Autonomous surface cleaning robot

Abstract

A mobile floor cleaning robot includes a body defining a forward drive direction, a drive system, a cleaning system, and a controller. The cleaning system includes a pad holder, a reservoir, a sprayer, and a cleaning system. The pad holder has a bottom surface for receiving a cleaning pad. The reservoir holds a volume of fluid, and the sprayer sprays the fluid forward the pad holder. The controller is in communication with the drive and cleaning systems. The controller executes a cleaning routine that includes driving in the forward direction a first distance to a first location, then driving in a reverse drive direction a second distance to a second location. From the second location, the robot sprays fluid in the forward drive direction but rearward the first location. The robot then drives in alternating forward and reverse drive directions while smearing the cleaning pad along the floor surface.

1 . (canceled) 
     
     
         2 . A mobile floor cleaning robot comprising:
 a drive system to maneuver the mobile floor cleaning robot across a floor surface during a cleaning run;   a pad holder to receive a cleaning pad; and   a motor engaged with the pad holder, the motor configured to vibrate the pad holder, thereby vibrating the cleaning pad received by the pad holder during the cleaning run.   
     
     
         3 . The mobile floor cleaning robot of  claim 2 , wherein the pad holder comprises a top portion and a bottom portion, wherein the motor is disposed on the top portion of the pad holder, and the bottom portion of the pad holder is configured to receive the cleaning pad. 
     
     
         4 . The mobile floor cleaning robot of  claim 3 , further comprising an off-centered weight disposed on the top portion of the pad holder. 
     
     
         5 . The mobile floor cleaning robot of  claim 4 , wherein the off-centered weight is attached to a shaft of the motor. 
     
     
         6 . The mobile floor cleaning robot of  claim 4 , further comprising a cylindrical tube that protrudes away from the top portion of the pad holder and that houses the motor and the off-centered weight. 
     
     
         7 . The mobile floor cleaning robot of  claim 3 , wherein the motor is located at a center of the pad holder. 
     
     
         8 . The mobile floor cleaning robot of  claim 2 , wherein the drive system comprises left and right drive wheels disposed on corresponding left and right portions of the mobile floor cleaning robot. 
     
     
         9 . The mobile floor cleaning robot of  claim 8 , wherein a center of gravity of the mobile floor cleaning robot is positioned forward of the left and right drive wheels. 
     
     
         10 . The mobile floor cleaning robot of  claim 2 , further comprising:
 a reservoir to hold fluid; and   a fluid applicator in fluid communication with the reservoir, the fluid applicator configured to apply the fluid onto a portion of the floor surface forward of the pad holder.   
     
     
         11 . The mobile floor cleaning robot of  claim 10 , wherein the fluid applicator is configured to spray the fluid onto the portion of the floor surface. 
     
     
         12 . The mobile floor cleaning robot of  claim 2 , wherein the pad holder comprises a top portion and a bottom portion, wherein the bottom portion of the pad holder is configured to receive the cleaning pad, and
 wherein the mobile floor cleaning robot comprises at least one post disposed on the top portion of the pad holder.   
     
     
         13 . The mobile floor cleaning robot of  claim 12 , further comprising a robot body, wherein the at least one post attaches the pad holder to the robot body. 
     
     
         14 . The mobile floor cleaning robot of  claim 12 , wherein the at least one post comprises a vibration dampening material. 
     
     
         15 . The mobile floor cleaning robot of  claim 12 , wherein the at least one post has a cross-sectional diameter varying in size along a length of the at least one post. 
     
     
         16 . The mobile floor cleaning robot of  claim 12 , wherein the at least one post comprises four posts. 
     
     
         17 . The mobile floor cleaning robot of  claim 2 , wherein the pad holder is configured to hold the cleaning pad such that the cleaning pad is substantially immobile relative to the pad holder as the pad holder is vibrated. 
     
     
         18 . The mobile floor cleaning robot of  claim 2 , wherein the drive system is configured to move the mobile floor cleaning robot back and forth across a portion of the floor surface as the motor vibrates the pad holder. 
     
     
         19 . The mobile floor cleaning robot of  claim 18 , further comprising a fluid applicator to apply fluid to the portion of the floor surface such that the cleaning pad received by the pad holder absorbs the fluid as the mobile floor cleaning robot moves backs and forth across the portion of the floor surface. 
     
     
         20 . The mobile floor cleaning robot of  claim 2 , wherein bottom surface of the pad holder comprises a width of between about 60 millimeters and about 80 millimeters and a length of between about 180 millimeters and about 215 millimeters. 
     
     
         21 . The mobile floor cleaning robot of  claim 2 , wherein the motor is an orbital oscillator.