IMPROVEMENTS IN OR RELATING TO FLOOR CLEANING DEVICES

摘要

A robotic floor cleaning device is arranged so that it firstly completes a traverse around the edge of a room (A-I), avoiding any obstacles in its path, and then moves inwards (at I) and completes a second traverse of the room. The cleaning device continues to move inwards after each traverse (e.g. at T) so as to travel in a generally inwardly spiral manner until the floor of the room, apart from areas occupied by obstacles (400, 402), has been cleaned. Preferably, the distance by which the cleaning device moves inwardly after each traverse of the room is substantially the width of the cleaning head of the cleaning device, or a distance set by the user. The cleaning device seeks a wall of the room if it is started from a position (W) away from a wall. The cleaning device can determine when it has completely traversed a room.