Robotic mop

Abstract

A robotic mop includes one or more mop assemblies that may be used for support, mobility, and/or scrubbing. The mop assemblies may be operated to both scrub and move the robotic mop along the intended path. For example, the robotic mop may operate the mop assemblies in this way by rotating the mop assemblies in one or more directions at various different speeds, by tilting the mop assemblies (whether or not while rotating the mop assemblies at the time), and so on. In this way, the robotic mop may be able to move while scrubbing with various amounts of force without disrupting navigation.

What is claimed is: 
     
         1 . A mop device, comprising:
 a base;   a controller coupled to the base;   a reservoir coupled to the base;   a dispensing head coupled to the reservoir;   a first mop assembly, comprising:
 a first motor mount; 
 a first servo coupled to the base and to the first motor mount; 
 a first mop head; and 
 a first motor coupled to the first mop head and the first motor mount; 
   a second mop assembly, comprising:
 a second motor mount; 
 a second servo coupled to the base and to the second motor mount; 
 a second mop head; and 
 a second motor coupled to the second mop head and the second motor mount; 
   a third mop assembly, comprising:
 a third motor mount; 
 a third servo coupled to the base and to the third motor mount; 
 a third mop head; and 
 a third motor coupled to the third mop head and the third motor mount. 
   
     
     
         2 . The mop device of  claim 1 , wherein the first mop head is configured to couple to a mop pad. 
     
     
         3 . The mop device of  claim 1 , further comprising a fourth mop assembly, comprising:
 a fourth motor mount;   a fourth servo coupled to the base and to the fourth motor mount;   a fourth mop head; and   a fourth motor coupled to the fourth mop head and the fourth motor mount.   
     
     
         4 . The mop device of  claim 1 , wherein the controller is operable to cause the first servo to tilt the first motor mount with respect to the base in at least one of two directions. 
     
     
         5 . The mop device of  claim 1 , wherein the controller is operable to cause the first motor to rotate the first mop head in at least one of two directions. 
     
     
         6 . The mop device of  claim 1 , wherein the controller is operable to cause the first motor to rotate the first mop head in at least a first speed and a second speed. 
     
     
         7 . The mop device of  claim 1 , wherein the first mop assembly, the second mop assembly, and the third mop assembly are configured to cooperatively support the base on a surface. 
     
     
         8 . A mop device, comprising:
 a base;   a controller coupled to the base;   a reservoir coupled to the base;   a dispensing head coupled to the reservoir;   a first mop assembly coupled to the base; and   a second mop assembly coupled to the base; wherein:   the first mop assembly and the second mop assembly are operable to support the base on a surface; and   the controller is operable to operate at least one of the first mop assembly or the second mop assembly to direct movement of the mop device in a direction.   
     
     
         9 . The mop device of  claim 8 , wherein the controller is operable to rotate the first mop assembly. 
     
     
         10 . The mop device of  claim 8 , wherein the controller is operable to control a speed at which the first mop assembly rotates. 
     
     
         11 . The mop device of  claim 8 , wherein the controller is operable to tilt the first mop assembly. 
     
     
         12 . The mop device of  claim 8 , wherein the controller is operable to control a direction in which the first mop assembly rotates. 
     
     
         13 . The mop device of  claim 8 , wherein the controller is operable to receive input specifying the direction. 
     
     
         14 . The mop device of  claim 13 , wherein the input comprises detected information regarding movement of the mop device by a user. 
     
     
         15 . A mop device, comprising:
 a base;   a controller coupled to the base;   a reservoir coupled to the base;   a dispensing head coupled to the reservoir;   a first mop assembly coupled to the base; and   a second mop assembly coupled to the base; wherein:   the first mop assembly and the second mop assembly are operable to support the base on a surface; and   the controller is operable to move the mop device in a direction by at least one of:   rotating the first mop assembly or the second mop assembly;   controlling a rotation speed of the first mop assembly or the second mop assembly;   controlling a rotation direction of the first mop assembly or the second mop assembly; or   tilting the first mop assembly or the second mop assembly.   
     
     
         16 . The mop device of  claim 15 , wherein the controller is operable to:
 rotate the first mop assembly and the second mop assembly;   control the rotation speed of the first mop assembly and the second mop assembly;   control the rotation direction of the first mop assembly and the second mop assembly; and   tilt the first mop assembly and the second mop assembly.   
     
     
         17 . The mop device of  claim 15 , wherein the controller is operable to control the first mop assembly and the second mop assembly independently of each other. 
     
     
         18 . The mop device of  claim 15 , wherein the controller moves the mop device in the direction according to a stored map. 
     
     
         19 . The mop device of  claim 15 , wherein the controller moves the mop device in the direction according to input received from a remote control unit. 
     
     
         20 . The mop device of  claim 15 , wherein the controller controls movement of the first mop assembly or the second mop assembly to account for fluid between the first mop assembly or the second mop assembly and the surface.