Abstract: A system and method for devising a surface coverage scheme within a workspace. Space within a two-dimensional map of the workspace is identified as free, occupied, or unknown. The map is divided into a grid of cells. A loop-free spanning tree is constructed within all free cells within the grid. The robotic device is programmed to drive along the outside edge of the spanning tree to cover all portions of each free cell at least once upon completing the path. The system monitors several performance parameters during each work session and assigns negative rewards based on these parameters. A large positive reward is assigned upon completion of the surface coverage. Spanning trees with at least slight differences are used to determine which spanning tree produces the highest reward. The system is programmed to attempt maximize rewards at all times, causing the system to learn the best eventual method or policy for servicing the workspace.

Abstract: A rotatable brush with a pressure sensor. The pressure sensor comprises a projecting blade connected to a tactile sensor by a flexible member. The projecting blade extends along the length of the shaft and is housed among the plurality of bristles protruding radially from the shaft. The projecting blade compresses the flexible member when pressure around the brush reaches a predetermined threshold. Upon compression of the flexible member, the tactile sensor, electronically coupled with a processor or controller, is activated thereby triggering a variety of possible preprogrammed responses.

Abstract: A robotic surface cleaning device is provided, including a casing, a chassis, a set of wheels coupled to the chassis to drive the robotic surface cleaning device, a control system to instruct movement of the set of wheels, a battery to provide power to the robotic surface cleaning device, one or more sensors, a processor, rotating assembly, including a plate supported by a base of the casing, rotating mechanism to rotate the plate; and one or more cleaning apparatuses mounted to a first side of the plate.

Abstract: Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the receiver pair from a robotic device only when the robotic device is positioned along a virtual boundary; operating the robotic device to move automatically within an area co-located with the virtual boundary; transmitting the first robotic device signal by the robotic device; and receiving the first robotic device signal by the receiver pair thereby indicating that the robotic device is positioned along the virtual boundary.

Abstract: A floor-cleaning system comprised of a mobile robot having compartments to hold modules corresponding to various functions and a base station storing extra modules. The mobile robot runs until one or more modules is expended, at which point the robot navigates to the base station, ejects expended modules, and loads new modules. The robot continues operation with a minimum amount of downtime and a reduced need for human intervention. The base station may be supplied with numerous ready modules so that a human administrator only needs to replenish, replace or empty the modules periodically.

Abstract: Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a first receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the first receiver pair from a first robotic device only when the first robotic device is positioned along a first virtual boundary; operating the first robotic device to move automatically within an area co-located with the first virtual boundary; transmitting the first robotic device signal by the first robotic device; and receiving the first robotic device signal by the first receiver pair thereby indicating that the first robotic device is positioned along the first virtual boundary.

Abstract: A retractable cable assembly in use with an electrical charger, power adapter, or other power supply. A cable wound on a spool within the cable assembly housing may be extracted by manually pulling on the cable or pressing of a release switch until the desired length of the cord is drawn. As the cord is drawn a torsional spring rotatably coupled to the spool and located within the core of the spool is compressed. An engaged pawl-ratchet mechanism is used to keep the spool, torsional spring and cord in place during and after extraction of the cord until which time retraction of the cord is desired. Rotation or twisting of the housing lid or of the main housing of the retractable cable assembly housing disengages the pawl-ratchet mechanism, thereby freeing the spool and torsional spring. The compressed torsional spring within the core of the spool rotates immediately as it decompresses causing the coupled spool to rotate and retract the cable, thereby winding it back around the spool within the housing.

Abstract: A method for instructing operation of a robotic floor-cleaning device based on the position of the robotic floor-cleaning device within a two-dimensional map of the workspace. A two-dimensional map of a workspace is generated using inputs from sensors positioned on a robotic floor-cleaning device to represent the multi-dimensional workspace of the robotic floor-cleaning device. The two-dimensional map is provided to a user on a user interface. A user may adjust the boundaries of the two-dimensional map through the user interface and select settings for map areas to control device operation in various areas of the workspace.

Abstract: A schedule development method for a robotic floor-cleaning device that attempts to recognize patterns in user input to automatically devise a work schedule.