Abstract: An end of arm tool (EOAT) assembly can include a tool base subassembly having a tool base attachment surface as well as a first and second mechanized tool subassembly, each being movably attached to the tool base subassembly along the tool base attachment surface. The mechanized tool subassemblies include an elongated body oriented orthogonally relative to the tool base attachment surface, and a holding member attached to its respective elongated body. The holding members can have an engaged position to pass beneath an object to assist with lifting of the object and a disengaged position that does not contribute to lifting of the object. Movement of the first and second mechanized tool assemblies along the tool base attachment surface can provide for opening and partially closing of a gap there between to laterally provide space for engaging with the object followed by squeezing the object for lifting.

Abstract: A cleaning robot navigates a wide area by using sonar near the walls and a laser range finder for distances beyond the range of the sonar. The sonar is used with the laser to establish baselines. The laser distances are then referenced to the baselines for improved accuracy during laser navigation.

Abstract: Disclosed is a brush mounting assembly for a brush utilized in an industrial sweeper. The mounting assembly enables the height of the brush to be easily adjusted while allowing independent action of each end of the brush. Furthermore, the assembly provides quick disconnect at each end of the brush so that the brush may be changed without the use of tools.

Abstract: In a learning phase, a cleaning robot is started into an area to be cleaned. The robot measures and records the distances to left and right boundaries as it travels to determine the plan of the area. Using the measurements, it steers down the center of the area until it encounters a forward obstacle. It then determines a path for cleaning the area. In a cleaning phase, the robot follows the determined path.

Abstract: An obstacle detection and position sensing system for autonomous mobile vehicles is described. The system includes two spaced-apart contact and position sensitive bumpers disposed across the frontal cross section of the vehicle. Light beams are directed by transceivers and retroreflectors across the frontal cross section area between the two bumpers, forming a light curtain. The combination of the bumpers and light curtain provides complete frontal coverage of the potential collision cross-section of a fairly large vehicle, without obstructing the field of view of sonar, optical, or other forward-looking sensors.

Abstract: An obstacle detection and position sensing system for autonomous mobile vehicles is described. The system includes two spaced-apart contact and position sensitive bumpers disposed across the frontal cross section of the vehicle. Light beams are directed by transceivers and retroreflectors across the frontal cross section area between the two bumpers, forming a light curtain. The combination of the bumpers and light curtain provides complete frontal coverage of the potential collision cross-section of a fairly large vehicle, without obstructing the field of view of sonar, optical, or other forward-looking sensors.