Patent ID: 6370453
Filing Date: 2002-04-09
Classification: A47L,G05D

Abstract:
A method of automatically controlling a self-moving device with range and contact-sensors, the method comprising the steps of:individually determining and scanning a closer area around the device by using a movable arm on the device; storing possible new positions at the border of the closer area; the determination of the closer area and a selection of a new position is realized mainly on a basis of information of surroundings of the device which is stored in a data field and updated in each step to determine a next position; optimizing a position to move the device by calculating and comparing each stored position which can be approached by the device by calculating and comparing for each of these positions certain evaluation parameters including distances or areas in reach of a possible new position which have not yet been scanned and by selecting the position with best evaluation results; and moving the device to a new position until no further position can be selected.