SYSTEM AND METHOD FOR AUTONOMOUS MOPPING OF A FLOOR SURFACE
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Abstract
A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.
15 Citations
40 Claims
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1-18. -18. (canceled)
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19. An autonomous cleaning robot comprising:
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a housing; a drive to move the housing across a surface; a dispenser to apply fluid to the surface; a cleaning assembly pivotally attached the housing, the cleaning assembly configured to attach a detachable cleaning pad to a bottom surface of the autonomous cleaning robot; and a controller to operate the drive to move the autonomous cleaning robot along a cleaning trajectory in which the autonomous cleaning robot repeatedly moves forward along a first path and backward along a second path across the surface such that the cleaning assembly pivots relative to the housing while the autonomous cleaning robot moves along the cleaning trajectory. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method comprising:
moving an autonomous cleaning robot along a first trajectory across a surface through a room, wherein moving the autonomously cleaning robot in the first trajectory comprises repeatedly moving the autonomous cleaning robot forward across the surface while a cleaning assembly of the autonomous cleaning robot rotates relative to the surface, and moving the autonomous cleaning backward across the surface while the cleaning assembly of the autonomous cleaning robot rotates relative to the surface. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40)
Specification