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 method to automatically remove obstructions, such as electrical cords or wires, from robotic floor-cleaning devices after becoming entangled with wheels of the robotic device during operation. Upon sensing entanglement with an obstruction, the robotic floor-cleaning device is configured to retract one or more wheels into a wheel housing within the main housing of the robotic device. During retraction, the obstruction entangled around the one or more wheels is forcibly separated from the wheel by the corresponding wheel housing.

Abstract: An expandable wheel has rollers arranged radially about a plate within a main housing. Spokes pivotally connected to the plate are attached to linkages on which the rollers are mounted. The rollers and linkages protrude through apertures in the main housing. The rollers form the circumference of the wheel. Rotation of the plate relative to the main housing changes the angle of the spokes relative to radii of the plate. When the spokes are parallel with the radii of the plate, the rollers are pushed radially outward at a maximum distance from the plate, forming the largest wheel circumference. When the spokes are as near perpendicular as possible with respect to the radii of the plate, the rollers are pulled radially inward at a minimum distance from the plate, forming the smallest wheel circumference.

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

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: 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: Provided is a method and apparatus for combining perceived depths to construct a floor plan using cameras, such as depth cameras. The camera(s) perceive depths from the camera(s) to objects within a first field of view. The camera(s) is rotated to observe a second field of view partly overlapping the first field of view. The camera(s) perceives depths from the camera(s) to objects within the second field of view. The depths from the first and second fields of view are compared to find the area of overlap between the two fields of view. The depths from the two fields of view are then merged at the area of overlap to create a segment of a floor plan. The method is repeated wherein depths are perceived within consecutively overlapping fields of view and are combined to construct a floor plan of the environment as the camera is rotated.

Abstract: A device for nullifying images captured by drones utilizing a high power light to overexpose said images. One or more cameras installed in the device capture images of the area surrounding the device. Computer vision and deep learning are utilized to identify drones in the captured images. If a drone is identified, the location thereof is estimated. A high power light installed in the device is directed at the estimated location of the drone to overexpose any images that are being taken of the area around the device by the drone.

Abstract: A method for identifying objects by an autonomous robot. Images of a work environment are captured by an image sensor positioned on the autonomous robot. An object dictionary containing image data regarding a set of objects is preloaded into the system. Captured images are transmitted to an image processor that processes the images to generate feature vector and identify objects within the images by comparison to objects in the object dictionary. Upon identifying an object in an image as an object from the object dictionary, the system executes a set of preprogrammed responses, which may include altering a movement path to avoid colliding with or driving over the object.