Abstract: A method of controlling movement of a robotic cleaning device over an area to be cleaned. The method includes storing at least one representation of the area over which the robotic cleaning device is to move, receiving an instruction to execute a cleaning program, localizing, in response to the instruction, the robotic cleaning device relative to the stored representation, and moving over the area to be cleaned as stipulated by the cleaning program by taking into account the stored representation.

Abstract: A method of controlling movement of a robotic cleaning device over an area to be cleaned. The method includes acquiring a visual representation of the robotic cleaning device on a display of a wireless communication device, identifying the robotic cleaning device in the visual representation, computing a coordinate transform between the visual representation and a robotic cleaning device coordinate system, creating an instruction by receiving user-indicated spatial information on the display or how the robotic cleaning device should move over the area to be cleaned, applying the transform to the spatial information, transforming the spatial information to the robot coordinate system, and sending the instruction to the robotic cleaning device via wireless communication, to cause the robotic cleaning device to move over said area in accordance with the transformed spatial information.

Abstract: A method of controlling movement of a robotic cleaning device and a robotic cleaning device performing the method. The method comprises acquiring historical data forming a representation of an environment in which the robotic cleaning device moves, and controlling movement of the robotic cleaning device to exert a force onto an object located in the environment to move the object based on the acquired historical data.

Abstract: A method for a robotic cleaning device of detecting a difference in level of a surface in front of the robotic cleaning device moves. The method includes illuminating the surface with light, capturing an image of the surface, detecting a luminous section in the captured image caused by the light, identifying at least a first segment and a second segment representing the detected luminous section, and detecting, from a positional relationship between the identified first and second segment, the difference in level of the surface.

Abstract: A robotic cleaning device and a method at the robotic cleaning device of performing cliff detection along a surface over which the robotic cleaning device moves. The method includes illuminating the surface with at least one light source, capturing an image of the surface, detecting at least one illuminated section in the captured image, and determining distance to objects in the at least one illuminated section of the captured image. The method further comprises comparing at least two of the determined distances and detecting an object in the captured image as a cliff when cliff when a relation between the at least two compared determined distances complies with a predetermined increase criterion.

Abstract: A robotic cleaning device having an inertia measurement unit and a controller. The inertia measurement unit is arranged to sense a displacement of the robotic cleaning device and the controller is arranged to determine a characteristic of the displacement of the robotic cleaning device, and to set the robotic cleaning device in an operational mode being associated with the determined characteristic of the displacement.

Abstract: A method of controlling movement of a robotic cleaning device over an area to be cleaned. The method includes storing at least one representation of the area over which the robotic cleaning device is to move, receiving an instruction to execute a cleaning program, localizing, in response to the instruction, the robotic cleaning device relative to the stored representation, and moving over the area to be cleaned as stipulated by the cleaning program by taking into account the stored representation.

Abstract: A robotic cleaning device having an inertia measurement unit and a controller. The inertia measurement unit is arranged to sense a displacement of the robotic cleaning device and the controller is arranged to determine a characteristic of the displacement of the robotic cleaning device, and to set the robotic cleaning device in an operational mode being associated with the determined characteristic of the displacement.

Abstract: A robotic cleaning device and a method for operating the robotic cleaning device to detect a structure of a surface over which the robotic cleaning device moves. The method includes illuminating the surface with structured vertical light, capturing an image of the surface, detecting at least one luminous section in the captured image, and determining, from an appearance of the at least one luminous section, the structure of the surface.

Abstract: A method of controlling movement of a robotic cleaning device over an area to be cleaned. The method includes acquiring a visual representation of the robotic cleaning device on a display of a wireless communication device, identifying the robotic cleaning device in the visual representation, computing a coordinate transform between the visual representation and a robotic cleaning device coordinate system, creating an instruction by receiving user-indicated spatial information on the display or how the robotic cleaning device should move over the area to be cleaned, applying the transform to the spatial information, transforming the spatial information to the robot coordinate system, and sending the instruction to the robotic cleaning device via wireless communication, to cause the robotic cleaning device to move over said area in accordance with the transformed spatial information.

Abstract: 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 includes: following a boundary of a first object while registering path markers including positional information at intervals on the surface; tracing previously registered path markers at an offset upon encountering one or more of the previously registered path markers; and switching from tracing the previously registered path markers to following an edge of a second object upon detection of the second object.

Abstract: A robotic cleaning device having a main body, a propulsion system configured to move the device across a surface and an obstacle detecting device configured to detect obstacles. The device further includes a processing unit configured to position the robotic cleaning device with respect to the detected obstacles from obstacle detecting device output data, and further to control the propulsion system to move the robotic cleaning device across the surface. The processing unit is configured to identify a landmark and its position from the obstacle detecting device output data, to derive at least one characteristic from the landmark to create and store a generated landmark signature. The processing unit is also configured to compare the generated landmark signature with predetermined landmark signatures and to determine whether the generated landmark signature matches one of the predetermined landmark signatures or not and operate the robotic cleaning device based on the determination.

Abstract: A method for a robotic cleaning device of detecting a difference in level of a surface in front of the robotic cleaning device moves. The method includes illuminating the surface with light, capturing an image of the surface, detecting a luminous section in the captured image caused by the light, identifying at least a first segment and a second segment representing the detected luminous section, and detecting, from a positional relationship between the identified first and second segment, the difference in level of the surface.

Abstract: A robotic cleaning device having a propulsion system to move the robot over a surface to be cleaned, a controller to control the propulsion system to cause the robot to perform a rotating movement, and an inertial measurement unit configured to measure a change in heading of the robotic cleaning device caused by the rotating movement. The controller is further configured to acquire signals from an odometry encoder arranged on each drive wheel of the propulsion system for measuring the change in heading of the robotic cleaning device caused by the rotating movement, and to determine a relation between the change in heading measured using odometry and the change in heading measured using the angle-measuring device, wherein a difference in the two measured changes in heading indicates an estimate of wheel slip that occurs on said surface.

Abstract: A method of operating a robotic cleaning device over a surface to be cleaned. The method includes: registering roadmap nodes at intervals on the surface during cleaning, the roadmap nodes including positional information; and linking the roadmap nodes to form roadmap links in a roadmap graph, if the robotic cleaning device is driving directly from a previously registered roadmap node to a currently registered roadmap node. The roadmap links in the roadmap graph facilitate navigation of the robotic cleaning device.

Abstract: A method of controlling rotating side brushes of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device has a main body, a propulsion system arranged to move the robotic cleaning device across a surface to be cleaned, and a controller arranged to control the propulsion system to move the robotic cleaning device across the surface to be cleaned in accordance with navigation information. The robotic cleaning device has an opening arranged in a bottom side of the main body via which debris is removed from the surface to be cleaned, and at least one rotating side brush adjacent to the opening. The controller registers a speed with which the robotic cleaning device moves across the surface to be cleaned, and controls a rotational speed of the rotating side brush on the basis of the registered speed of movement of the robotic cleaning device.

Abstract: A robotic cleaning device and a method at the robotic cleaning device of performing cliff detection along a surface over which the robotic cleaning device moves. The method includes illuminating the surface with at least one light source, capturing an image of the surface, detecting at least one illuminated section in the captured image, and determining distance to objects in the at least one illuminated section of the captured image. The method further comprises comparing at least two of the determined distances and detecting an object in the captured image as a cliff when cliff when a relation between the at least two compared determined distances complies with a predetermined increase criterion.

Abstract: A robotic cleaning device having a body, and an obstacle detecting device configured to obtain data from a vicinity of the robotic cleaning device. The robotic cleaning device further has a propulsion system configured to drive the robotic cleaning device across a surface to be cleaned, and a cleaning member. The device also has a processing unit arranged to extract at least one feature from data obtained by the obstacle detecting device, compare the attained feature with stored features and when the attained feature matches one of the stored features, deduce a position of the robotic cleaning device.

Abstract: A method of operating a robotic cleaning device over a surface to be cleaned. The method includes: registering roadmap nodes at intervals on the surface during cleaning, the roadmap nodes including positional information; and linking the roadmap nodes to form roadmap links in a roadmap graph, if the robotic cleaning device is driving directly from a previously registered roadmap node to a currently registered roadmap node. The roadmap links in the roadmap graph facilitate navigation of the robotic cleaning device.

Abstract: A robotic cleaning device having a main body and a propulsion system to move the robotic cleaning device, an obstacle detecting device, a controller to control the propulsion system to move the robotic cleaning device, and an angle-measuring device to measure tilt angles of the robotic cleaning device. The controller controls the angle-measuring device to measure a first tilt angle of the robotic cleaning device before the obstacle is traversed, and to measure a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle. The controller compares the second tilt angle with the first tilt angle, and controls the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle.