05109566 is referenced by 251 patents and cites 7 patents.

A zone of a floor to be cleaned is subdivided into a plurality of blocks, the position of each block is memorized in a memory of a self-running cleaning apparatus, and the status of each block such that a wall or an obstacle is placed on the block or the block is passed by the cleaning apparatus thereon is also memorized in the memory. The cleaning apparatus moves across the blocks having neither wall nor obstacle thereon and which have not been passed by the cleaning apparatus on the basis of a predetermined priority order in running direction.

Title
Self-running cleaning apparatus
Application Number
7/544957
Publication Number
5109566
Application Date
June 28, 1990
Publication Date
May 5, 1992
Inventor
Haruo Terai
Suita
JP
Shinji Kondoh
Kawanishi
JP
Osamu Eguchi
Katano
JP
Hidetaka Yabuuchi
Takarazuka
JP
Yasumichi Kobayashi
Toyonaka
JP
Agent
Cushman Darby & Cushman
Assignee
Matsushita Electric Industrial
JP
IPC
A47L 9/28
View Original Source