System and method for autonomous mopping of a floor surface
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Solution Overview
Problem
Existing floor cleaning robots are inefficient in applying and removing cleaning solutions, often leaving streaks and failing to effectively penetrate dirt deposits, due to unsuitable trajectory designs and cleaning mechanisms.
Innovation Solution
A mobile robot with a controller and path planner that generates a specific cleaning trajectory, combining forward and backward motions with oscillatory and arcuate paths to maximize solvent usage, absorb dirt, and prevent streaks, using a disposable cleaning sheet impregnated with solvent.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses conventional cleaning trajectories, then the cleaning process is simple, but the cleaning effectiveness is poor and streak marks remain on the floor
Solution Approach 1:
The cleaning trajectory employs periodic oscillatory motion where the robot moves forward, reverses, and oscillates laterally in a repeating sequence. This periodic action allows the cleaning pad to repeatedly contact the same floor area from different positions, ensuring thorough cleaning and preventing streak marks by continuously redistributing cleaning solution until the floor is completely clean.
2Productivity
If the robot moves quickly across the floor, then productivity increases, but the cleaning solution does not have time to penetrate dirt deposits
Solution Approach 1:
The trajectory design applies preliminary action by having the robot repeatedly traverse the same floor area multiple times before moving to new areas. Each repetition allows the cleaning solution additional time to penetrate and dissolve dirt deposits, ensuring complete cleaning even on heavily soiled floors before the robot progresses to the next section.
3Ease of operation
If the robot uses a disposable cleaning sheet with solvent, then ease of operation improves, but loss of substance increases due to solvent consumption
Solution Approach 1:
The oscillatory trajectory ensures continuity of useful action by keeping the cleaning pad in continuous contact with the floor surface throughout the cleaning process. The robot's lateral oscillation and repeated passes maximize the utilization of the cleaning solution on the pad, ensuring that each portion of the disposable sheet is fully utilized before the sheet is discarded, thereby reducing overall solvent consumption.
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 repeatedly passing over areas, allowing solvent to penetrate dirt and efficiently remove dirt without leaving streaks, ensuring thorough cleaning and optimal solvent usage.
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.