SYSTEM AND METHOD FOR AUTONOMOUS MOPPING OF A FLOOR SURFACE

摘要

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.

主权项

1. A method of cleaning a space with a mobile robot, the method comprising:
driving, by a motion controller system, the robot along a first path forward and to the left; driving the robot along a second path backward and to the right; driving, by the motion controller system, the robot along a third path forward and to the right; and driving the robot along a fourth path backward and 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 second path is characterized by a third distance to the right, and the fourth path is characterized by a fourth distance to the left; wherein the third distance is substantially equal to the fourth distance;
repeating the driving steps above in sequential order.