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1. (WO2019063066) CONTROLLING MOVEMENT OF A ROBOTIC CLEANING DEVICE
Anmerkung: Text basiert auf automatischer optischer Zeichenerkennung (OCR). Verwenden Sie bitte aus rechtlichen Gründen die PDF-Version.

CLAIMS

1. A method of controlling movement of a robotic cleaning device (100) over an area to be cleaned, comprising:

storing (S101) at least one representation (10) of the area over which the robotic cleaning device (100) is to move;

receiving (S102) an instruction to execute a cleaning program;

localizing (S103), in response to the instruction, the robotic cleaning device (100) relative to the stored representation (10); and

moving (S104) over the area to be cleaned as stipulated by the cleaning program by taking into account the stored representation (10).

2. The method of claim 1, the receiving (S102) of an instruction further comprising:

receiving user advice on how to execute the cleaning program; the method further comprising:

associating (Si02a) the user advice with the stored at least one representation of the area over which the robotic cleaning device is to move; wherein the moving (S104) over the area to be cleaned comprises:

moving over said area to be cleaned by taking into account the stored representation and the associated user advice.

3. The method of claim 2, the user advice comprising:

instructions to the robotic cleaning device (100) to avoid one or more sub-areas in the stored representation.

4. The method of claims 2 or 3, the user advice comprising:

instructions to pass a boundary indicated in the stored representation.

5. The method of claims 2-4, the user advice comprising:

instructions to move into contact with an object indicated in the stored representation.

6. The method of claims 4 or 5, further comprising:

deactivating the received user advice if after at least one attempt the robotic cleaning device is unable to move as stipulated by the user advice.

7. The method of claims 2-6, the user advice comprising:

instructions to move over one or more sub areas in the stored representation multiple times.

8. The method of claims 2-7, the user advice comprising:

instructions to move over sub areas in the stored representation in a prioritized order.

9. The method of any one of the preceding claims, further comprising: storing, from one cleaning session to another, a representation of the area over which the robotic cleaning device (100) is to move only if user advice has been associated with the representation.

10. The method of any one of the preceding claims, further comprising: requesting advice from a user for instructions on how to move over the area to be cleaned.

11. The method of any one of the preceding claims, further comprising: cancelling the stored representation upon the robotic cleaning device being instructed to clean a new area.

12. The method of any one of the preceding claims, further comprising: proposing, to a user, a sub-area in the representation to be cleaned; and receiving, in response to the proposal, an instruction from the user on how to proceed.

13. The method of claim 12, wherein the instruction from the user comprises an instruction to modify the proposed sub-area.

14. A robotic cleaning device (100) comprising:

a propulsion system (112, 113, 115a, 115b) configured to move the robotic cleaning device (100) over an area to be cleaned;

a memory (126) configured to store at least one representation (10) of the area over which the robotic cleaning device (100) is to move; and

a controller (116) configured to:

receive an instruction to execute a cleaning program;

localize, in response to the instruction, the robotic cleaning device (100) relative to the stored representation (10); and

control the propulsion system (112, 113, 115a, 115b) to move the robotic cleaning device (100) over the area to be cleaned as stipulated by the cleaning program by taking into account the stored representation (10).

15. The robotic cleaning device (100) of claim 14, the controller (116) further being configured to:

receive user advice on how to execute the cleaning program;

associate the user advice with the stored at least one representation of the area over which the robotic cleaning device is to move; and

control the propulsion system (112, 113, 115a, 115b) to move the robotic cleaning device (100) over said area to be cleaned by taking into account the stored representation and the associated user advice.

16. The robotic cleaning device (100) of claim 15, the user advice

comprising:

instructions to the robotic cleaning device (100) to avoid one or more sub-areas in the stored representation.

17. The robotic cleaning device (100) of claims 15 or 16, the user advice comprising:

instructions to pass a boundary indicated in the stored representation.

18. The robotic cleaning device (100) of any one of claims 15-17, the user advice comprising:

instructions to move into contact with an object indicated in the stored representation.

19. The robotic cleaning device (100) of claims 17 or 18, the controller (116) further being configured to:

deactivate the received user advice if after at least one attempt the robotic cleaning device is unable to move as stipulated by the user advice.

20. The robotic cleaning device (100) of any one of claims 15-19, the user advice comprising:

instructions to move over one or more sub areas in the stored

representation multiple times.

21. The robotic cleaning device (100) of any one of claims 15-20, the user advice comprising:

instructions to move over sub areas in the stored representation in a prioritized order.

22. The robotic cleaning device (100) of any one of claims 14-21, the memory (126) further being configured to:

store from one cleaning session to another, a representation of the area over which the robotic cleaning device (100) is to move only if user advice has been associated with the representation.

23. The robotic cleaning device (100) of any one of claims 14-22, the controller (116) further being configured to:

request advice from a user for instructions on how to move over the area to be cleaned.

24. The robotic cleaning device (100) of any one of claims 14-23, the controller (116) further being configured to:

cancel the stored representation upon the robotic cleaning device (100) being instructed to clean a new area.

25. The robotic cleaning device (100) of any one of claims 14-24, the controller (116) further being configured to:

propose, to a user, a sub-area in the representation to be cleaned; and receive, in response to the proposal, an instruction from the user on how to proceed.

26. The robotic cleaning device (100) of claim 25, wherein the instruction from the user comprises an instruction to modify the proposed sub-area.