US 9,811,089 B2
Robotic cleaning device with perimeter recording function
Magnus Lindhé, Stockholm (SE); Petter Forsberg, Stockholm (SE); and Anders Haegermarck, Trångsund (SE)
Assigned to AKTIEBOLAGET ELECTROLUX, Stockholm (SE)
Appl. No. 15/101,257
Filed by Aktiebolaget Electrolux, Stockholm (SE)
PCT Filed Dec. 19, 2013, PCT No. PCT/EP2013/077384
§ 371(c)(1), (2) Date Jun. 2, 2016,
PCT Pub. No. WO2015/090402, PCT Pub. Date Jun. 25, 2015.
Prior Publication US 2016/0306359 A1, Oct. 20, 2016
Int. Cl. G05D 1/02 (2006.01); A47L 11/40 (2006.01)
CPC G05D 1/0221 (2013.01) [A47L 11/4011 (2013.01); G05D 1/0231 (2013.01); G05D 1/0248 (2013.01); G05D 1/0251 (2013.01); G05D 1/0274 (2013.01); A47L 2201/04 (2013.01); G05D 2201/0203 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of teaching a robotic cleaning device a perimeter of an area of interest, comprising the steps of:
positioning the robotic cleaning device so that an obstacle detecting device of the robotic cleaning device can monitor at least part of the area;
controlling the obstacle detecting device of the robotic cleaning device to follow and continuously record a position of an object, while the object is moving along the perimeter of the area of interest; and
creating positional data of the perimeter from the continuous recordings of the positions of the object.