Abstract: Techniques for minimizing redundancy of surface coverage of a workspace by a robotic device are presented, the techniques including: obtaining, with one or more processors of a robot, a map of a workspace, the map quantizing the workspace into a plurality of cells, each cell corresponding to an area of the workspace; segmenting, with the one or more processors of the robot, the workspace into a plurality of zones, each zone having a subset of the plurality of cells; determining, with the one or more processors of the robot, a sequence of the zones among a plurality of candidate sequences based on an effect of the sequence on a cost of a cost function that is based on travel distance of the robot through the sequence; and causing, with the one or more processors of the robot, the robot to traverse the zones in the determined sequence.

Abstract: A method for tracking movement and turning angle of a mobile robotic device using two optoelectronic sensors positioned on the underside thereof. Digital image correlation is used to analyze images captured by the optoelectronic sensors and determine the amount of offset, and thereby amount of movement of the device. Trigonometric analysis of a triangle formed by lines between the positions of the optoelectronic sensors at different intervals may be used to determine turning angle of the mobile robotic device.

Abstract: Methods for automated robotic movement for a robotic device using an electronic computing device are presented, the methods including: causing the electronic computing device to establish a working zone; measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; establishing a coverage path that accounts for all detected obstacles; executing the coverage path such the robotic device covers the working zone at least once; if a new obstacle is detected, establishing an adapted coverage path that accounts for the new obstacle; and executing the adapted coverage path. In some embodiments, methods further include: bypassing the new obstacle; and returning to the coverage path.

Abstract: A method for tracking movement and turning angle of a mobile robotic device using two optoelectronic sensors positioned on the underside thereof. Digital image correlation is used to analyze images captured by the optoelectronic sensors and determine the amount of offset, and thereby amount of movement of the device. Trigonometric analysis of a triangle formed by lines between the positions of the optoelectronic sensors at different intervals may be used to determine turning angle of the mobile robotic device.

Abstract: A method for gathering information about a work environment comprising using two laser rangefinders to obtain distances to two obstacles. A camera captures an image of the area and an image processor extracts the color depth at the two points of the laser rangefinders. The image processor then extracts the color depth of the line connecting the two points of the laser rangefinders. If the color depth of the two points of the laser rangefinders and the line connecting them is within a predetermined range, the system identifies the area as a substantially flat surface. When a substantially flat surface is found, the system can calculate the length and angle of the line connecting the two points of the laser rangefinders.

Abstract: A rotatable brush with a pressure sensor for detecting entanglements. If the amount of pressure around the brush reaches a predetermined threshold, a toggle extending along the length of the brush shaft switches from a default position to a secondary position and actuates the pressure sensor. The pressure sensor is electronically coupled to a processor and/or controller to activate one or more preprogrammed responses when an entanglement is putting pressure on the brush.

Abstract: A method for distance measurement is proposed in which two or more laser light emitters emitting converging collimated laser beams, an image sensor, and an image processor are positioned on a baseplate. The output of the laser light emitters from light points on surfaces substantially opposite the baseplate. The image sensor captures images of the projected light points. The area of the polygon or the length of the line resulting from connecting the light points is extracted by the image processor and compared to values in a preconfigured table relating polygon areas or line lengths to distances from the baseplate to surfaces.

Abstract: A mobile robotic floor-cleaning device with wheels that may be expanded or contracted to suit various needs by rotating an inner shaft within the main housing of each wheel relative to the main housing. A series of rollers form the circumference of the wheels, and are connected to the inner shaft via a set of spokes. Rotation of the inner shaft relative to the main housing causes the spokes to pull the rollers in or push them out, changing the diameter and circumference of the wheel.

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.