Abstract: A cleaning machine includes a driving assembly, a cleaning element, and a controller assembly. The driving assembly includes a pair of drive wheels, a rear motor, a multi-directional wheel, and a front motor. Each wheel of the pair of drive wheels is configured to be driven independently of the other wheel of the pair of drive wheels. The rear motor is operably coupled to the pair of drive wheels and is disposed to drive at least one wheel of the pair of drive wheels. The multi-directional wheel is disposed forward of the pair of drive wheels. The front motor is operably coupled to is disposed to steer the multi-directional wheel. The cleaning element is disposed forward of the pair of drive wheels. The controller assembly is disposed to control at least one of the rear motor, the front motor, or a combination thereof.

Abstract: A cleaning machine for cleaning along an intended direction of use includes a drive assembly, a cleaning element, and a multi-directional wheel. The Drive assembly includes a motor and a pair of drive wheels operable connected to the motor. Each wheel of the pair of wheels can be configured to be driven independently of the other wheel. The cleaning element can be disposed forward of the pair of drive wheels along the intended direction of use of the cleaning machine. The multi-directional wheel disposed forward along the intended direction of use of the pair of drive wheels. The multi-directional wheel can define a pivot axis and can be configured to swivel about the pivot axis in a range of direction extending 360°.

Abstract: A method of controlling a robotic floor cleaning machine includes driving, by an operator, the robotic floor cleaning machine along a transport path and a cleaning path. The transport path defines a path for transport of the robotic floor cleaning machine without active cleaning and the cleaning path defines a path for a cleaning operation. The method further includes recording the transport path and the cleaning path driven by the operator; defining, in a controller of the robotic floor cleaning machine, a route comprising the recorded transport path and the recorded cleaning path, and defining the cleaning operation. The robotic floor cleaning machine executes the defined route and the cleaning operation.

Abstract: A control system for a robotic floor cleaning machine configured to perform a cleaning operation along a cleaning path can comprise a controller, and a plurality of sensors. The controller can be configured to control autonomous movement of the robotic floor cleaning machine along the cleaning path and autonomous performance of the cleaning operation. The plurality of sensors can be configured to sense a location of the robotic floor cleaning machine relative to surroundings of the robotic floor cleaning machine. At least two sensors from the plurality of sensors are configured to locate the robotic floor cleaning machine in overlapping areas of the surroundings.

Abstract: A control system for a robotic floor cleaning machine configured to perform a cleaning operation along a cleaning path can comprise a controller, and a plurality of sensors. The controller can be configured to control autonomous movement of the robotic floor cleaning machine along the cleaning path and autonomous performance of the cleaning operation. The plurality of sensors can be configured to sense a location of the robotic floor cleaning machine relative to surroundings of the robotic floor cleaning machine. At least two sensors from the plurality of sensors are configured to locate the robotic floor cleaning machine in overlapping areas of the surroundings.

Abstract: A floor cleaning machine can comprise a chassis, a cleaning mechanism, a control system, and a cleaning operation sensing system connected to the chassis. The chassis can be configured for movement along a cleaning path. The cleaning mechanism can perform a cleaning operation. The liquid system can provide liquid to the cleaning mechanism. The recovery system can recover liquid from the cleaning operation. The control system can control performance of the cleaning operation. The cleaning operation sensing system can detect a condition of the cleaning operation. The cleaning operation sensing system can comprise a water trailing detection system comprising: a frame connected to the chassis aft of the recovery system; an absorbent medium connected to the frame; and a moisture sensor in communication with the control system to alter a signal in response to moisture in the absorbent medium.

Abstract: A control system for a robotic floor cleaning machine configured to perform a cleaning operation along a cleaning path can comprise a controller, and a plurality of sensors. The controller can be configured to control autonomous movement of the robotic floor cleaning machine along the cleaning path and autonomous performance of the cleaning operation. The plurality of sensors can be configured to sense a location of the robotic floor cleaning machine relative to surroundings of the robotic floor cleaning machine. At least two sensors from the plurality of sensors are configured to locate the robotic floor cleaning machine in overlapping areas of the surroundings.

Abstract: A floor cleaning machine can comprise a chassis, a cleaning mechanism, a control system, and a cleaning operation sensing system connected to the chassis. The chassis can be configured for movement along a cleaning path. The cleaning mechanism can perform a cleaning operation. The liquid system can provide liquid to the cleaning mechanism. The recovery system can recover liquid from the cleaning operation. The control system can control performance of the cleaning operation. The cleaning operation sensing system can detect a condition of the cleaning operation. The cleaning operation sensing system can comprise a water trailing detection system comprising: a frame connected to the chassis aft of the recovery system; an absorbent medium connected to the frame; and a moisture sensor in communication with the control system to alter a signal in response to moisture in the absorbent medium.

Abstract: A floor cleaning machine can comprise a chassis, a cleaning mechanism, a control system, and a cleaning operation sensing system connected to the chassis. The chassis can be configured for movement along a cleaning path. The cleaning mechanism can perform a cleaning operation. The liquid system can provide liquid to the cleaning mechanism. The recovery system can recover liquid from the cleaning operation. The control system can control performance of the cleaning operation. The cleaning operation sensing system can detect a condition of the cleaning operation. The cleaning operation sensing system can comprise a water trailing detection system comprising: a frame connected to the chassis aft of the recovery system, an absorbent medium connected to the frame; and a moisture sensor in communication with the control system to alter a signal in response to moisture in the absorbent medium.

Abstract: A floor cleaning machine can comprise a chassis, a cleaning mechanism, a control system, and a cleaning operation sensing system connected to the chassis. The chassis can be configured for movement along a cleaning path. The cleaning mechanism can perform a cleaning operation. The liquid system can provide liquid to the cleaning mechanism. The recovery system can recover liquid from the cleaning operation. The control system can control performance of the cleaning operation. The cleaning operation sensing system can detect a condition of the cleaning operation. The cleaning operation sensing system can comprise a water trailing detection system comprising: a frame connected to the chassis aft of the recovery system, an absorbent medium connected to the frame; and a moisture sensor in communication with the control system to alter a signal in response to moisture in the absorbent medium.

Abstract: A control system for a robotic floor cleaning machine configured to perform a cleaning operation along a cleaning path can comprise a controller, and a plurality of sensors. The controller can be configured to control autonomous movement of the robotic floor cleaning machine along the cleaning path and autonomous performance of the cleaning operation. The plurality of sensors can be configured to sense a location of the robotic floor cleaning machine relative to surroundings of the robotic floor cleaning machine. At least two sensors from the plurality of sensors are configured to locate the robotic floor cleaning machine in overlapping areas of the surroundings.

Abstract: A floor scrubber machine can comprise a chassis, a scrub deck and a propulsion system. The scrub deck can include a hands-free, double-scrub side skirt mechanism, and a dual mode side blade assembly. The chassis can include a rear squeegee assembly having a self-aligning hanger system with balanced handles. The propulsion system can include a throttle pedal having a button for forward/reverse control, and a control panel having a setting for rescaling the acceleration profile. A disc brush scrub deck can include a brush centering mechanism. A cylindrical brush scrub deck can include an idler end brush cover with self-aligning tabs, and a self-contained drive mechanism.