System and method for autonomous mopping of a floor surface
View Patent ↗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.
1. A method of cleaning a space with a mobile robot, the method comprising:
driving, by a motion controller system, the mobile robot along a first arcuate path by a first distance forward and a third distance to the left,
subsequent to driving the mobile robot along the first arcuate path, driving the mobile robot, by the motion controller system, along a second arcuate path by a second distance backward and by the third distance to the right, the first distance being greater than the second distance;
subsequent to driving the mobile robot along the second arcuate path, driving, by the motion controller system, the mobile robot along a third arcuate path by the first distance forward and a fourth distance to the right; and
subsequent to driving the mobile robot along the third arcuate path, driving, by the motion controller system, the mobile robot along a fourth arcuate path by the second distance backward and the fourth distance to the left;
repeating driving the mobile robot along the first, second, third, and fourth paths in sequential order.
2. The method of claim 1 , wherein the first distance forward is double the second distance backward.
3. The method of claim 2 ; wherein the first distance forward is no more than double a width of the cleaning assembly.
4. The method of claim 1 , wherein the third distance to the right and fourth distance to the left are less than a width of the cleaning assembly.
5. The method of claim 1 , wherein an elapse time of said sequence is greater than 5 second and less than 60 seconds.
6. A motion controller system, the motion controller system configured to cause a mobile robot to perform, a repeated number of times, driving operations comprising:
driving the mobile robot along a first arcuate path forward by a first distance and a third distance to the left;
subsequent to driving the mobile robot along the first arcuate path, driving the mobile robot along a second arcuate path backward and by the third distance to the right the first distance being greater than the second distance;
subsequent to driving the mobile robot along the second arcuate path, driving the mobile robot along a third arcuate path by the first distance forward and a fourth distance to the right; and
subsequent to driving the mobile robot along the third arcuate path, driving the mobile robot along a fourth arcuate path by the second distance backward and to the fourth distance the left.
7. The motion controller system of claim 6 , wherein the first distance forward is double the second distance backward.
8. The motion controller system of claim 7 ; wherein the first distance forward is no more than double a width of the cleaning assembly.
9. The motion controller system of claim 6 , wherein the third distance to the right and fourth distance to the left are less than a width of the cleaning assembly.
10. The motion controller system of claim 6 , wherein an elapse time of said sequence is greater than 5 second and less than 60 seconds.