Abstract: A modular dethatcher and seeder includes a housing having a rear opening, a removable rear cover substantially closing the rear opening, and a plurality of tines driven by a motor to rotate about a shaft within the housing. When the device is to be used as a seeder, a seeder attachment is inserted into the rear opening of the housing in place of the rear cover. The seeder attachment can be driven by the rear wheels of the device. Alternatively, when the device is to be used as a dethatcher, a chute can be removably attached to the rear opening and a collection bag is then attached to the chute to hold debris thrown by the tines.

Abstract: A floor cleaning assembly including a gimballing connector is disclosed. The floor cleaning assembly includes a mounting member having an annular ring of bristles attached to the bottom surface thereof. The upper surface includes a centrally disposed hub and plurality of spokes and passageways extending radially therefrom. An annular barrier wall disposed adjacent the passageways extends upwardly from the upper surface of the barrier wall. The floor assembly is coupled to a motor drive by a gimballing connector which allows the axis of rotation of the floor assembly to shift relative to the axis of rotation of the motor drive. The geometry of the gimballing connector results in an evenly distributed wear pattern on the gimballing surface of the connector.

Abstract: A robotic cleaning apparatus is disclosed. The apparatus includes an automatically controlled cleaning machine and coded reflective targets used to provide information to the cleaning machine for positioning it along desired cleaning paths. The apparatus determines it position on a real time basis, particularly in the case of obstacles that are encountered by the cleaning machine during its cleaning operation. Hardware and software are provided for controlling movement of the cleaning machine relative to side and end walls of the floor surface section being cleaned, as well as controlling the functions of cleaning equipment.