherein for at least one positioning and cleaning iteration the movement system is configured to apply a first fluid suction force during at least a portion of the performing of the rotational movement, and apply a second fluid suction force that is different from the first fluid suction force, during at least a portion of the moving along the waterline.

18. The pool cleaning robot according to claim 17, wherein the first suction force is lower than the second duction force.

19. The pool cleaning robot according to claim 15, wherein the movement system is configured to perform the rotational movement comprises by rotating a right motor of a right movement unit of the pool cleaning robot at a first direction while rotating a left motor of a left movement unit of the pool cleaning robot at a second direction that is opposite to the first direction.

20. The pool cleaning robot according to claim 19, wherein the movement system is configured to perform the rotational movement by rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

21. The pool cleaning robot according to claim 15, wherein the movement system is configured to perform the moving along by rotating the right motor and the left motor at a same direction.

22. The pool cleaning robot according to claim 21 , wherein the movement system is configured to perform the moving along by rotating an upper motor of the right motor and the left motor at a speed that exceeds a speed of rotation of a lower motor of the right motor and the left motor.

23. The pool cleaning robot according to claim 15, wherein the movement system is configured to perform the rotational movement by operating one or more asymmetrical jet propulsion elements of an asymmetrical jet propulsion system.

24. The pool cleaning robot according to claim 23, wherein the movement system is configured to perform at least the climbing by operating one or more symmetrical jet propulsion elements of the asymmetrical jet propulsion system.

25. The pool cleaning robot according to claim 15, wherein the pool cleaning robot has an asymmetrical weight distribution about a longitudinal axis of the robot, wherein the movement system is configured to perform the climbing by compensating for theRT100asymmetrical weight distribution, and the performing of the rotational movement comprises stopping compensating for the asymmetrical weight distribution.

26. The pool cleaning robot according to claim 15, wherein a duration of each positioning and cleaning iteration ranges between two and five seconds.

27. The pool cleaning robot according to claim 15, wherein the movement system is configured to perform the climbing by operating a right motor of a right movement unit of the pool cleaning robot and a left motor of a left movement unit of the pool cleaning robot at a same speed and direction starting from a defined period after having the pool cleaning robot reach the waterline.

28. The pool cleaning robot according to claim 15, wherein the second angle does not exceed forty five degrees.

29. A non-transitory computer readable medium for cleaning dirt located at a waterline of a pool, the non-transitory computer readable medium stores instructions executable ay a pool cleaning robot for:climbing, by the pool cleaning robot, a sidewall of the pool and reaching the waterline at a first angle;performing one or more positioning and cleaning iterations, each positioning and cleaning iteration comprises:performing a rotational movement by the pool cleaning robot to position the pool cleaning robot at a second angle;moving along the waterline while cleaning the dirt while keeping up to a defined deviation from the second angle.

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