Method of Controlling Surface Treatment System

This invention describes a system for treating surfaces, such as painting or cleaning, using a robot. A robot arm, holding a treatment tool, is mounted on a self-driving cart. A camera observes the work area, and a computer uses this visual data to guide the cart to the correct position near the object. The robot then moves the tool over the object's surface. The claims specify that the cart also uses a distance sensor to precisely position itself relative to the object.