INTEGRATED EVACUATION STATION AND RUBBISH BIN

Abstract

A docking station for a mobile cleaning robot can include a base and a cannister. The base can be configured to receive at least a portion of the mobile cleaning robot thereon, where the base can include a debris port. The cannister can be connected to the base and can be located at least partially above the base. The cannister can include a debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot. The lid assembly can be connected to the debris duct and can be configured to receive at least a portion of the air stream from the mobile cleaning robot. A receptacle can be connected to the lid assembly, where the receptacle can be configured to receive at least a portion of debris from the air stream or the lid assembly.

Description

BACKGROUND

Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks within an environment, such as a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. Some robots can interface with a docking station or other device automatically. The docking station can perform maintenance on the robot such as charging of batteries of the robot and evacuation of debris from a lid assembly of the robot.

SUMMARY

Mobile cleaning robots can include a variety of components that require maintenance or interaction between missions or during missions. For example, vacuuming robots that extract debris from an environment may need to empty their debris bins during missions or between missions. Some of these robots can empty debris automatically, such as into a debris bag of a docking station. However, the debris bag of the docking station requires regular replacement, or replacement when the debris bag fills with debris, requiring regular user interaction with the docking station. Also, some users may prefer to not have an additional piece of equipment on their floor.

This disclosure can help to address these issues by providing a docking system including a rubbish bin or receptacle (or including a docking station in a garbage can or receptacle). In this way, during or following evacuation of debris from the mobile cleaning robot, the rubbish bin (or trash can or garbage can) can receive debris from the mobile cleaning robot, reducing or eliminating a need to replace individual docking station debris bags and allowing the debris collected by the docking station to be disposed of by the user with other rubbish or trash, in a normal manner or frequency, which can help to reduce a number of user interactions with the robot or docking station.

For example, a docking station for a mobile cleaning robot can include a base and a cannister. The base can be configured to receive at least a portion of the mobile cleaning robot thereon, where the base can include a debris port. The cannister can be connected to the base and can be located at least partially above the base. The cannister can include a debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot. The lid assembly can be connected to the debris duct and can be configured to receive at least a portion of the air stream from the mobile cleaning robot. A receptacle can be connected to the lid assembly, where the receptacle can be configured to receive at least a portion of debris from the air stream or the lid assembly.

The above discussion is intended to provide an overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The description below is included to provide further information about the present patent application.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

FIG. 1 illustrates a plan view of a mobile cleaning robot in an environment.

FIG. 2A illustrates an isometric view of a mobile cleaning robot in a first condition.

FIG. 2B illustrates an isometric view of a mobile cleaning robot in a second condition.

FIG. 2C illustrates an isometric view of a mobile cleaning robot in a third condition.

FIG. 2D illustrates a bottom view of a mobile cleaning robot in a third condition.

FIG. 2E illustrates a top isometric view of a mobile cleaning robot in a third condition.

FIG. 2F illustrates a side cross-sectional view of a mobile cleaning robot in a first condition.

FIG. 3 illustrates an isometric view of a mobile cleaning robot and a docking station.

FIG. 4 illustrates a diagram illustrating an example of a communication network in which a mobile cleaning robot operates and data transmission in the network.

FIG. 5A illustrates a schematic view of a docking station.

FIG. 5B illustrates a schematic view of a docking station.

FIG. 5C illustrates a schematic view of a docking station.

FIG. 6A illustrates an isometric view of a docking station.

FIG. 6B illustrates an isometric view of a docking station.

FIG. 6C illustrates a cross-sectional isometric view of a docking station.

FIG. 6D illustrates an isometric view of a portion of a docking station.

FIG. 7A illustrates an isometric view of a docking station.

FIG. 7B illustrates an isometric view of a docking station.

FIG. 7C illustrates an isometric view of a portion of a docking station.

FIG. 7D illustrates an isometric view of a portion of a docking station.

FIG. 7E illustrates an isometric view of a portion of a docking station.

FIG. 7F illustrates an isometric view of a portion of a docking station.

FIG. 7G illustrates a cross-sectional side view of a portion of a docking station.

FIG. 8A illustrates an isometric view of a docking station.

FIG. 8B illustrates an isometric view of a docking station.

FIG. 8C illustrates an isometric view of a portion of a docking station.

FIG. 8D illustrates an isometric view of a portion of a docking station.

FIG. 8E illustrates an isometric view of a portion of a docking station.

FIG. 8F illustrates an isometric view of a portion of a docking station.

FIG. 8G illustrates an isometric view of a portion of a docking station.

FIG. 9 illustrates an isometric view of a portion of a docking station.

FIG. 10 illustrates an isometric view of a docking station.

FIG. 11 illustrates an isometric view of a docking station.

FIG. 12 illustrates an isometric view of a docking station.

FIG. 13A illustrates a schematic view of a portion of a docking station.

FIG. 13B illustrates a schematic view of a portion of a docking station.

FIG. 14 illustrates a block diagram illustrating an example of a machine upon which one or more embodiments may be implemented.

DETAILED DESCRIPTION

Robot Operation Summary

FIG. 1 illustrates a plan view of a mobile cleaning robot 100 in an environment 40, in accordance with at least one example of this disclosure. The environment 40 can be a dwelling, such as a home or an apartment, and can include rooms 42a-42e. Obstacles, such as a bed 44, a table 46, and an island 48 can be located in the rooms 42 of the environment. Each of the rooms 42a-42e can have a floor surface 50a-50e, respectively. Some rooms, such as the room 42d, can include a rug, such as a rug 52. The floor surfaces 50 can be of one or more types such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, stone, or the like.

The mobile cleaning robot 100 can be operated, such as by a user 60, to autonomously clean the environment 40 in a room-by-room fashion. In some examples, the robot 100 can clean the floor surface 50a of one room, such as the room 42a, before moving to the next room, such as the room 42d, to clean the surface of the room 42d. Different rooms can have different types of floor surfaces. For example, the room 42e (which can be a kitchen) can have a hard floor surface, such as wood or ceramic tile, and the room 42a (which can be a bedroom) can have a carpet surface, such as a medium pile carpet. Other rooms, such as the room 42d (which can be a dining room) can include multiple surfaces where the rug 52 is located within the room 42d.

During cleaning or traveling operations, the robot 100 can use data collected from various sensors (such as optical sensors) and calculations (such as odometry and obstacle detection) to develop a map of the environment 40. Once the map is created, the user 60 can define rooms or zones (such as the rooms 42) within the map. The map can be presentable to the user 60 on a user interface, such as a mobile device, where the user 60 can direct or change cleaning preferences, for example.

Also, during operation, the robot 100 can detect surface types within each of the rooms 42, which can be stored in the robot 100 or another device. The robot 100 can update the map (or data related thereto) such as to include or account for surface types of the floor surfaces 50a-50e of each of the respective rooms 42 of the environment 40. In some examples, the map can be updated to show the different surface types such as within each of the rooms 42.

In some examples, the user 60 can define a behavior control zone 54. In autonomous operation, the robot 100 can initiate a behavior in response to being in or near the behavior control zone 54. For example, the user 60 can define an area of the environment 40 that is prone to becoming dirty to be the behavior control zone 54. In response, the robot 100 can initiate a focused cleaning behavior in which the robot 100 performs a focused cleaning of a portion of the floor surface 50d in the behavior control zone 54.

Robot Example

FIG. 2A illustrates an isometric view of a mobile cleaning robot 100 with a pad assembly in a stored position. FIG. 2B illustrates an isometric view of the mobile cleaning robot 100 with the pad assembly in an extended position. FIG. 2C illustrates an isometric view of the mobile cleaning robot 100 with the pad assembly in a mopping position. FIGS. 2A-2C also show orientation indicators Front and Rear. FIGS. 2A-2C are discussed together below.

The mobile cleaning robot 100 can include a body 102 and a mopping system 104. The mopping system 104 can include arms 106a and 106b (referred to together as arms 106) and a pad assembly 108. The robot 100 can also include a bumper 109 and other features such as an extractor (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., motor, geartrain, and wheels), a caster, and sensors, as discussed in further detail below. A distal portion of the arms 106 can be connected to the pad assembly 108 and a proximal portion of the arms 106a and 106b can be connected to an internal drive system to drive the arms 106 to move the pad assembly 108.

FIGS. 2A-2C show how the robot 100 can be operated to move the pad assembly 108 from a stored position in FIG. 2A to a transition or partially deployed position in FIG. 2B, to a mopping or a deployed position in FIG. 2C. In the stored position of FIG. 2A, the robot 100 can perform only vacuuming operations. In the deployed position of FIG. 2C, the robot 100 can perform vacuuming operations or mopping operations. FIGS. 2D-2E discuss additional components of the robot 100.

Components of the Robot

FIG. 2D illustrates a bottom view of the mobile cleaning robot 100 and FIG. 2E illustrates a top isometric view of the robot 100. FIGS. 2D and 2E are discussed together below. The robot 100 of FIGS. 2D and 2E can be consistent with FIGS. 2A-2C; FIGS. 2D-2E show additional details of the robot 100 For example, FIGS. 2D-2E show that the robot 100 can include a body 102, a bumper 109, an extractor 113 (including rollers 114a and 114b), motors 116a and 116b, drive wheels 118a and 118b, a caster 120, a side brush assembly 122, a vacuum assembly 124, memory 126, sensors 128, and a lid assembly 130. The mopping system 104 can also include a tank 132 and a pump 134.

The cleaning robot 100 can be an autonomous cleaning robot that can autonomously traverse the floor surface 50 (of FIG. 1) while ingesting the debris from different parts of the floor surface 50. As shown in FIG. 2D, the robot 100 can include the body 102 that can be movable across the floor surface 50. The body 102 can include multiple connected structures to which movable or fixed components of the cleaning robot 100 are mounted. The connected structures can include, for example, an outer housing to cover internal components of the cleaning robot 100, a chassis to which the drive wheels 118a and 118b and the cleaning rollers 114a and 114b (of the cleaning assembly 113) are mounted, and the bumper 109 connected to the outer housing. The caster wheel 120 can support the front portion of the body 102 above the floor surface 50, and the drive wheels 118a and 118b can support the middle and rear portions of the body 102 (and can also support a majority of the weight of the robot 100) above the floor surface 50.

As shown in FIG. 2D, the body 102 can include a front portion that can have a substantially semicircular shape and that can be connected to the bumper 109. The body 102 can also include a rear portion that has a substantially semicircular shape. In other examples, the body 102 can have other shapes such as a square front or straight front. The robot 100 can also include a drive system including the actuators (e.g., motors) 116a and 116b. The actuators 116a and 116b can be connected to the body 102 and can be operably connected to the drive wheels 118a and 118b, which can be rotatably mounted to the body 102. The actuators 116a and 116b, when driven, can rotate the drive wheels 118a and 118b to enable the robot 100 to autonomously move across the floor surface 50.

The vacuum assembly 124 can be located at least partially within the body 102 of the robot 100, such as in a rear portion of the body 102, and can be located in other locations in other examples. The vacuum assembly 124 can include a motor to drive an impeller that generates the airflow when rotated. The airflow and the cleaning rollers 114, when rotated, can cooperate to ingest the debris into the robot 100. The cleaning bin 137 (shown in FIG. 2F) can be mounted in the body 102 and can contain the debris ingested by the robot 100. A filter in the body 102 can separate the debris from the airflow before the airflow enters the vacuum assembly 124 and is exhausted out of the body 102. In this regard, the debris can be captured in both the cleaning bin 137 and the filter before the airflow is exhausted from the body 102. In some examples, the vacuum assembly 124 and extractor 113 can be optionally included or can be of a different type. Optionally, the vacuum assembly 124 can be operated during mopping operations, such as those including the mopping system 104. That is, the robot 100 can perform simultaneous vacuuming and mopping missions or operations.

The cleaning rollers 114a and 114b can be operably connected to an actuator 115, e.g., a motor, through a gearbox. The cleaning head 113 and the cleaning rollers 114a and 114b can be positioned forward of the cleaning bin 130. The cleaning rollers 114 can be mounted to an underside of the body 102 so that the cleaning rollers 114a and 114b engage debris on the floor surface 50 during the cleaning operation when the underside of the body 102 faces the floor surface 50.

The controller 111 can be located within the housing 102 and can be a programmable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), or the like. In other examples, the controller 111 can be any computing device, such as a handheld computer, for example, a smart phone, a tablet, a laptop, a desktop computer, or any other computing device including a processor, memory, and communication capabilities. The memory 126 can be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash-memory devices, and other storage devices and media. The memory 126 can be located within the housing 102, can be connected to the controller 111, and can be accessible by the controller 111.

The controller 111 can operate the actuators 116a and 116b to autonomously navigate the robot 100 about the floor surface 50 during a cleaning operation. The actuators 116a and 116b can be operable to drive the robot 100 in a forward drive direction, in a backwards direction, and to turn the robot 100. The controller 111 can operate the vacuum assembly 124 to generate an airflow that flows through an air gap near the cleaning rollers 114, through the body 102, and out of the body 102.

The robot 100 can include a sensor system including one or more sensors. The sensor system, as described herein, can generate one or more signal indicative of a current location of the robot 100, and can generate signals indicative of locations of the robot 100 as the robot 100 travels along the floor surface 50. The sensors 128 (shown in FIG. 2A) can be located along a bottom portion of the housing 102. Each of the sensors 128 can be an optical sensor that can be configured to detect a presence or absence of an object below the optical sensor, such as the floor surface 50. The sensors 128 (optionally cliff sensors) can be connected to the controller 111 and can be used by the controller 111 to navigate the robot 100 within the environment 40. In some examples, the cliff sensors can be used to detect a floor surface type which the controller 111 can use to selectively operate the mopping system 104.

The cleaning pad assembly 108 can be a cleaning pad connected to the bottom portion of the body 102 (or connected to a moving mechanism configured to move the assembly 108 between a stored position and a cleaning position), such as to the cleaning bin 130 in a location to the rear of the extractor 113. The tank 132 can be a water tank configured to store water or fluid, such as cleaning fluid, for delivery to a mopping pad 142. The pump 134 can be connected to the controller 111 and can be in fluid communication with the tank 132. The controller 111 can be configured to operate the pump 134 to deliver fluid to the mopping pad 142 during mopping operations. For example, fluid can be delivered through one or more dispensers 117 to the mopping pad 142. The dispenser(s) 117 can be a valve, opening, or the like and can be configured to deliver fluid to the floor surface 50 of the environment 40 or to the pad 142 directly. In some examples, the pad 142 can be a dry pad such as for dusting or dry debris removal. The pad 142 can also be any cloth, fabric, or the like configured for cleaning (either wet or dry) of a floor surface.

As shown in FIG. 2F, the vacuum assembly 124 can be located at least partially within the body 102 of the robot 100, e.g., in the rear portion 102b of the body 102. The controller 111 can operate the vacuum assembly 124 to generate an airflow that flows through the air gap near the cleaning rollers 114, through the body 102, and out of the body 102. The airflow and the cleaning rollers 114, when rotated, can cooperate to ingest debris 75 into a suction duct 136 of the robot 100. The suction duct 136 can extend down to or near a bottom portion of the body 102 and can be at least partially defined by the cleaning assembly 204.

The suction duct 136 can be connected to the cleaning head 113 or cleaning assembly and can be connected to a cleaning bin 137. The cleaning bin 137 can be mounted in the body 102 and can contain the debris 75 ingested by the robot 100. A filter 145 can be located in the body 102, which can help to separate the debris 75 from the airflow before the airflow 138 enters the vacuum assembly 124 and is exhausted out of the body 102. In this regard, the debris 75 can be captured in both the cleaning bin 137 and the filter before the airflow 138 is exhausted from the body 102. The robot 100 can also include a debris port 135 that can extend at least partially through the body 102 or the cleaning bin 137 and can be operable to remove the debris 75 from the cleaning bin 137, such as via a docking station or evacuation station.

The cleaning rollers 114a and 114b can operably connected to one or more actuators 115, e.g., motors, respectively. The cleaning head 113 and the cleaning rollers 114a and 114b can be positioned forward of the cleaning bin 137. The cleaning rollers 114a and 114b can be mounted to a housing 224 of the cleaning head 113 and mounted, e.g., indirectly or directly, to the body 102 of the robot 100. In particular, the cleaning rollers 114a and 114b can be mounted to an underside of the body 102 so that the cleaning rollers 114a and 114b engage debris 75 on the floor surface 50 during the cleaning operation when the underside faces the floor surface 50.

Operation of the Robot

In operation of some examples, the controller 111 can be used to instruct the robot 100 to perform a mission. In such a case, the controller 111 can operate the motors 116 to drive the drive wheels 118 and propel the robot 100 along the floor surface 50. The robot 100 can be propelled in a forward drive direction or a rearward drive direction. The robot 100 can also be propelled such that the robot 100 turns in place or turns while moving in the forward drive direction or the rearward drive direction. In addition, the controller 111 can operate the motors 115 to cause the rollers 114a and 114b to rotate, can operate the side brush assembly 122, and can operate the motor of the vacuum system 124 to generate airflow. The controller 111 can execute software stored on the memory 126 to cause the robot 100 to perform various navigational and cleaning behaviors by operating the various motors of the robot 100.

The various sensors of the robot 100 can be used to help the robot navigate and clean within the environment 40. For example, the cliff sensors can detect obstacles such as drop-offs and cliffs below portions of the robot 100 where the cliff sensors are disposed. The cliff sensors can transmit signals to the controller 111 so that the controller 111 can redirect the robot 100 based on signals from the sensors.

Proximity sensors can produce a signal based on a presence or the absence of an object in front of the optical sensor. For example, detectable objects include obstacles such as furniture, walls, persons, and other objects in the environment 40 of the robot 100. The proximity sensors can transmit signals to the controller 111 so that the controller 111 can redirect the robot 100 based on signals from the proximity sensors. In some examples, a bump sensor can be used to detect movement of the bumper 109 along a fore-aft axis of the robot 100. A bump sensor 139 can also be used to detect movement of the bumper 109 along one or more sides of the robot 100 and can optionally detect vertical bumper movement. The bump sensors 139 can transmit signals to the controller 111 so that the controller 111 can redirect the robot 100 based on signals from the bump sensors 139.

The robot 100 can also optionally include one or more dirt sensors 144 connected to the body 102 and in communication with the controller 111. The dirt sensors 144 can be a microphone, piezoelectric sensor, optical sensor, or the like located in or near a flow path of debris, such as near an opening of the cleaning rollers 114 or in one or more ducts within the body 102. This can allow the dirt sensor(s) 144 to detect how much dirt is being ingested by the vacuum assembly 124 (e.g., via the extractor 113) at any time during a cleaning mission. Because the robot 100 can be aware of its location, the robot 100 can keep a log or record of which areas or rooms of the map are dirtier or where more dirt is collected.

The image capture device 140 can be configured to generate a signal based on imagery of the environment 40 of the robot 100 as the robot 100 moves about the floor surface 50. The image capture device 140 can transmit such a signal to the controller 111. The controller 111 can use the signal or signals from the image capture device 140 for various tasks, algorithms, or the like, as discussed in further detail below.

In some examples, the obstacle following sensors can detect detectable objects, including obstacles such as furniture, walls, persons, and other objects in the environment of the robot 100. In some implementations, the sensor system can include an obstacle following sensor along the side surface, and the obstacle following sensor can detect the presence or the absence an object adjacent to the side surface. The one or more obstacle following sensors can also serve as obstacle detection sensors, similar to the proximity sensors described herein.

The robot 100 can also include sensors for tracking a distance travelled by the robot 100. For example, the sensor system can include encoders associated with the motors 116 for the drive wheels 118, and the encoders can track a distance that the robot 100 has travelled. In some implementations, the sensor can include an optical sensor facing downward toward a floor surface. The optical sensor can be positioned to direct light through a bottom surface of the robot 100 toward the floor surface 50. The optical sensor can detect reflections of the light and can detect a distance travelled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

The controller 111 can use data collected by the sensors of the sensor system to control navigational behaviors of the robot 100 during the mission. For example, the controller 111 can use the sensor data collected by obstacle detection sensors of the robot 100, (the cliff sensors, the proximity sensors, and the bump sensors) to enable the robot 100 to avoid obstacles within the environment of the robot 100 during the mission.

The sensor data can also be used by the controller 111 for simultaneous localization and mapping (SLAM) techniques in which the controller 111 extracts features of the environment represented by the sensor data and constructs a map of the floor surface 50 of the environment. The sensor data collected by the image capture device 140 can be used for techniques such as vision-based SLAM (VSLAM) in which the controller 111 extracts visual features corresponding to objects in the environment 40 and constructs the map using these visual features. As the controller 111 directs the robot 100 about the floor surface 50 during the mission, the controller 111 can use SLAM techniques to determine a location of the robot 100 within the map by detecting features represented in collected sensor data and comparing the features to previously stored features. The map formed from the sensor data can indicate locations of traversable and nontraversable space within the environment. For example, locations of obstacles can be indicated on the map as nontraversable space, and locations of open floor space can be indicated on the map as traversable space.

The sensor data collected by any of the sensors can be stored in the memory 126. In addition, other data generated for the SLAM techniques, including mapping data forming the map, can be stored in the memory 126. These data produced during the mission can include persistent data that are produced during the mission and that are usable during further missions. In addition to storing the software for causing the robot 100 to perform its behaviors, the memory 126 can store data resulting from processing of the sensor data for access by the controller 111. For example, the map can be a map that is usable and updateable by the controller 111 of the robot 100 from one mission to another mission to navigate the robot 100 about the floor surface 50.

The persistent data, including the persistent map, can help to enable the robot 100 to efficiently clean the floor surface 50. For example, the map can enable the controller 111 to direct the robot 100 toward open floor space and to avoid nontraversable space. In addition, for subsequent missions, the controller 111 can use the map to optimize paths taken during the missions to help plan navigation of the robot 100 through the environment 40.

The controller 111 can also send commands to a motor (internal to the body 102) to drive the arms 106 to move the pad assembly 108 between the stored position (shown in FIGS. 2A and 2D) and the deployed position (shown in FIGS. 2C and 2E). In the deployed position, the pad assembly 108 (the mopping pad 142) can be used to mop a floor surface of any room of the environment 40.

The mopping pad 142 can be a dry pad or a wet pad. Optionally, when the mopping pad 142 is a wet pad, the pump 134 can be operated by the controller 111 to spray or drop fluid (e.g., water or a cleaning solution) onto the floor surface 50 or the mopping pad 142. The wetted mopping pad 142 can then be used by the robot 100 to perform wet mopping operations on the floor surface 50 of the environment 40. As discussed in further detail below, the controller 111 can determine when to dispense fluid and when to move the pad tray 141 and the mopping pad 142 between the stored position and the cleaning position.

Docking Station and Robot Example

FIG. 3 illustrates an isometric view of the mobile cleaning robot 100 and a docking station 300. The docking station 300 can include a cannister 346 and a base 348. The components of the docking station 300 can be rigid or semi-rigid components made of materials such as one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. Materials of some components are discussed in further detail below. Though the docking station 300 (or other docking stations discussed below) are discussed as working with the robot 100, the docking station 300 (or other docking stations discussed below) can work with vacuuming only robots or any mobile cleaning robot that collects debris.

The cannister 346 can include an outer wall 350 and top portion or lid assembly 352 (which can be a debris bin). The base 348 can include a platform 354 including include tracks. The platform 354 can also include a vacuum port 356 configured to interface with the debris port 135. The base 348 can be a ramped member including the platform 354, where the base 348 can be configured to receive the mobile cleaning robot 100 thereon for maintenance, such as charging and emptying debris from the mobile cleaning robot. The docking station 300 can also include a docking opening 358 configured to at least partially receive the mobile cleaning robot 100 therein. For example, the mobile cleaning robot 100 can move into the docking opening 358 by traversing the platform 354, until the vacuum port 356 aligns with the debris port 135 of the robot 100 which can also align charging contacts of the docking station 300 with contacts of the mobile cleaning robot 100, along with other features of the mobile cleaning robot 100 and the docking station 300.

The cannister 346 can be an upper portion of the docking station 300 connected to the base 348 where the cannister 346 can extend upward therefrom, such that the cannister 346 can be located at least partially above the base 348. The outer wall 350 of the cannister 346 can have a shape of a substantially rectangular hollow prism with rounded corners where the outer wall 350 can define a top portion of the cannister 346 that is open.

The cannister 346 can also at least partially support the lid assembly 352 thereon, such as above a receptacle 360. The receptacle 360 can be a container or can, such as a garbage can, garbage bin, rubbish can, rubbish bin, or the like, where the receptacle 360 can be configured to receive, trash, garbage, rubbish, or the like. The receptacle 360 can be optionally separable or user-removable from the outer wall 350. The lid assembly 352 can include a lid 362 that can be configured to move between a closed position (shown in FIG. 3) and an open position where trash or garbage can be user-deposited through the lid assembly 352 into the receptacle 360.

In operation of some examples, when the robot 100 is docked on the base 348 and the vacuum port 356 aligns with the debris port 135, the docking station 300 can be operated to draw debris out of the robot 100 (such as from the cleaning bin 137) and through the docking station 300 and into the receptacle 360 (or into a bag or liner thereof). In this way, the docking station 300 can function as a trash can or rubbish bin as well as a debris evacuation system for the robot 100. Further details of the docking station 300 and other docking stations are discussed below.

Network Examples

FIG. 4 is a diagram showing a communication network 400 that enables networking between the mobile robot 100 and one or more other devices, a docking station 300 (or any of the docking stations discussed herein), a mobile device 404 (including a controller), a cloud computing system 406 (including a controller), or another autonomous robot separate from the mobile robot 100. Using the communication network 400, the robot 100, the mobile device 404, the docking station 300, and the cloud computing system 406 can communicate with one another to transmit and receive data from one another. In some examples, the robot 100, the docking station 300, or both the robot 100 and the docking station 300 can communicate with the mobile device 404 through the cloud computing system 406. Alternatively, or additionally, the robot 100, the docking station 300, or both the robot 100 and the docking station 300 can communicate directly with the mobile device 404. Various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical based, etc.) and network architectures (e.g., wi-fi or mesh networks) can be employed by the communication network 400.

In some examples, the mobile device 404 can be a remote device that can be linked to the cloud computing system 406 and can enable a user to provide inputs. The mobile device 404 can include user input elements such as, for example, one or more of a touchscreen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to inputs provided by the user. The mobile device 404 can also include immersive media (e.g., virtual reality or augmented reality) with which the user can interact to provide input. The mobile device 404, in these examples, can be a virtual reality headset or a head-mounted display.

The user can provide inputs corresponding to commands for the mobile robot 100. In such cases, the mobile device 404 can transmit a signal to the cloud computing system 406 to cause the cloud computing system 406 to transmit a command signal to the mobile robot 100. In some implementations, the mobile device 404 can present augmented reality images. In some implementations, the mobile device 404 can be a smart phone, a laptop computer, a tablet computing device, or other mobile device.

In some examples, the communication network 400 can include additional nodes. For example, nodes of the communication network 400 can include additional robots. Also, nodes of the communication network 400 can include network-connected devices that can generate information about the environment 40. Such a network-connected device can include one or more sensors, such as an acoustic sensor, an image capture system, or other sensor generating signals, to detect characteristics of the environment 40 from which features can be extracted. Network-connected devices can also include home cameras, smart sensors, or the like.

In the communication network 400, the wireless links can utilize various communication schemes, protocols, etc., such as, for example, Bluetooth classes, Wi-Fi, Bluetooth-low-energy, also known as BLE, 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), an infrared channel, satellite band, or the like. In some examples, wireless links can include any cellular network standards used to communicate among mobile devices, including, but not limited to, standards that qualify as 1G, 2G, 3G, 4G, 5G, or the like. The network standards, if utilized, qualify as, for example, one or more generations of mobile telecommunication standards by fulfilling a specification or standards such as the specifications maintained by International Telecommunication Union. For example, the 4G standards can correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards can use various channel access methods, e.g., FDMA, TDMA, CDMA, or SDMA.

Docking Station Examples

FIG. 5A illustrates a schematic view including a representation of the airflow pathway design of a docking station 500A. FIG. 5B illustrates a schematic view including a representation of the airflow pathway design of a docking station 500B. FIG. 5C illustrates a schematic view including a representation of the airflow pathway design of a docking station 500C. FIGS. 5A-5C are discussed together below. The docking stations 500 can be similar to the docking station 300 discussed above, but can include various flow or pressure arrangements.

The docking stations 500 can include multiple similar components. For example, as shown in FIGS. 5A-5C, the docking stations 500 can include a blower 564, which can be a fan connected to a motor, or the like, configured to generate or produce an air stream D (including a change in pressure and airflow path) to carry debris from the robot 100 through the debris duct 568 into a receptacle 560. The blower 564 can be connected to the receptacle 560 via an outlet plenum 566. The docking stations 500 can also include a debris duct 568 connected to the receptacle 560 and connected to a vacuum port, such as the vacuum port 356.

The air stream D generated by the blower 564 can exit the receptacle 560, passing through an inlet filter 574 that can be user-serviceable. The air stream D can travel through an outlet plenum 566 before reaching the blower 564 and ultimately being exhausted to the environment from the blower 564. In some examples, the docking stations 500 can include a secondary filtration element 572 on the output side of the blower that is serviceable by the user.

The docking stations can also include several different components or arrangements of components. For example, the docking station 500A can include or can define a first volume V1, which can be connected to the debris duct 568 and the outlet plenum 566, where the first volume V1 is at least partially defined by the receptacle 560. The docking station 500A can also include or can define a second volume V2 connected to the debris duct and at least partially fluidically separated or physically separated from the first volume V1. The second volume V2 can be at least partially defined by the cannister 346. In this way, the first volume V1 and the second volume V2 can be physically isolated or separated, but can be exposed to common or similar pressures by both being fluidically connected to the blower 564 via the outlet plenum 566. This can allow a trash bag or liner located within the second volume V2 to behave properly when debris is deposited into the bag and receptacle 560. For example, the second volume V2 can connect to the outlet plenum 566 by a stabilization tube or duct 345. Optionally, the first volume V1 and the second volume V2 can be connected by an alternative stabilization tube 345a on an inlet side of the volumes.

The docking station 500B can be arranged slightly differently. The first volume V1 can be connected to the outlet plenum 566 and the debris duct 568, where the first volume V1 can be at least partially defined by the receptacle 560. The second volume V2 can be at least partially fluidically connected to the first volume V1, where the second volume can be least partially defined by the cannister 546. That is, the cannister 546 and the second volume V2 can connect to the outlet plenum 566 and the blower 564 via the receptacle 560 and the first volume V1.

The docking station 500C can be arranged slightly differently. The first volume V1 can be connected to the debris duct 568 and the outlet plenum 566, where the first volume V1 can be at least partially defined by a lid assembly 552. That is, the receptacle 560 and the second volume V2 can connect to the outlet plenum 566 and the blower 564 via the lid assembly 552 and the first volume V1. However, the docking station 500 can also include a door 570 between the first volume V1 and the second volume V2 where the door 570 separates the volumes V1 and V2 when closed and connects the volumes when open. In this way, the blower 564 can be operated to draw the air stream through the first volume V1 and deposit debris into the first volume V1 and lid assembly 552 only when the door 570 is closed. When the lid assembly 552 becomes full or it is otherwise desired to deposit debris from the lid assembly 552 into the receptacle 560, the door 570 can be operated to release the debris into the receptacle 560. In such an example, the blower 564 can be disabled during emptying of debris from the lid assembly 552 into the receptacle 560. Examples of each type of docking station 500 is discussed in further detail below.

FIG. 6A illustrates an isometric view of the docking station 300. FIG. 6B illustrates an isometric view of the docking station 300. FIGS. 6A and 6B are discussed together below. The docking station 300 can be consistent with FIG. 3 discussed above and the docking station 300 can also be arranged, schematically, similarly to the docking station 500A. FIGS. 6A-6B (and other figures below) discuss the docking station 300 in further detail. Any of the docking stations discussed above or below can be modified to include the features of the docking station 300.

FIGS. 6A and 6B show that the docking station 300 can include a debris duct 368 that can be connected to the vacuum port 356. The debris duct 368 can be connected to the lid assembly 352, such as at an inlet of the lid assembly 352. The docking station 300 can also include a discharge duct 366 (which can optionally be part of the debris duct 368). The discharge duct 366 can be connected to the lid assembly 352, such as at an outlet of the lid assembly 352. The lid assembly 352 can be a user-separable assembly from the rest of the docking station 300 such as for maintenance of the docking station 300 (e.g., removal of a garbage bag or liner, or for cleaning filters).

The discharge duct 366 can also connect to a blower 364. The blower 364 can be a motorized fan (e.g., axial or centrifugal) configured to generate an air stream, such as the air stream. The blower 364 can be connected to a discharge filter 372, which can be located at a discharge of the cannister 346. The blower 364 can be connected to the cannister 346 or the base 348.

The docking station 300 can also include an inlet filter 374. The inlet filter 374 can be connected to the lid assembly 352 and can be connected to the discharge duct 366 and can be located at an inlet of the discharge duct 366. The inlet filter 374 can filter at least a portion of the air stream as it exits the lid assembly 352, helping to limit debris from entering the discharge duct 366. Similarly, the discharge filter 372 can filter the air stream as it exits the discharge filter 372, which can help limit discharge of debris into an environment and can help mitigate smell of the debris or other rubbish or trash from being emitted into the environment.

In operation, the blower 364 can be operated to produce the air stream that travels from the mobile cleaning robot 100, through the vacuum port 356, through the debris duct 368, through the lid assembly 352, through the inlet filter 374, through the discharge duct 366, through the discharge filter 372, and out of the cannister 346. Debris can be transported from the robot 100 to the debris bin via the air stream D. A reduction in air velocity of the air stream A can occur when debris exits a small cross section of the debris duct 368 and enters a relatively large volume of the lid assembly 352. This can cause relatively heavy solids to fall out of the air stream D. Light debris and particles trapped in the airstream (e.g., dust or small paper pieces) can be removed from the air stream D as it passes through the filter 374. The function of this filter is to remove any debris that could cause damage or premature end of life to the blower 364. The secondary exhaust filter 372 can help to remove any remaining particulate to help reduce expelling such matter to the environment.

FIGS. 6A and 6B also show that the lid assembly 352 can include the lid 362, which can at least partially cover an opening 376 in the lid assembly 352. The lid 362 can be movable between the open position of FIG. 6A and the closed position of FIG. 6B. The lid 362 can be sealed against the lid assembly 352 when the lid 362 is in the closed position. The lid 362 can be user-movable (e.g., by hand or by foot pedal) or can be movable by one or more actuators 378, which can be connected to the lid assembly 352 and can be connected to the lid 362 or engageable therewith. The one or more actuators 378 can be connected to a controller 380, which can be a programmable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), or the like.

The docking station 300 can also include a sensor 382 connected to the lid assembly 352. The sensor 382 can be a motion sensor, light sensor, or the like configured to generate a signal based on a change in the environment, such as motion near the lid 362 (e.g., a hand wave). The controller 380 can be configured to operate the one or more actuators 378 to move the lid 362 between the open position and the closed position based on the sensor signal. Optionally, the controller 380 can be connected to the blower 364 and can be configured to operate the blower 364, such as based on one or more signals from the robot 100 or the docking station 300. Optionally, the controller 380 can be omitted and the components of the docking station 300 can be in communication with the controller 111 or the mobile device 404, which can control the components of the docking station 300, e.g., the one or more actuators 378 or the blower 364.

FIGS. 6A-6B also show that the docking station 300 can include a deflector 384 that can be connected to the lid 362. The deflector 384 can also be a separate piece or component connected to the lid assembly 352. The deflector 384 can be movable with the lid 362 and can be configured to interact with at least a portion of the air stream to direct debris toward the receptacle when the lid 362 is in the closed position. As shown in FIG. 6B, a discharge of the debris duct 368 can be located near the deflector 384 such as to direct the air stream toward the deflector 384 to help direct debris from the stream into the receptacle 360.

FIG. 6C illustrates a cross-sectional isometric view of the docking station 300. The docking station 300 of FIG. 6C can be consistent with the docking station 300 discussed above; FIG. 6C shows additional details of the docking station 300. For example, FIG. 6C shows that the docking station 300 can define a first volume V1 fluidically connected to the debris duct 368, where the first volume V1 is at least partially defined by the receptacle 360. FIG. 6C also shows that the docking station 300 can define a second volume V2 that can be fluidically connected to the debris duct 368 such as through a port 385 that can be connected to the discharge duct 366. The second volume V2 can be at least partially separated from the first volume V1 and the second volume V2 can be at least partially defined by the cannister 346 (e.g., the outer wall 350).

FIG. 6C also shows that the receptacle 360 can include a lip or ledge 386, which can be engageable with a support 388. The support 388 can be connected to the outer wall 350, such that the support 388 can extend radially inward (or laterally inward) from the outer wall 350. The support 388 can be configured to engage the ledge 386 to support the receptacle 360 within the cannister 346.

FIG. 6D illustrates an isometric view of a portion of the docking station 300. The docking station 300 of FIG. 6D can be consistent with the docking station 300 discussed above; FIG. 6D shows additional details of the docking station 300. For example, FIG. 6D shows more clearly that the port 385 can connect to the discharge duct 366. In this way, the second volume V2 can be fluidically connected to the discharge duct 366 such as to equalize pressure between the first volume V1 and the second volume V2.

FIG. 6D also shows that the receptacle 360 can define one or more bores or holes 390 that can extend through the receptacle. The holes 390 can fluidically connect an inside of the receptacle 360 to the volume V2, which can help to equalize a pressure on both sides of a liner within the receptacle 360, helping to ensure a liner within the receptacle 360 doesn't inflate or move and helping to make sure the liner can be easily removed following debris evacuation operation(s). Though two of the holes 390 are shown, the receptacle 360 can include any number of holes or can include one or more arrays of holes.

FIG. 7A illustrates an isometric view of a docking station 700. FIG. 7B illustrates an isometric view of the docking station 700. FIGS. 7A and 7B are discussed together below. FIG. 7B shows the docking station 700 with a lid removed. The docking station 700 can be arranged, schematically, similarly to the docking station 500B. Any of the docking stations discussed above or below can be modified to include the features of the docking station 700.

FIGS. 7A and 7B show that the docking station 700 can include a cannister 746 including an outer wall 750. The docking station 700 can also include a base 748, including a platform 754. The docking station 700 can also include a debris port 756 connected to the platform 754 and configured to interface with a vacuum port of a mobile cleaning robot. The docking station 700 can also include a receptacle 760 that can be located at least partially within the cannister 746.

The docking station 700 can also include a top portion or lid assembly 752, which can be connected to an upper portion of the cannister 746, such as to the outer wall 750, where the lid assembly 752 can be movable to provide user access to internal components. The lid assembly 752 can optionally be user-removable. FIG. 7A also shows that the docking station 700 can include a lid 762, which can be connected to the lid assembly 752 and can be movable between an open position to expose the receptacle 760 to the environment and between a closed position, shown in FIG. 7A.

FIGS. 7A and 7B also show that the docking station 700 can include a debris duct 768, which can connect to the debris port 756 and can be configured to discharge an air stream into the receptacle 760. FIG. 7B also shows that the outer wall 750 can include a support 788 configured to engage at least a portion of a ledge 786 of the receptacle 760 such as to at least partially support the receptacle 760 within the cannister 746. The support 788 can define one or more ports 792a-792n extending through the support 788. The ports 792 can be located around a periphery of the support 788 and the ledge 786. The ports 792 can be configured to receive at least a portion of the air stream therethrough and can fluidically connect a first volume V1 to a second volume V2, where the first volume V1 can be at least partially defined by the receptacle 760 and the second volume V2 can be at least partially defined by the cannister 746.

FIG. 7A also shows that the docking station 700 can include a discharge duct 766 connected to a discharge filter 772. The discharge duct 766 and the discharge filter 772 can be configured to receive at least a portion of the air stream therethrough before the air stream is discharged from the cannister 746. In such a configuration, the discharge filter 772 can be configured to filter the air stream as it exits the discharge filter 772, which can help limit discharge of debris into an environment and can help mitigate odor of the debris or other rubbish or trash from being emitted into the environment.

FIG. 7C illustrates an isometric view of a portion of the docking station 700. FIG. 7D illustrates an isometric view of a portion of the docking station 700. FIGS. 7C and 7D are discussed together below. The docking station 700 of FIGS. 7C and 7D can be consistent with the docking station 700 of FIGS. 7A and B discussed above. FIGS. 7C and 7D discuss additional details of the docking station 700. For example, FIG. 7C shows that when the lid is open, an opening 776 can be open to expose the receptacle 760 to the environment, such that trash or rubbish can be user-deposited into the receptacle 760.

FIGS. 7C and 7D also show that the debris duct 768 can include a fixed portion 794 and a movable portion 796. The fixed portion 794 can be connected to the cannister and the movable portion 796 can be connected to an underside of the lid 762. The movable portion 796 can be movable with the lid 762 between the open position and the closed position. When the lid is in the closed position, the movable portion 796 can form a seal with the fixed portion 794 such that the air stream travels from the fixed portion 794 and through the movable portion 796 discharging down toward the receptacle 760. Optionally, the seal can be formed between the fixed portion 794 and the movable portion 796 by a gasket or by a tapered interface or by a portion of the fixed portion 794 inserting into the movable portion 796 (or a portion of the movable portion 796 inserting into the fixed portion 794).

FIG. 7E illustrates an isometric view of a portion of the docking station 700. FIG. 7F illustrates an isometric view of a portion of the docking station 700. The docking station 700 of FIGS. 7E and 7F can be consistent with the docking station 700 of FIGS. 7A-7D. FIGS. 7E and 7F discuss additional details of the docking station 700. For example, FIGS. 7E and 7F show a blower 764 connected to the discharge duct 766. The blower can be operable to generate the air stream to flow through the debris duct 768 and into the receptacle 760 where debris is deposited and where the air stream can continue to the discharge duct 766.

FIGS. 7E and 7F also show a discharge grate 798 that can be located upstream of an inlet filter 774 and can be configured to receive at least a portion of the air stream therethrough. The inlet filter 774 can be configured to filter at least a portion of the air stream before it enters the blower 764. FIG. 7F also shows that the base 748 can include discharge ports 799a-799n. The discharge ports 799 can be configured to receive at least a portion of the air stream therethrough, such as from the ports 792, to allow the air to flow through the discharge grate 798 and the inlet filter 774 and to the blower 764 before being discharged through the opening 776 and the discharge filter 772 to the environment. Optionally, the discharge ports 799 can deliver the air stream between the discharge grate 798 and the inlet filter 774, as shown in FIG. 7G.

FIG. 7G illustrates a cross-sectional side view of a portion of the docking station 700. The docking station 700 of FIG. 7G can be consistent with the docking station 700 of FIGS. 7A-7F. FIG. 7G shows additional details of the docking station 700. For example, FIG. 7G shows how the discharge ports 799 can deliver the air stream between the discharge grate 798 and the inlet filter 774 such as when air the air stream enters a third volume V3, which can be a third volume at least partially defined by the outer wall 750 and by the receptacle 760 or another wall of the docking station 700. FIG. 7G also shows that the first volume V1 and the second volume V2 can be at least partially fluidically connected.

In operation of some examples, the air stream can enter the debris port 756 and can flow through the debris duct 768 before being discharged by the movable portion 796 within the outer wall 750 of the cannister 746. The air stream can be discharged downward from the movable portion 796, such as to deposit debris from the robot 100 into the receptacle 760. The air stream can continue through the ports 792 of the support 788 and can enter the second volume V2, which can be outside of the receptacle 760 and within the outer wall 750. The air stream can pass through the discharge grate 798 or the discharge ports 799 and can continue through the inlet filter 774 to the blower 764 before being discharged from the outer wall 750.

FIG. 8A illustrates an isometric view of a docking station 800. FIG. 8B illustrates an isometric view of the docking station 800. FIGS. 8A and 8B are discussed together below. The docking station 800 can be arranged, schematically, similarly to the docking station 500C. FIGS. 8A-8B (and other figures below) discuss the docking station 800 in further detail. Any of the docking stations discussed above or below can be modified to include the features of the docking station 800.

FIGS. 8A and 8B show that the docking station 800 can include a cannister 846 including an outer wall 850. The docking station 800 can also include a base 848, including a platform 854. The cannister 846 can be connected to the base 848 similar to the docking stations discussed above. The docking station 800 can also include a debris port 856 connected to the platform 854 and configured to interface with a vacuum port of a mobile cleaning robot. The docking station 800 can also include a receptacle 860 that can be located at least partially within the cannister 846.

The docking station 800 can also include a top portion or lid assembly 852, which can be hingably connected to an upper portion of the cannister 846, such as to the outer wall 850, where the lid assembly 852 can be optionally user-removable. FIGS. 8A-8B also show that the docking station 800 can include a lid 862 which can be or can be part of the lid assembly 852. The lid 862 can be movable between an open position to expose the receptacle 860 to the environment and between a closed position, shown in FIGS. 8A-8B.

FIGS. 8A and 8B also shows that the docking station 800 can include a debris duct 868 connected to a debris port 856 at the platform 854. The debris duct 868 can extend through the base 848 and the cannister 846 and can enter the lid assembly 852. The docking station 800 can also include a discharge duct 866 that can connect to the lid assembly 852 and can connect to a blower 864, which can be a fan (e.g., centrifugal or axial or the like) configured to generate an air stream. The blower 864 can be configured to motivate an air stream to move debris from the robot 100 through the debris port, and into the debris duct 868. The lid assembly 852 can separate debris form the air stream using filtration, inertia separation, or the like, such as to extract debris from the air stream. This air stream can then exit the lid assembly 852 and travel down the discharge duct 866 to the blower 864 before exiting the docking station 800.

FIG. 8C illustrates an isometric view of a portion of the docking station 800. FIG. 8D illustrates an isometric view of a portion of the docking station 800. FIGS. 8C and 8D are discussed together below. The docking station 800 of FIGS. 8C and 8D can be consistent with the docking station 800 of FIGS. 8A and 8B. FIGS. 8C and 8D discuss additional details of the docking station 800.

For example, FIG. 8C shows that the debris duct 868 can include a discharge portion 802, which can be a discharge of the debris duct 868. The discharge portion 802 can be configured to interface with the bore 804 of the lid assembly 852 to form a seal therebetween when the lid 862 is in the closed position, such as by insertion of the discharge portion 802 into the bore 804. The discharge portion 802 can be separated from the lid 862 when the lid 862 is in the open position, as shown in FIG. 8A. The seal formed between the discharge portion 802 and the bore 804 when the lid 862 is in the closed position can be via a gasket, radial seal, a face seal, insertable geometry from one to the other, or some other method for sealing.

Similarly, the discharge duct 866 can include an inlet portion 806 located at an inlet of the discharge duct 866. The discharge duct 866 can be insertable into an opening 808 of the lid 862 when the lid 862 is moved to a closed position and can be separated from the lid 862 when the lid 862 is in the open position, as shown in FIG. 8A. Optionally, the opening 808 can be covered by one or more screens, pre-filters, or the like, to help limit debris from moving into the opening 808. The inlet portion 806 and the opening 808 can form a seal therebetween when the lid 862 is in the closed position, such as via a gasket, radial seal, a face seal or via insertion of the inlet portion 806 into the opening 808. The docking station 800 can also include an inlet filter 874 that can be located at least partially within the discharge duct 866 and can be configured to receive at least a portion of the air stream therethrough. The inlet filter 874 can be configured to filter at least a portion of the air stream before it enters the blower 864.

FIGS. 8C and 8D also show that the lid 862 can include a body 810 and a door 812 (similar to the door 570), where the door 812 can be hingably connected to the body 810, such as via a single hinge, multiple hinges, one or more sliding features, or other mechanism to enable relative movement of the door 812 with respect to the body 810 The door 812 can be movable with respect to the body 810 between a closed position (shown in FIG. 8C) where the lid assembly 852 can retain debris therein, and an open position (shown in FIG. 8D) where the body 810 can release debris from the lid assembly 852 into the receptacle 860. The door 812 can be releasably securable to the body 810, such as via a manual actuator or an actuator operated by a controller.

In operation of some examples, the blower 864 can be operated to produce an air stream to pull debris from a mobile cleaning robot (such as the robot 100). The air stream can travel through the debris duct 868 and out of the discharge portion 802 and into the bore 804 for collection of debris within the lid assembly 852. The air stream can exit the lid assembly 852 through the opening 808 and can enter the inlet portion 806, passing through the inlet filter 874. Features within lid assembly 852 can operate to separate the debris from the air stream, such as an air permeable bag to trap debris inside, a traditional filtration system with one or more filter elements, an inertia separating design such as centrifugal debris separation, or the like. Inclusion of one or more of these systems within the lid assembly 852 can help to ensure that the debris is sufficiently removed from the airstream prior to reaching the blower 864. Further, when using a bag, the lid assembly 852 can include one or more features within the body 810 to interface to a port of the bag, as well as to help retain the bag within the lid assembly 852. When using filters, the lid assembly 852 can include one or more features to insert or deposit debris into the lid assembly 852 as far from the opening 808 as possible. The lid assembly 852 can also include one or more features internal to the body 810 to help manage air flow through the lid assembly 852. When using inertia separation, the lid assembly 852 can include one or more features included within the body 810 to create the needed airflow to produce a separation of debris from the airstream within the body 810.

The air stream can then flow through the blower 864 and can exit the cannister 846. Debris can collect within a first volume V1, defined at least in part by the lid assembly 852, during this process. When the blower 864 is turned off, the door 812 can be operated to release the debris from the lid assembly 852 into the second volume V2, defined at least in part by the receptacle 860. In this way, the second volume V2 can be fluidically isolated or separated from the first volume V1 when the door 812 is closed for collection of debris in the first volume V1, and the second volume V2 can be exposed to (or connected to) the first volume V1 when the door is open to allow for disposal of debris from the first volume V1 into the second volume V2.

Optionally, the lid assembly 852 can include an actuator in communication with a controller (e.g., the controller 111 or the controller 380) and the controller can operate the actuator to open or close the door 812, such as to release debris into the receptacle 860. The controller can operate the actuator to open the door 812 to release debris each time the blower 864 is operated to deposit debris into the lid assembly 852 or the controller can operate the actuator to open the door 812 to release debris at intervals or in batches. For example, the door 812 can be opened every two or three evacuations using the blower 864. Or, the door 812 can be opened based on an estimated amount of debris in the lid assembly 852. For example, the docking station 800 can include one or more pressure sensors and the door 812 can be operated to open to allow the lid assembly 852 to be emptied based on the controller detecting a change in pressure (e.g., upstream of the blower 864) and can determine that the lid assembly 852 is full, and the controller can open the door 812 when the controller determines that the lid assembly 852 is full.

In an example where a bag is used within the lid assembly 852, the lid assembly 852 can be lifted and the door 812 can be manually opened to remove an air permeable debris collection bag from the lid assembly 852. Optionally, the door 812 can be actuated with a device automatically for removal or replacement of the bag.

FIG. 8E illustrates an isometric view of a portion of the docking station 800. The docking station 800 of FIG. 8E can be consistent with the docking station 800 of FIGS. 8A-8D. FIG. 8E shows the lid 862 with the door removed to expose the first volume V1. In this view, the opening 808 is shown, which can receive the inlet portion 806 or can interface with the inlet portion 806 or the inlet filter 874 such as to form a seal between the lid 862 and the inlet portion 806.

FIG. 8E also shows a debris exit pipe 814 connected to the bore 804. The debris exit pipe 814 can be secured to the bore 804 or the bore 804 can be a part of the debris exit pipe 814 such that the discharge portion 802 can be insertable into the debris exit pipe 814 or the debris exit pipe 814 can be insertable into the discharge portion 802. Alternatively, the debris exit pipe 814 and the discharge portion 802 can mate via a gasket to form a seal therebetween. FIG. 8E also shows that the debris exit pipe 814 can include one or more elbows or bends to orient a discharge of the debris exit pipe 814 into the lid 862 away from the opening 808, to help limit the air stream from short-cycling through the lid 862.

FIG. 8F illustrates an isometric view of a portion of the docking station 800. FIG. 8G illustrates an isometric view of a portion of the docking station. The docking station 800 can be similar to the docking station 800 discussed above, except that the docking station 800 can include a top portion 852a that includes two doors. Any of the docking stations discussed above or below can be modified to include the features of the top portion 852a.

The top portion 852a can be similarly configured to the lid assembly 852, but can include doors 812a and 812b, which can each be pivotably connected (or hingably connected) to the body 810 of the lid assembly 852 (or the lid 862). The doors 812a and 812b can be movable between a closed position (shown in FIG. 8F) and an open position (shown in FIG. 8G). The lid assembly 852 can include a gasket or seal between the doors 812a and 812b to form a seal between the doors 812a and 812b. The doors 812a and 812b can also form a seal with the body 810. Optionally, the doors 812a and 812b can overlap to form a seal. By using two doors, a distance the doors 812a and 812b extend into the receptacle 860 can be reduced.

FIG. 9 illustrates an isometric view of a portion of a docking station 900. The docking station 900 can be similar to the docking stations discussed above; the docking station 900 can include a top portion or lid assembly 952 including translating doors. Any of the docking stations discussed above or below can be modified to include the features of the docking station 900.

The lid assembly 952 can be or can include a lid 962 that can be pivotably connected to a cannister (e.g., the cannister 846) such as to provide access to a receptacle (e.g., the receptacle 860). The lid 962 can include a body 910 and doors 912a and 912b connected thereto. The doors 912a and 912b can be configured to move between a closed position (shown in FIG. 9) to seal a volume of the lid assembly 952 and between an open position allowing debris to be released from the lid assembly 952 into the receptacle. The lid assembly 952 can also include an actuator 916 that can be user-operable to move the doors 912a and 912b between the open position and the closed position. The actuator 916 can be configured to move one of the doors 912a and 912b or both of the doors 912a and 912b to release debris from the lid assembly 952 into the receptacle. Optionally, the lid 962 can include fewer doors or more doors, such as 1, 3, 4, 5, or the like. Use of translating doors can limit extension of the doors toward the receptacle. Optionally, the actuator 916 can be biased to return to the doors 912a and 912b to the closed position upon release of the actuator 916.

FIG. 10 illustrates an isometric view of a docking station 1000. The docking station 1000 can be similar to the docking stations discussed above; the docking station 1000 can include a top portion or lid assembly 1052 including a rotating door or barrel valve. Any of the docking stations discussed above or below can be modified to include the features of the docking station 1000.

More specifically, the lid assembly 1052 can be connected to a cannister 1046, such as to an outer wall 1050 thereof. The cannister 1046 can support a receptacle 1060 therein configured to receive debris, garbage, rubbish, or the like. The lid assembly 1052 can include a body 1010 and a dispenser assembly 1018 connected to the body 1010. The dispenser assembly 1018 can include a housing 1020 and a rotating door 1022. The dispenser assembly 1018 can also include an actuator 1024 connected to the rotating door 1022 and configured to rotate the rotating door 1022 with respect to the housing 1020 and the body 1010. The actuator 1024 can be a manual (user-operated) actuator or can be in communication with a controller (e.g., the controller 380).

In operation, the air stream can be generated to flow through the dispenser assembly 1018, such as via a blower or fan (e.g., the blower 864). The dispenser assembly 1018 can collect debris from the air stream as the air stream passes through the dispenser assembly 1018. When desired, the user (or the controller) can operate the actuator 1024 to rotate the rotating door 1022 within the dispenser assembly 1018 to release debris into the receptacle 1060. By including the rotating door 1022, the 1000 can avoid or limit extension of any components into the receptacle 1060 during depositing of debris into the receptacle 1060, helping to limit interaction between the rotating door 1022 and debris, garbage, or trash within the receptacle 1060.

FIG. 11 illustrates an isometric view of a docking station 1100. The docking station 1100 can be similar to the docking stations discussed above; the docking station 1100 can include components for pad washing. Any of the docking stations discussed above or below can be modified to include the features of the docking station 1100.

The docking station 1100 can include abase 1148 connected to a cannister 1146, where the cannister can include an outer wall 1150 configured to support a receptacle 1160 at least partially therein. The docking station 1100 can also include a lid assembly 1152, which can be or can include a lid movable between an open position and a closed position for access to the receptacle 1160, such as to deposit trash or garbage therein. The docking station 1100 can also include an evacuation system to deposit debris from a mobile cleaning robot into the receptacle 1160, as discussed above.

Further, the docking station 1100 can include various components to support pad washing such as an agitator 1126 configured to engage and scrub a cleaning pad (e.g., the mopping pad 142). The docking station 1100 can also include an actuator 1128 that can be in communication with a controller and operable to move (e.g., rotate) the agitator 1126. The 1100 can also include a clean water tank 1130 and a dirty water tank 1132, where the clean water tank can deliver fluid for pad cleaning or to fill a tank of the robot 100, and where the dirty water tank 1132 can receive dirty water from the agitator 1126 or a reservoir of the docking station 1100.

The docking station 1100 can also include a user interface 1161 that can be connected to an external portion of the cannister 1146 or the lid assembly 1152 (or another part of the docking station 1100). The user interface 1161 can be any display or input device. For example, the user interface 1161 can be a touch screen display. In another example, user interface 1161 can include lights, buttons, or switches. The user interface 1161 can be configured to display information (such as via a display screen or lights), such as information received from a controller (e.g., the controller 380). The user interface 1161 can be configured to receive input from a user (such as via a display screen or buttons) and the user interface 1161 can transmit received input to a controller. The user interface 1161 can be operated by the user to perform various functions of the docking station 1100, such as evacuation of the robot, opening of a lid 1162 (or upper portion), dumping of debris from the lid assembly 1152 into the receptacle 1160, washing of a pad, or the like.

FIG. 12 illustrates an isometric view of a docking station 1200. The docking station 1200 can be similar to the docking station 800 discussed above such that like numerals can represent like components. The docking station 1200 can include a sweep port configured to receive debris from a floor. Any of the docking stations discussed above or below can include the features of the docking station 1200.

More specifically, the docking station 1200 can include a sweep port 1234 that can extend at least partially through a base 1248 or a cannister 1246 of the docking station 1200. The sweep port 1234 can be connected to a sweep duct 1236 that can connect to a debris duct 1268. The docking station 1200 can also include a valve 1238 that can be movable to direct at least a portion of the air stream through the sweep port 1234 or a debris port 1256, as discussed with respect to FIGS. 13A and 13B. The docking station 1200 can also include an actuator 1240 that can be operable to move the valve 1238 or operate a blower 1264 to generate the air stream. Optionally, the actuator 1240 can be a button and the valve 1238 and the blower 1264 can be connected to a controller, such that the controller can receive a signal from the button to operate the valve 1238 and the blower 1264.

FIG. 13A illustrates a schematic view of the valve 1238 of the docking station 1200. FIG. 13B illustrates a schematic view of the valve 1238 of the docking station 1200. FIGS. 13A and 13B are discussed together below. FIGS. 13A and 13B show that the valve 1238 can be connected to the debris port 1256, the sweep duct 1236, and the debris duct 1268. As shown in FIG. 13A, the valve can be operated to block flow through the debris port 1256, allowing the air stream (D) to flow from the sweep duct 1236 and into the debris duct 1268. As shown in FIG. 13B, the valve can be operated to block flow through the sweep duct 1236, allowing the air stream (D) to flow from the debris port 1256 and into the debris duct 1268.

In this way, the docking station 1200 can be used to evacuate debris from a mobile cleaning robot into a receptacle 1260 and the docking station 1200 can be used to evacuate debris from a floor of the environment into the receptacle 1260, allowing the docking station 1200 to be used to perform several cleaning functions.

System Example

FIG. 14 illustrates a block diagram of an example machine 1400 upon which any one or more of the techniques (e.g., methodologies) discussed herein may perform. Examples, as described herein, may include, or may operate by, logic or a number of components, or mechanisms in the machine 1400. Circuitry (e.g., processing circuitry) is a collection of circuits implemented in tangible entities of the machine 1400 that include hardware (e.g., simple circuits, gates, logic, etc.). Circuitry membership may be flexible over time. Circuitries include members that may, alone or in combination, perform specified operations when operating. In an example, hardware of the circuitry can be immutably designed to carry out a specific operation (e.g., hardwired). In an example, the hardware of the circuitry can include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.) including a machine-readable medium physically modified (e.g., magnetically, electrically, moveable placement of invariant massed particles, etc.) to encode instructions of the specific operation. In connecting the physical components, the underlying electrical properties of a hardware constituent are changed, for example, from an insulator to a conductor or vice versa. The instructions enable embedded hardware (e.g., the execution units or a loading mechanism) to create members of the circuitry in hardware via the variable connections to carry out portions of the specific operation when in operation. Accordingly, in an example, the machine-readable medium elements are part of the circuitry or are communicatively coupled to the other components of the circuitry when the device is operating. In an example, any of the physical components can be used in more than one member of more than one circuitry. For example, under operation, execution units can be used in a first circuit of a first circuitry at one point in time and reused by a second circuit in the first circuitry, or by a third circuit in a second circuitry at a different time. Additional examples of these components with respect to the machine 1400 follow.

In alternative embodiments, the machine 1400 can operate as a standalone device or can be connected (e.g., networked) to other machines. In a networked deployment, the machine 1400 can operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example, the machine 1400 can act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment. The machine 1400 can be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a mobile telephone, a web appliance, a network router, switch or bridge, or any machine capable of executing instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations.

The machine (e.g., computer system) 1400 can include a hardware processor 1402 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), a main memory 1404, a static memory (e.g., memory or storage for firmware, microcode, a basic-input-output (BIOS), unified extensible firmware interface (UEFI), etc.) 1406, and mass storage 1408 (e.g., hard drive, tape drive, flash storage, or other block devices) some or all of which can communicate with each other via an interlink (e.g., bus) 1430. The machine 1400 can further include a display unit 1410, an alphanumeric input device 1412 (e.g., a keyboard), and a user interface (UI) navigation device 1414 (e.g., a mouse). In an example, the display unit 1410, input device 1412 and UI navigation device 1414 can be a touch screen display. The machine 1400 can additionally include a storage device (e.g., drive unit) 1408, a signal generation device 1418 (e.g., a speaker), a network interface device 1420, and one or more sensors 1416, such as a global positioning system (GPS) sensor, compass, accelerometer, or other sensor. The machine 1400 can include an output controller 1428, such as a serial (e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.).

Registers of the processor 1402, the main memory 1404, the static memory 1406, or the mass storage 1408 can be, or can include, a machine readable medium 1422 on which is stored one or more sets of data structures or instructions 1424 (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein. The instructions 1424 can also reside, completely or at least partially, within any of registers of the processor 1402, the main memory 1404, the static memory 1406, or the mass storage 1408 during execution thereof by the machine 1400. In an example, one or any combination of the hardware processor 1402, the main memory 1404, the static memory 1406, or the mass storage 1408 can constitute the machine-readable media 1422. While the machine readable medium 1422 is illustrated as a single medium, the term “machine readable medium” can include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) configured to store the one or more instructions 1424.

The term “machine readable medium” can include any medium that is capable of storing, encoding, or carrying instructions for execution by the machine 1400 and that cause the machine 1400 to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding or carrying data structures used by or associated with such instructions. Non-limiting machine-readable medium examples can include solid-state memories, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon-based signals, sound signals, etc.). In an example, a non-transitory machine-readable medium comprises a machine-readable medium with a plurality of particles having invariant (e.g., rest) mass, and thus are compositions of matter. Accordingly, non-transitory machine-readable media are machine readable media that do not include transitory propagating signals. Specific examples of non-transitory machine-readable media can include: non-volatile memory, such as semiconductor memory devices (e.g., Electrically Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM)) and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

The instructions 1424 can be further transmitted or received over a communications network 1426 using a transmission medium via the network interface device XYError! Reference source not found.Z20 utilizing any one of a number of transfer protocols (e.g., frame relay, internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), hypertext transfer protocol (HTTP), etc.). Example communication networks can include a local area network (LAN), a wide area network (WAN), a packet data network (e.g., the Internet), mobile telephone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, and wireless data networks (e.g., Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards known as Wi-Fi®, IEEE 802.16 family of standards known as WiMax®), IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, among others. In an example, the network interface device 1420 can include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect to the communications network 1426. In an example, the network interface device 1420 can include a plurality of antennas to wirelessly communicate using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or multiple-input single-output (MISO) techniques. The term “transmission medium” shall be taken to include any intangible medium that is capable of storing, encoding or carrying instructions for execution by the machine 1400, and includes digital or analog communications signals or other intangible medium to facilitate communication of such software. A transmission medium is a machine-readable medium.

NOTES AND EXAMPLES

The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others.

Example 1 is a docking station for a mobile cleaning robot, the docking station comprising: a base configured to receive at least a portion of the mobile cleaning robot thereon, the base including a debris port; and a cannister connected to the base and located at least partially above the base, the cannister comprising: a debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot; a lid assembly connected to the debris duct and configured to receive at least a portion of the air stream from the mobile cleaning robot; and a receptacle connected to the lid assembly, the receptacle configured to receive at least a portion of debris from the air stream or the lid assembly.

In Example 2, the subject matter of Example 1 optionally includes a debris blower connected to the cannister or the base, the debris blower operable to produce the air stream that travels from the mobile cleaning robot, through the debris port and the debris duct, through the lid assembly, and out of the cannister.

In Example 3, the subject matter of Example 2 optionally includes a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough, and a filter connected to the discharge duct and configured to receive at least a portion of the air stream at least partially therethrough.

In Example 4, the subject matter of any one or more of Examples 1-3 optionally include pad washing system comprising an agitator engageable with a cleaning pad of the mobile cleaning robot; a clean water tank configured to deliver clean liquid to the mobile cleaning robot and the pad washing system; and a dirty water tank configured to receive dirty water from the pad washing system.

In Example 5, the subject matter of any one or more of Examples 1-4 optionally include a sweep port extending at least partially through the base or the cannister, the sweep port connected to the debris duct; and a valve movable to direct at least a portion of the air stream through the sweep port or the debris port.

In Example 6, the subject matter of any one or more of Examples 1-5 optionally include a lid connected to the receptacle and movable between an open position, where the receptacle is open to an environment, and a closed position.

In Example 7, the subject matter of any one or more of Examples 1-6 optionally include a discharge duct connected to the lid assembly and the receptacle, the discharge duct configured to receive at least a portion of the air stream therethrough; a first volume connected to the debris duct, the first volume at least partially defined by the receptacle; and a second volume connected to the debris duct and at least partially fluidically isolated from the first volume, the second volume at least partially defined by the cannister.

In Example 8, the subject matter of Example 7 optionally includes a port connected to the discharge duct, the port configured to fluidically connect the second volume to the discharge duct.

In Example 9, the subject matter of any one or more of Examples 6-8 optionally include a lid actuator connected to the lid; a lid sensor connected to the cannister or the lid, the lid sensor configured to produce a lid signal; and a controller in communication with the lid actuator, the controller configured to operate the lid actuator based on the lid signal.

In Example 10, the subject matter of Example 9 optionally includes a deflector connected to the lid, the deflector configured to interact with at least a portion of the air stream to direct debris toward the receptacle.

In Example 11, the subject matter of any one or more of Examples 1-10 optionally include a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough; a first volume connected to the debris duct, the first volume at least partially defined by the receptacle; and a second volume at least partially fluidically connected to the first volume, the second volume at least partially defined by the cannister.

In Example 12, the subject matter of Example 11 optionally includes a lid connected to the receptacle and movable between an open position, where the receptacle is open to an environment, and a closed position.

In Example 13, the subject matter of Example 12 optionally includes wherein the debris duct includes a fixed portion connected to the cannister and includes a movable portion connected to an underside of the lid, the movable portion movable with the lid between the open position and the closed position.

In Example 14, the subject matter of any one or more of Examples 11-13 optionally include the cannister comprising: a support engageable with a portion of the receptacle to support the receptacle within the cannister, the support defining a plurality of ports configured to receive at least a portion of the air stream therethrough.

In Example 15, the subject matter of any one or more of Examples 1-14 optionally include a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough; a first volume connected to the debris duct, the first volume at least partially defined by the debris duct; and a second volume at least partially fluidically isolated from the first volume, the second volume at least partially defined by the receptacle.

In Example 16, the subject matter of any one or more of Examples 11-15 optionally include a lid connected to the receptacle and movable between an open position, where the receptacle is open to an environment, and a closed position, the lid forming at least a portion of the lid assembly.

In Example 17, the subject matter of Example 16 optionally includes a bin door connected to the lid and the lid assembly, the bin door operable to move between a closed position to retain debris within the lid and the lid assembly and between an open position to dispense debris from the lid assembly and the lid into the receptacle; and bin door actuator connected to the bin door and operable to move the bin door between the open position and the closed position.

In Example 18, the subject matter of Example 17 optionally includes a lid sensor connected to the cannister or the lid, the lid sensor configured to produce a lid signal; and a controller in communication with the bin door actuator, the controller configured to operate the bin door actuator based on the lid signal.

In Example 19, the subject matter of any one or more of Examples 17-18 optionally include wherein the lid and the receptacle form a seal therebetween to at least partially fluidically isolate the first volume from the second volume.

Example 20 is a docking station for a mobile cleaning robot, the docking station comprising: a base configured to receive at least a portion of the mobile cleaning robot thereon, the base including a debris port; and a cannister connected to the base and located at least partially above the base, the cannister comprising: a debris duct connected to the debris port; a lid assembly connected to the debris duct; and a receptacle connected to the lid assembly, the receptacle configured to receive debris from the lid assembly or the debris duct.

In Example 21, the subject matter of Example 20 optionally includes a debris blower connected to the cannister or the base, the debris blower operable to produce an air stream that travels from the mobile cleaning robot, through the debris port and the debris duct, through the lid assembly, and out of the cannister.

In Example 22, the subject matter of Example 21 optionally includes a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough, and a filter connected to the discharge duct and configured to receive at least a portion of the air stream at least partially therethrough.

In Example 23, the apparatuses or method of any one or any combination of Examples 1-22 can optionally be configured such that all elements or options recited are available to use or select from.

The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.

In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.

In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) can be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features can be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter can lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

1. A docking station for a mobile cleaning robot, the docking station comprising: a base configured to receive at least a portion of the mobile cleaning robot thereon, the base including a debris port; anda cannister connected to the base and located at least partially above the base, the cannister comprising: a debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot;a lid assembly connected to the debris duct and configured to receive at least a portion of the air stream from the mobile cleaning robot; anda receptacle connected to the lid assembly, the receptacle configured to receive at least a portion of debris from the air stream or the lid assembly.

2. The docking station of claim 1, comprising: a debris blower connected to the cannister or the base, the debris blower operable to produce the air stream that travels from the mobile cleaning robot, through the debris port and the debris duct, through the lid assembly, and out of the cannister.

3. The docking station of claim 2, comprising: a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough, anda filter connected to the discharge duct and configured to receive at least a portion of the air stream at least partially therethrough.

4. The docking station of claim 1, comprising: pad washing system comprising an agitator engageable with a cleaning pad of the mobile cleaning robot;a clean water tank configured to deliver clean liquid to the mobile cleaning robot and the pad washing system; anda dirty water tank configured to receive dirty water from the pad washing system.

5. The docking station of claim 1, comprising: a sweep port extending at least partially through the base or the cannister, the sweep port connected to the debris duct; anda valve movable to direct at least a portion of the air stream through the sweep port or the debris port.

6. The docking station of claim 1, comprising: a lid connected to the receptacle and movable between an open position, where the receptacle is open to an environment, and a closed position.

7. The docking station of claim 1, comprising: a discharge duct connected to the lid assembly and the receptacle, the discharge duct configured to receive at least a portion of the air stream therethrough;a first volume connected to the debris duct, the first volume at least partially defined by the receptacle; anda second volume connected to the debris duct and at least partially fluidically isolated from the first volume, the second volume at least partially defined by the cannister.

8. The docking station of claim 7, comprising: a port connected to the discharge duct, the port configured to fluidically connect the second volume to the discharge duct.

9. The docking station of claim 6, comprising: a lid actuator connected to the lid;a lid sensor connected to the cannister or the lid, the lid sensor configured to produce a lid signal; anda controller in communication with the lid actuator, the controller configured to operate the lid actuator based on the lid signal.

10. The docking station of claim 9, comprising: a deflector connected to the lid, the deflector configured to interact with at least a portion of the air stream to direct debris toward the receptacle.

11. The docking station of claim 1, comprising: a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough;a first volume connected to the debris duct, the first volume at least partially defined by the receptacle; anda second volume at least partially fluidically connected to the first volume, the second volume at least partially defined by the cannister.

12. The docking station of claim 11, comprising: a lid connected to the receptacle and movable between an open position, where the receptacle is open to an environment, and a closed position.

13. The docking station of claim 12, wherein the debris duct includes a fixed portion connected to the cannister and includes a movable portion connected to an underside of the lid, the movable portion movable with the lid between the open position and the closed position.

14. The docking station of claim 11, the cannister comprising: a support engageable with a portion of the receptacle to support the receptacle within the cannister, the support defining a plurality of ports configured to receive at least a portion of the air stream therethrough.

15. The docking station of claim 1, comprising: a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough;a first volume connected to the debris duct, the first volume at least partially defined by the debris duct; anda second volume at least partially fluidically isolated from the first volume, the second volume at least partially defined by the receptacle.

16. The docking station of claim 11, comprising: a lid connected to the receptacle and movable between an open position, where the receptacle is open to an environment, and a closed position, the lid forming at least a portion of the lid assembly.

17. The docking station of claim 16, comprising: a bin door connected to the lid and the lid assembly, the bin door operable to move between a closed position to retain debris within the lid and the lid assembly and between an open position to dispense debris from the lid assembly and the lid into the receptacle; andbin door actuator connected to the bin door and operable to move the bin door between the open position and the closed position.

18. The docking station of claim 17, comprising: a lid sensor connected to the cannister or the lid, the lid sensor configured to produce a lid signal; anda controller in communication with the bin door actuator, the controller configured to operate the bin door actuator based on the lid signal.

19. The docking station of claim 17, wherein the lid and the receptacle form a seal therebetween to at least partially fluidically isolate the first volume from the second volume.

20. A docking station for a mobile cleaning robot, the docking station comprising: a base configured to receive at least a portion of the mobile cleaning robot thereon, the base including a debris port; anda cannister connected to the base and located at least partially above the base, the cannister comprising: a debris duct connected to the debris port;a lid assembly connected to the debris duct; anda receptacle connected to the lid assembly, the receptacle configured to receive debris from the lid assembly or the debris duct.

21. The docking station of claim 20, comprising: a debris blower connected to the cannister or the base, the debris blower operable to produce an air stream that travels from the mobile cleaning robot, through the debris port and the debris duct, through the lid assembly, and out of the cannister.

22. The docking station of claim 21, comprising: a discharge duct connected to the cannister, the discharge duct configured to receive at least a portion of the air stream therethrough, anda filter connected to the discharge duct and configured to receive at least a portion of the air stream at least partially therethrough.