Autonomous Floor Mopping Trajectory for Streak-Free Scrubbing
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Solution Overview
Problem
Existing floor cleaning robots fail to effectively apply and remove cleaning solution without leaving streak marks, as they struggle with penetrating dirt deposits and efficiently scrubbing surfaces.
Innovation Solution
A mobile robot with a controller and path planner that generates a specific cleaning trajectory using a combination of forward and backward motions with arcuate paths, allowing for repeated scrubbing and solvent absorption, ensuring thorough cleaning and minimizing streaks.
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 hard deposits require time for penetration
Solution Approach 1:
The robot implements periodic action by repeatedly applying and removing cleaning solution multiple times over the same area. The trajectory causes the robot to pass over each section of the floor multiple times, allowing the cleaning solution to penetrate hard deposits between applications while maintaining overall cleaning productivity through systematic repetition of the apply-remove cycle.
2Device complexity
If the robot uses a simple back-and-forth motion, then device complexity is reduced, but cleaning effectiveness deteriorates due to streak marks and insufficient scrubbing
Solution Approach 1:
The robot employs asymmetric trajectory design where the forward path and backward path between oscillations are intentionally different. The robot oscillates laterally between left and right positions while progressing forward, creating an asymmetric cleaning pattern that ensures thorough coverage and prevents streak marks by varying the scrubbing paths rather than simply reversing the same trajectory.
3Reliability
If the robot maximizes cleaning solution application, then cleaning effectiveness is improved, but loss of substance increases
Solution Approach 1:
The robot maintains continuity of useful action by systematically covering the entire floor area with cleaning solution through its oscillatory trajectory. By ensuring continuous coverage and repeated passes over all sections, the robot maximizes the utilization of cleaning solution across the full surface area, reducing waste through efficient distribution rather than concentrated over-application in limited areas.
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 applies and removes cleaning solution, penetrates dirt deposits, and reduces streak marks by maximizing solvent usage and pad surface area, ensuring a thoroughly cleaned floor.
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.