System and method for autonomous mopping of a floor surface

• US 9,801,518 B2
• Filed: 06/07/2016
• Issued: 10/31/2017
• Est. Priority Date: 01/06/2010
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Dooley, Michael J., Case, James Philip, Romanov, Nikolai
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/175,328
• Publication Number:
  US 20160353960A1
• Time in Patent Office: 511 Days
• CPC Class Codes: A47L 11/30 by suction
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4088 Supply pumps; Spraying devices; Supply conduits
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G05B 2219/39219 Trajectory tracking
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface

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.

Claims

1. An autonomous cleaning robot comprising:

a housing;

a drive to move the housing across a surface;

a dispenser to apply fluid to the surface;

a 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 room coverage cleaning trajectory to traverse the surface to be cleaned in two or more parallel straight paths and to move along a local scrub cleaning trajectory in which the autonomous cleaning robot repeatedly moves forward along a first path and backward along a second path such that the cleaning assembly pivots relative to the housing, the local scrub cleaning trajectory having a forward travel distance that exceeds a backward travel distance.

2. The autonomous cleaning robot of claim 1, wherein the cleaning assembly is pivotally attached to the housing such that

a front portion of the cleaning pad is pressed against the surface while a back portion of the cleaning pad is lifted from the surface when the autonomous cleaning robot moves forward along the first path across the surface, and

the back portion of the cleaning pad is pressed against the surface while the front portion of the cleaning pad is lifted from the surface when the autonomous cleaning robot moves backward along the second path across the surface.

3. The autonomous cleaning robot of claim 1, wherein the cleaning assembly is pivotally attached to the housing such that

the cleaning assembly rotates backward relative to the surface when the autonomous cleaning robot moves forward along the first path across the surface, and

the cleaning assembly rotates forward relative to the surface when the autonomous cleaning robot moves backward along the second path across the surface.

4. The autonomous cleaning robot of claim 1, wherein in the room coverage cleaning trajectory, the autonomous cleaning robot sequentially

moves forward incrementally along a straight path across the surface while moving along a local scrub cleaning trajectory,

and

moves along another straight path offset from the straight path by a distance approximately equal to a width of the cleaning assembly, a forward drive direction along the other straight path opposing a forward drive direction along the straight path.

5. The autonomous cleaning robot of claim 4, further comprising a bump sensor to detect contact between the autonomous cleaning robot and an obstacle,

wherein the autonomous cleaning robot, along the other room coverage cleaning trajectory,

moves backward along the straight path across the surface in response to detection of the obstacle, and

rotates 180 degrees while moving to the other straight path.

6. The autonomous cleaning robot of claim 1, wherein, in the local scrub cleaning trajectory, the autonomous cleaning robot sequentially

moves forward and to the left across the surface along the first path,

moves backward and to the right across the surface along the second path,

moves forward and to the right across the surface along a third path, and

moves backward and to the left across the surface along a fourth path.

7. The autonomous cleaning robot of claim 6, wherein, in the local scrub cleaning trajectory, the autonomous cleaning robot

moves forward, along the first path and the third path, a first distance,

moves backward, along the second path and the fourth path, a second distance less than the first distance.

8. The autonomous cleaning robot of claim 6, wherein the first path, the second path, the third path, and the fourth path are arcuate paths.

9. The autonomous cleaning robot of claim 1, wherein the cleaning assembly is configured to agitate fluid applied to the surface by the dispenser.

10. The autonomous cleaning robot of claim 1, further comprising a navigation system to determine a position and an orientation of the autonomous cleaning robot, wherein the controller is configured to operate the drive to move the autonomous cleaning robot in the local scrub cleaning trajectory based on the determined position and the orientation of the autonomous cleaning robot.

11. The autonomous cleaning robot of claim 1, wherein, in the room coverage cleaning trajectory, the autonomous cleaning robot moves along a perimeter of a room.

12. The autonomous cleaning robot of claim 1, wherein the cleaning pad is impregnated with a cleaning solution.

13. A method comprising:

moving an autonomous cleaning robot along a room coverage cleaning trajectory across a surface in an area to be cleaned; and

moving the autonomous cleaning robot along a local scrub cleaning trajectory across a surface through a room, wherein moving the autonomous cleaning robot in the first local scrub cleaning trajectory comprises repeatedly

moving the autonomous cleaning robot forward across the surface a forward travel distance while a cleaning assembly of the autonomous cleaning robot rotates relative to the surface, and

moving the autonomous cleaning backward across the surface a backward travel distance while the cleaning assembly of the autonomous cleaning robot rotates relative to the surface,

wherein the forward travel distance exceeds the backward travel distance.

14. The method of claim 13, wherein:

moving the autonomous cleaning robot forward comprises moving the autonomous cleaning robot forward while the cleaning assembly rotates backward relative to the surface; and

moving the autonomous cleaning robot backward comprises moving the autonomous cleaning robot backward while the cleaning assembly rotates forward relative to the surface.

15. The method of claim 13,

wherein moving the autonomous cleaning robot along the room coverage trajectory comprises

moving the autonomous cleaning robot forward along a straight path across the surface,

moving the autonomous cleaning robot backward along the straight path across the surface, and

moving the autonomous cleaning robot along another straight path offset from the straight path by a distance approximately equal to a width of the cleaning assembly of the autonomous cleaning robot, a forward drive direction along the other straight path opposing a forward drive direction along the straight path.

16. The method of claim 15, wherein moving the autonomous cleaning robot backward along the straight path comprises moving the autonomous cleaning robot backward along the straight path in response to detection of an obstacle, and the method further comprises rotating the autonomous cleaning robot 180 degrees while moving the autonomous cleaning robot to the other straight path.

17. The method of claim 13, wherein moving the autonomous cleaning robot in the local scrub cleaning trajectory comprises repeatedly

moving the autonomous cleaning robot forward and to the left across the surface,

moving the autonomous cleaning robot backward and to the right across the surface,

moving the autonomous cleaning robot forward and to the right across the surface, and

moving the autonomous cleaning robot backward and to the left across the surface.

18. The method of claim 17, wherein moving the autonomous cleaning robot in the local scrub cleaning trajectory comprises:

moving the autonomous cleaning robot forward and to the left across the surface a first distance and moving the autonomous cleaning robot forward and to the right across the surface the first distance; and

moving the autonomous cleaning robot backward and to the right across the surface a second distance less than the first distance and moving the autonomous cleaning robot backward and to the left across the surface the second distance.

19. The method of claim 13, wherein moving the autonomous cleaning robot in the local scrub cleaning trajectory comprises repeatedly moving the autonomous cleaning robot along arcuate paths.

20. The method of claim 13, further comprising, while moving the autonomous cleaning robot in the local scrub cleaning trajectory, applying fluid to the surface in front of the cleaning assembly of the autonomous cleaning robot.

21. The method of claim 13, further comprising moving the autonomous cleaning robot across the surface based on a determined position and orientation of the autonomous cleaning robot.

22. The method of claim 13, wherein moving the autonomous cleaning robot along the room coverage cleaning trajectory comprises the autonomous cleaning robot moving along a perimeter of a room.