Cleaning method for a robotic cleaning device

  • US 10,678,251 B2
  • Filed: 12/16/2014
  • Issued: 06/09/2020
  • Est. Priority Date: 12/16/2014
  • Status: Active Grant
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First Claim
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1. A method of operating a robotic cleaning device over a surface to be cleaned, the method being performed by the robotic cleaning device, the method comprising:

  • following a boundary of a first object while registering path markers at intervals on the surface, the registered path markers are virtual markers stored in a memory device of the robotic cleaning device, the virtual markers including positional data indicating respective positions of the robotic cleaning device detected by a sensor;

    tracing the registered path markers at an offset upon encountering one or more of the registered path markers; and

    switching from tracing the registered path markers to following an edge of a second object upon detection of the second object.

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