System and method for autonomous mopping of a floor surface
First Claim
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1. A mobile robot configured to clean a space, the robot comprising:
- a cleaning assembly;
a module configured to cause, at least in part, the robot to follow a cleaning trajectory comprising a sequence of paths repeated a plurality times; and
a drive system configured to move the robot in accordance with the cleaning trajectory;
wherein said sequence of paths that the module is configured to cause the robot to follow comprises;
a first path, wherein the robot is moved forward a first distance and to the left;
a second path, wherein the robot is moved backward and a third distance to the right;
a third path, wherein the robot is moved forward a second distance and to the right; and
a fourth path, wherein the robot is moved backward and a fourth distance to the left;
wherein the first path and third path are characterized by a first distance forward, and the second path and fourth path are characterized by a second distance backward, wherein the first distance is greater than the second distance;
wherein the third distance is substantially equal to the fourth distance.
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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.
110 Citations
11 Claims
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1. A mobile robot configured to clean a space, the robot comprising:
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a cleaning assembly; a module configured to cause, at least in part, the robot to follow a cleaning trajectory comprising a sequence of paths repeated a plurality times; and a drive system configured to move the robot in accordance with the cleaning trajectory; wherein said sequence of paths that the module is configured to cause the robot to follow comprises; a first path, wherein the robot is moved forward a first distance and to the left; a second path, wherein the robot is moved backward and a third distance to the right; a third path, wherein the robot is moved forward a second distance and to the right; and a fourth path, wherein the robot is moved backward and a fourth distance to the left; wherein the first path and third path are characterized by a first distance forward, and the second path and fourth path are characterized by a second distance backward, wherein the first distance is greater than the second distance; wherein the third distance is substantially equal to the fourth distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification