Autonomous Floor Mopping Trajectories for Streak-Free Scrubbing
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Solution Overview
Problem
Existing floor cleaning robots are ineffective in applying and removing cleaning solutions without leaving streak marks, as they fail to penetrate dirt deposits and efficiently scrub surfaces.
Innovation Solution
A mobile robot with a controller and drive system that follows a specific class of trajectories, including oscillatory motions, to maximize solvent usage and prevent streaking, using a disposable cleaning pad that is repeatedly applied and recovered from the floor, allowing time for solution penetration and effective dirt removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot applies cleaning solution and removes it quickly, then productivity is improved, but cleaning effectiveness deteriorates because the solution does not penetrate dirt deposits
Solution Approach 1:
The robot implements periodic cleaning cycles where the cleaning pad is applied to the floor for a predetermined time interval to allow solution penetration, then removed and reapplied. This repeated periodic action ensures both adequate penetration time and maintained productivity through systematic cycling of apply-hold-remove operations.
2Productivity
If the robot uses a traditional vacuuming approach, then productivity is improved, but cleaning quality deteriorates leaving streak marks on the floor
Solution Approach 1:
The robot maintains continuous contact between the cleaning pad and floor surface throughout the cleaning process, eliminating the lift-and-vacuum approach. The pad remains pressed against the floor with consistent force, providing continuous cleaning action that prevents streak marks while maintaining efficient productivity through uninterrupted cleaning coverage.
Solution Approach 2:
The system uses disposable cleaning pads that are discarded after use rather than traditional vacuum systems that require recovery and cleaning of the vacuum mechanism. This approach eliminates streak marks by avoiding the mechanical disturbance of traditional vacuuming while maintaining high productivity through rapid pad replacement and continuous operation.
3Reliability
If the robot repeatedly scrubs the same area, then cleaning effectiveness is improved, but loss of time increases due to multiple passes over the same area
Solution Approach 1:
The robot performs preliminary penetration action by holding the cleaning pad in contact with the floor for a predetermined time interval before removal. This preliminary action allows the cleaning solution to penetrate and soften dirt deposits, making subsequent removal more effective and reducing the need for multiple repeated passes, thereby minimizing time loss while maintaining thorough cleaning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot effectively scrubs floors by maximizing solvent usage, reducing streaking, and ensuring thorough dirt removal without leaving marks, as the oscillatory motion and arcuate paths ensure even application and recovery of the cleaning solution.
Implementation Method 1
utilize absorption properties of the pad
Data Source
AI summary
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.