A HUMAN NECESSITIES
A47 FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
A47L DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
A47L2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
A47L2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning