US 12,346,123 B2
Robotic cleaning device with dynamic area coverage
David M. Knuth, Jr., North Chesterfield, VA (US); Aurle Y. Gagne, Mechanicsville, VA (US); Erick Frack, Lake Oswego, OR (US); and Daniel M. Daly, Los Gatos, CA (US)
Assigned to DIVERSEY, INC., Fort Mill, SC (US)
Filed by Diversey, Inc., Fort Mill, SC (US)
Filed on Dec. 20, 2022, as Appl. No. 18/084,867.
Application 18/084,867 is a division of application No. 16/720,457, filed on Dec. 19, 2019, granted, now 11,537,141, issued on Dec. 27, 2022.
Prior Publication US 2023/0123512 A1, Apr. 20, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0234 (2013.01); A47L 2201/04 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method of moving a robotic cleaning device through an area, the method comprising:
by a processor of a robotic cleaning device, loading instructions for a plurality of geometric elements, wherein:
each geometric element includes a starting point, one or more paths of travel, and one or more waypoints,
an ending waypoint of a first geometric element is connected to the starting point for a subsequent geometric element, and
the instructions for each geometric element do not include dimensions for the one or more paths of travel; and
by the processor of the robotic cleaning device:
causing the robotic cleaning device to move along a first path of travel of the first geometric element until a sensor of the robotic cleaning device detects that the robotic cleaning device has reached a first waypoint,
if the first waypoint is the ending waypoint of the first geometric element, causing the robotic cleaning device to move along a first path of travel of the subsequent geometric element, and
if the first waypoint is not the ending waypoint of the first geometric element, causing the robotic cleaning device to change direction and move along a second path of travel of the first geometric element.