Abstract: A mobile robot includes a chassis, a shell moveably mounted on the chassis, and a cutting assembly mounted to the chassis. The mobile robot also includes a communication system that includes an antenna module disposed on a rear portion of the mobile robot. The antenna module includes a base assembly, and an antenna assembly mounted to the base assembly by a spring. The antenna assembly includes a ranging antenna, and at least three angle antennas arranged axisymmetrically about the ranging antenna, such that the ranging antenna and the three angle antennas define a tetrahedral geometry for determining an angle of arrival for one or more incident signals.

Abstract: A rotatable coupling includes an input housing rotatably coupled to an output housing by a tube fixed to the output housing and on which tube the input housing rotates. The coupling includes two magnetic flux concentrators disposed about the tube and defining therebetween an annular cavity, a first concentrator fixed to the input housing and a second concentrator fixed to the output housing, such that relative rotation of the housings causes relative rotation of the concentrators on either side of the annular cavity. The coupling includes concentric coils disposed within the annular cavity that permit power transfer across the coupling, a first coil fixed to the input housing and a second coil fixed to the output housing; an emitter fixed to the input housing; and a receiver fixed to the output housing and positioned to receive the signals from the emitter during the relative rotation of the housings.

Abstract: A mobile robot includes a chassis, a shell moveably mounted on the chassis, and a cutting assembly mounted to the chassis. The mobile robot also includes a communication system that includes an antenna module disposed on a rear portion of the mobile robot. The antenna module includes a base assembly, and an antenna assembly mounted to the base assembly by a spring. The antenna assembly includes a ranging antenna, and at least three angle antennas arranged axisymmetrically about the ranging antenna, such that the ranging antenna and the three angle antennas define a tetrahedral geometry for determining an angle of arrival for one or more incident signals.

Abstract: A rotatable coupling includes an input housing rotatably coupled to an output housing by a tube fixed to the output housing and on which tube the input housing rotates. The coupling includes two magnetic flux concentrators disposed about the tube and defining therebetween an annular cavity, a first concentrator fixed to the input housing and a second concentrator fixed to the output housing, such that relative rotation of the housings causes relative rotation of the concentrators on either side of the annular cavity. The coupling includes concentric coils disposed within the annular cavity that permit power transfer across the coupling, a first coil fixed to the input housing and a second coil fixed to the output housing; an emitter fixed to the input housing; and a receiver fixed to the output housing and positioned to receive the signals from the emitter during the relative rotation of the housings.

Abstract: A robotic lawnmower confinement system includes at least two dispenser units and a powered unit in wired connection with the at least two dispenser units. Each dispenser unit includes a housing containing a length of boundary wire electrically connected to the housing at one end and terminating at a mating connector for transferring an electrical signal at the opposite end. Each dispenser unit also includes a receiving terminal disposed on the housing for receiving a mating connector of another dispenser unit. The powered unit includes at least one electrical connector configured to connect and deliver current to at least one of the at least two dispenser units. The at least two dispenser units and the powered unit can be arranged and connected to form a loop of connected boundary wires recognizable by the robotic lawnmower.

Abstract: A robotic lawnmower confinement system includes at least two dispenser units and a powered unit in wired connection with the at least two dispenser units. Each dispenser unit includes a housing containing a length of boundary wire electrically connected to the housing at one end and terminating at a mating connector for transferring an electrical signal at the opposite end. Each dispenser unit also includes a receiving terminal disposed on the housing for receiving a mating connector of another dispenser unit. The powered unit includes at least one electrical connector configured to connect and deliver current to at least one of the at least two dispenser units. The at least IC two dispenser units and the powered unit can be arranged and connected to form a loop of connected boundary wires recognizable by the robotic lawnmower.