公开(公告)号：US11493932B2

公开(公告)日：2022-11-08

申请号：US16266071

申请日：2019-02-03

Applicant: MAYTRONICS LTD.

Inventor： Ofer Regev ,  Assy Tzalik ,  Yair Hadari ,  Shay Witelson

IPC: G05D1/02 ,  E04H4/16

Abstract: A method for cleaning a region of a pool, the method may include moving a pool cleaning robot along a cleaning path that covers the region while acquiring, at first different points of time and by a sensing unit of the pool cleaning robot, first images of first scenes, at least one first scene at each first point of time; wherein the acquiring of the first images is executed while illuminating the first scenes by the pool cleaning robot; detecting, in at least one first image, illumination reflected or scattered as a result of the illuminating of the first scenes; removing from the at least one first image information about the illumination reflected or scattered; determining, based at least in part of on the first images, first locations of the pool cleaning robot; and wherein the moving is responsive to the first locations of the pool cleaning robot.

公开(公告)号：US20200249690A1

公开(公告)日：2020-08-06

申请号：US16266071

申请日：2019-02-03

Applicant: MAYTRONICS LTD.

Inventor： Ofer Regev ,  Assy Tzalik ,  Yair Hadari ,  Shay Witelson

IPC: G05D1/02 ,  E04H4/16

Abstract: A method for cleaning a region of a pool, the method may include moving a pool cleaning robot along a cleaning path that covers the region while acquiring, at first different points of time and by a sensing unit of the pool cleaning robot, first images of first scenes, at least one first scene at each first point of time; wherein the acquiring of the first images is executed while illuminating the first scenes by the pool cleaning robot; detecting, in at least one first image, illumination reflected or scattered as a result of the illuminating of the first scenes; removing from the at least one first image information about the illumination reflected or scattered; determining, based at least in part of on the first images, first locations of the pool cleaning robot; and wherein the moving is responsive to the first locations of the pool cleaning robot.