US 11,712,142 B2
System of robotic cleaning devices
Anders Haegermarck, Trångsund (SE)
Assigned to Aktiebolaget Electrolux
Filed by Aktiebolaget Electrolux, Stockholm (SE)
Filed on Nov. 4, 2020, as Appl. No. 17/89,097.
Application 17/089,097 is a division of application No. 15/755,890, granted, now 10,874,274, previously published as PCT/EP2015/070140, filed on Sep. 3, 2015.
Prior Publication US 2021/0106196 A1, Apr. 15, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A47L 9/28 (2006.01); A47L 11/24 (2006.01); A47L 11/28 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC A47L 9/2852 (2013.01) [A47L 9/2894 (2013.01); A47L 11/24 (2013.01); A47L 11/28 (2013.01); G05D 1/0022 (2013.01); G05D 1/024 (2013.01); G05D 1/0225 (2013.01); A47L 2201/00 (2013.01); A47L 2201/02 (2013.01); A47L 2201/04 (2013.01); Y10S 901/01 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method performed by a master robotic cleaning device of controlling at least one slave robotic cleaning device, the method comprising:
detecting obstacles;
deriving positional data from the detection of obstacles;
positioning the master robotic cleaning device with respect to the detected obstacles from the derived positional data;
controlling movement of the master robotic cleaning device based on the positional data; and
submitting commands to the at least one slave robotic cleaning device to control a cleaning operation of said at least one slave robotic cleaning device, the commands being based on the derived positional data, wherein the cleaning operation of the slave robotic cleaning device is controlled as indicated by the submitted commands;
wherein the commands submitted by the master robotic cleaning device comprise an instruction to the at least one slave robotic cleaning device to remove debris from a surface to be cleaned and gather the debris for subsequent pick-up by the master robotic cleaning device.