Docking station for mobile cleaning robots

Abstract

A docking station for a mobile cleaning robot can include a base and a bin. The base can be configured to receive at least a portion of the mobile cleaning robot thereon, wherein the base can include a debris port. The bin can be connected to the base and can be at least partially positioned above the base. The bin can include a debris conduit connected to the debris port and configured to receive an airflow from the mobile cleaning robot. A cover assembly can be connected to the debris conduit and can be configured to receive at least a portion of the airflow from the mobile cleaning robot. A container can be connected to the cover assembly, wherein the container can be configured to receive at least a portion of the debris from the airflow or the cover assembly.

Description

Priority application

[0001] This application is a continuation-to-priority of U.S. Patent Application Serial No. 18 / 127,776, filed March 29, 2023, the contents of which are incorporated herein by reference in their entirety. Background Technology

[0002] Autonomous mobile robots include autonomous mobile cleaning robots, which can perform cleaning tasks autonomously in environments such as homes. Many types of cleaning robots are autonomous to some extent and in different ways. Some robots can automatically dock with docking stations or other devices. Docking stations can perform maintenance on the robot, such as charging its batteries and emptying debris from its cover assembly. Utility Model Content

[0003] Mobile cleaning robots can include various components that require maintenance or interaction between or during tasks. For example, a vacuuming robot that extracts debris from the environment may need to empty its debris bin during or between tasks. Some of these robots can empty the debris automatically, for example, into a debris bag at a docking station. However, the debris bag at the docking station needs to be replaced periodically, or when it is full of debris, thus requiring regular user interaction with the docking station. Furthermore, some users may prefer to have no additional equipment on their floors.

[0004] This disclosure can help address these problems by providing a docking system that includes a trash can or container (or a docking station within the trash can or container). In this way, the trash can (or bin or waste bin) can receive the trash from the mobile cleaning robot during or after the robot has emptied its debris, thereby reducing or eliminating the need to replace individual trash bags at the docking station and allowing the user to dispose of the debris collected at the docking station with other waste or garbage in a normal manner or frequency, which can help reduce the amount of user interaction with the robot or docking station.

[0005] For example, a docking station for a mobile cleaning robot may include a base and a housing. The base may be configured to receive at least a portion of the mobile cleaning robot thereon, wherein the base may include a debris port. The housing may be attached to the base and may be at least partially located above the base. The housing may include a debris conduit connected to the debris port and configured to receive an airflow from the mobile cleaning robot. A cover assembly may be attached to the debris conduit and may be configured to receive at least a portion of the airflow from the mobile cleaning robot. A container may be attached to the cover assembly, wherein the container may be configured to receive at least a portion of debris from the airflow or the cover assembly.

[0006] The foregoing discussion is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The following description is included to provide further information regarding this patent application. Attached Figure Description

[0007] In accompanying drawings that are not necessarily drawn to scale, the same numbers may describe similar parts in different views. Similar numbers with different letter suffixes may represent different instances of similar parts. The accompanying drawings generally illustrate the various embodiments discussed in this document by way of example rather than limitation.

[0008] Figure 1 A floor plan of a mobile cleaning robot in the environment is shown.

[0009] Figure 2A An isometric view of the mobile cleaning robot in its first state is shown.

[0010] Figure 2B An isometric view of the mobile cleaning robot in its second state is shown.

[0011] Figure 2C An isometric view of the mobile cleaning robot in its third state is shown.

[0012] Figure 2D A bottom view of the mobile cleaning robot in its third state is shown.

[0013] Figure 2E An isometric top view of the mobile cleaning robot in its third state is shown.

[0014] Figure 2F A side sectional view of the mobile cleaning robot in its first state is shown.

[0015] Figure 3 An isometric view of the mobile cleaning robot and docking station is shown.

[0016] Figure 4 A diagram illustrating the communication network in which the mobile cleaning robot operates and an example of data transmission within the network is shown.

[0017] Figure 5A A schematic diagram of the docking station is shown.

[0018] Figure 5B A schematic diagram of the docking station is shown.

[0019] Figure 5C A schematic diagram of the docking station is shown.

[0020] Figure 6A An isometric view of the docking station is shown.

[0021] Figure 6B An isometric view of the docking station is shown.

[0022] Figure 6C An isometric sectional view of the docking station is shown.

[0023] Figure 6D An isometric view of a portion of the docking station is shown.

[0024] Figure 7A An isometric view of the docking station is shown.

[0025] Figure 7B An isometric view of the docking station is shown.

[0026] Figure 7C An isometric view of a portion of the docking station is shown.

[0027] Figure 7D An isometric view of a portion of the docking station is shown.

[0028] Figure 7E An isometric view of a portion of the docking station is shown.

[0029] Figure 7F An isometric view of a portion of the docking station is shown.

[0030] Figure 7G A side sectional view of a portion of the docking station is shown.

[0031] Figure 8A An isometric view of the docking station is shown.

[0032] Figure 8B An isometric view of the docking station is shown.

[0033] Figure 8C An isometric view of a portion of the docking station is shown.

[0034] Figure 8D An isometric view of a portion of the docking station is shown.

[0035] Figure 8E An isometric view of a portion of the docking station is shown.

[0036] Figure 8F An isometric view of a portion of the docking station is shown.

[0037] Figure 8G An isometric view of a portion of the docking station is shown.

[0038] Figure 9 An isometric view of a portion of the docking station is shown.

[0039] Figure 10 An isometric view of the docking station is shown.

[0040] Figure 11 An isometric view of the docking station is shown.

[0041] Figure 12 An isometric view of the docking station is shown.

[0042] Figure 13A A schematic diagram of a portion of the docking station is shown.

[0043] Figure 13B A schematic diagram of a portion of the docking station is shown.

[0044] Figure 14 A block diagram is shown illustrating an example of a machine on which one or more embodiments can be implemented. Detailed Implementation

[0045] Robot Operation Summary Figure 1 A floor plan of a mobile cleaning robot 100 in an environment 40 according to at least one example of this disclosure is shown. Environment 40 may be a residence, such as a home or apartment, and may include rooms 42a-42e. Obstacles such as a bed 44, a table 46, and an island 48 may be located in room 42 of the environment. Each of rooms 42a-42e may have floor surfaces 50a-50e respectively. Some rooms (such as room 42d) may include small rugs, such as rug 52. Floor surfaces 50 may be one or more types, such as hardwood, ceramic, low-pile rug, medium-pile rug, long (or high) pile rug, stone, etc.

[0046] The mobile cleaning robot 100 can be operated, for example, by a user 60, to autonomously clean environment 40 room by room. In some examples, the robot 100 can clean the floor surface 50a of a room (e.g., room 42a) before moving to the next room (e.g., room 42d) to clean the surfaces of room 42d. Different rooms can have different types of floor surfaces. For example, room 42e (which could be a kitchen) could have a hard floor surface, such as wood or tile, and room 42a (which could be a bedroom) could have a carpeted surface, such as a medium-pile rug. Other rooms, such as room 42d (which could be a dining room), could include multiple surfaces, with a small rug 52 located within room 42d.

[0047] During cleaning or movement operations, 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 environment 40. Once the map is created, user 60 can define rooms or areas (such as room 42) within the map. The map can be presented to user 60 on a user interface (such as a mobile device), where user 60 can, for example, guide or change cleaning preferences.

[0048] Furthermore, during operation, robot 100 can detect the surface types within each room 42, which can be stored in robot 100 or another device. Robot 100 can update the map (or associated data) to include or take into account the surface types of the floor surfaces 50a-50e of each corresponding room 42 in environment 40. In some examples, the map can be updated to show, for example, the different surface types within each room 42.

[0049] In some examples, user 60 can define a behavior control zone 54. During autonomous operation, robot 100 can initiate an action in response to being in or near behavior control zone 54. For example, user 60 can define a dirt-prone area of ​​environment 40 as behavior control zone 54. In response, robot 100 can initiate a focused cleaning action, whereby robot 100 performs focused cleaning of a portion of floor surface 50d within behavior control zone 54.

[0050] Robot Example Figure 2A An isometric view of a mobile cleaning robot 100 is shown, with the pad assembly in its storage location. Figure 2B An isometric view of a mobile cleaning robot 100 is shown, with the pad assembly in an extended position. Figure 2C An isometric view of a mobile cleaning robot 100 is shown, with the mat assembly in the mopping position. Figure 2A-2C The orientation indicator is also shown before and after. Let's discuss that together. Figure 2A-2C .

[0051] The mobile cleaning robot 100 may include a body 102 and a mop system 104. The mop system 104 may include arms 106a and 106b (collectively referred to as arm 106) and a mat assembly 108. The robot 100 may also include a buffer 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., a motor, gear train, and wheels), casters, and sensors, as discussed in further detail below. The distal portion of arm 106 may be connected to the mat assembly 108, and the proximal portions of arms 106a and 106b may be connected to an internal drive system to drive arm 106 to move mat assembly 108.

[0052] Figure 2A-2C This demonstrates how to operate the robot 100 to move the pad assembly 108 from... Figure 2A The storage location in the middle is moved to Figure 2B Move to the transition or partial expansion position in the middle. Figure 2C The location for mopping or unfolding. Figure 2A In its storage location, robot 100 can perform only vacuuming operations. Figure 2C When deployed, robot 100 can perform vacuuming or mopping operations. Figure 2D-2E Additional components of Robot 100 were discussed.

[0053] Robot components Figure 2D A bottom view of the mobile cleaning robot 100 is shown, and Figure 2E A top-down isometric view of robot 100 is shown. Let's discuss it together. Figure 2D and 2E . Figure 2D and 2E Robot 100 can be with Figure 2A-2C Consistent; Figure 2D and 2E Additional details of robot 100 are shown. For example, Figure 2D-2E The robot 100 is shown to include a body 102, a buffer 109, an extractor 113 (including rollers 114a and 114b), motors 116a and 116b, drive wheels 118a and 118b, casters 120, a side brush assembly 122, a vacuum assembly 124, a memory 126, a sensor 128, and a cover assembly 130. The mop system 104 may also include a tank 132 and a pump 134.

[0054] The cleaning robot 100 can be an autonomous cleaning robot that can autonomously traverse the floor surface 50 ( Figure 1 ( ), while simultaneously extracting debris from different parts of the floor surface. For example... Figure 2D As shown, robot 100 may include a body 102 that can move on floor surface 50. Body 102 may include multiple connection structures to which movable or fixed components of the cleaning robot 100 are mounted. The connection structures may include, for example, a housing covering the internal components of the cleaning robot 100, a chassis with drive wheels 118a and 118b (of cleaning assembly 113) and cleaning rollers 114a and 114b mounted, and a buffer 109 connected to the housing. Casters 120 can support the front of body 102 above floor surface 50, and drive wheels 118a and 118b can support the middle and rear of body 102 above floor surface 50 (and can also support most of the weight of robot 100).

[0055] like Figure 2DAs shown, the body 102 may include a front portion, which may have a substantially semi-circular shape and may be connected to the buffer 109. The body 102 may also include a rear portion having a substantially semi-circular shape. In other examples, the body 102 may have other shapes, such as a square front portion or a straight front portion. The robot 100 may also include a drive system including actuators (e.g., motors) 116a and 116b. Actuators 116a and 116b may be connected to the body 102 and may be operably connected to drive wheels 118a and 118b, which may be rotatably mounted to the body 102. When driven, actuators 116a and 116b may rotate drive wheels 118a and 118b, enabling the robot 100 to move autonomously on the floor surface 50.

[0056] Vacuum assembly 124 may be at least partially located within the body 102 of robot 100, for example, at the rear of body 102, and in other examples may be located in other locations. Vacuum assembly 124 may include a motor to drive an impeller that generates airflow upon rotation. The airflow and cleaning roller 114 may cooperate upon rotation to draw debris into robot 100. Cleaning tank 137 (e.g. Figure 2F (As shown) It can be installed in the body 102 and can contain debris ingested by the robot 100. A filter in the body 102 can separate debris from the airflow before it enters the vacuum assembly 124 and exits from the body 102. In this respect, debris can be captured in both the cleaning tank 137 and the filter before the airflow exits from the body 102. In some examples, the vacuum assembly 124 and the extractor 113 may optionally be included, or the vacuum assembly 124 and the extractor 113 may be of different types. Optionally, the vacuum assembly 124 can operate during mopping operations, such as those including a mop system 104. That is, the robot 100 can perform vacuuming and mopping tasks or operations simultaneously.

[0057] Cleaning rollers 114a and 114b are operably connected to actuator 115, such as a motor, via a gearbox. Cleaning head 113 and cleaning rollers 114a and 114b can be positioned in front of cleaning chamber 130. Cleaning roller 114 can be mounted to the underside of body 102 such that when the underside of body 102 faces floor surface 50, cleaning rollers 114a and 114b engage debris on floor surface 50 during cleaning operations.

[0058] Controller 111 may be located within housing 102 and may be a programmable controller, such as a single-board or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), etc. In other examples, controller 111 may be any computing device, such as a handheld computer, like a smartphone, tablet, laptop, desktop computer, or any other computing device that includes a processor, memory, and communication capabilities. Memory 126 may be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random access memory (RAM), disk storage media, optical storage media, flash memory devices, and other storage devices and media. Memory 126 may be located within housing 102, may be connected to controller 111, and may be accessed by controller 111.

[0059] The controller 111 can operate actuators 116a and 116b to autonomously navigate the robot 100 around the floor surface 50 during cleaning operations. Actuators 116a and 116b are operable to drive the robot 100 in a forward drive direction, in a backward drive 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 roller 114, through the body 102, and out of the body 102.

[0060] Robot 100 may include a sensor system comprising one or more sensors. As described herein, the sensor system may generate one or more signals indicating the current position of robot 100, and may generate signals indicating the position of robot 100 as robot 100 travels along floor surface 50. Sensor 128 ( Figure 2A (As shown) can be positioned along the bottom of housing 102. Each of the sensors 128 can be an optical sensor, which can be configured to detect the presence or absence of an object (such as floor surface 50) below the optical sensor. Sensors 128 (optionally cliff sensors) can be connected to controller 111 and can be used by controller 111 to navigate robot 100 within environment 40. In some examples, cliff sensors can be used to detect the type of floor surface that controller 111 can use to selectively operate mop system 104.

[0061] The cleaning pad assembly 108 may be a cleaning pad attached to the bottom of the body 102 (or attached to a movement mechanism configured to move assembly 108 between a storage location and a cleaning location), such as a cleaning tank 130 located at the rear of the extractor 113. The tank 132 may be a water tank configured to store water or fluid (such as cleaning fluid) for delivery to the mop pad 142. The pump 134 may be attached to a controller 111 and may be in fluid communication with the tank 132. The controller 111 may be configured to operate the pump 134 to deliver fluid to the mop pad 142 during mopping operations. For example, fluid may be delivered to the mop pad 142 via one or more dispensers 117. The dispensers 117 may be valves, openings, etc., and may be configured to deliver fluid directly to the floor surface 50 of the environment 40 or the pad 142. In some examples, the pad 142 may be a drying pad, such as for dusting or drying debris removal. Mat 142 can also be any cloth, fabric, etc., configured for cleaning (wet or dry) floor surfaces.

[0062] like Figure 2F As shown, the vacuum assembly 124 may be at least partially located within the body 102 of the robot 100, for example, in the rear portion 102b of the body 102. The controller 111 may operate the vacuum assembly 124 to generate an airflow that flows through an air gap near the cleaning roller 114, through the body 102, and out of the body 102. The airflow and the cleaning roller 114 may cooperate during rotation to draw debris 75 into a suction conduit 136 of the robot 100. The suction conduit 136 may extend downwards to or near the bottom portion of the body 102 and may be at least partially defined by the cleaning assembly 204.

[0063] Suction pipe 136 can be connected to cleaning head 113 or cleaning assembly, and can be connected to cleaning tank 137. Cleaning tank 137 can be mounted in body 102 and can contain debris 75 ingested by robot 100. Filter 145 can be located in body 102, which can help separate debris 75 from the airflow 138 before it enters vacuum assembly 124 and exits from body 102. In this respect, debris 75 can be trapped in both cleaning tank 137 and filter before airflow 138 exits from body 102. Robot 100 may also include debris port 135, which can extend at least partially through body 102 or cleaning tank 137, and can be operable to remove debris 75 from cleaning tank 137, for example, via docking station or evacuation station.

[0064] Cleaning rollers 114a and 114b can be operatively connected to one or more actuators 115, such as motors. The cleaning head 113 and cleaning rollers 114a and 114b can be positioned in front of the cleaning chamber 137. Cleaning rollers 114a and 114b can be mounted to the housing 224 of the cleaning head 113 and, for example, indirectly or directly, to the body 102 of the robot 100. Specifically, cleaning rollers 114a and 114b can be mounted to the underside of the body 102 such that when the underside faces the floor surface 50, cleaning rollers 114a and 114b engage debris 75 on the floor surface 50 during cleaning operations.

[0065] Robot operation In some example operations, controller 111 can be used to instruct robot 100 to perform tasks. In this case, controller 111 can operate motor 116 to drive drive wheels 118 and propel robot 100 along floor surface 50. Robot 100 can be propelled in a forward or backward driving direction. Robot 100 can also be propelled to turn in place or turn while moving in either the forward or backward driving direction. Furthermore, controller 111 can operate motor 115 to rotate rollers 114a and 114b, operate side brush assembly 122, and operate motors in vacuum system 124 to generate airflow. Controller 111 can execute software stored in memory 126 to cause robot 100 to perform various navigation and cleaning actions by operating the various motors of robot 100.

[0066] Various sensors on robot 100 can be used to help the robot navigate and clean within environment 40. For example, a cliff sensor can detect obstacles such as the drop section below the part of robot 100 where the cliff sensor is located and the cliff itself. The cliff sensor can transmit signals to controller 111, allowing controller 111 to redirect robot 100 based on the signals from the sensor.

[0067] A proximity sensor can generate a signal based on the presence or absence of an object in front of the optical sensor. Detectable objects include obstacles such as furniture, walls, people, and other objects within the environment 40 of robot 100. The proximity sensor can transmit the signal to controller 111, allowing controller 111 to redirect robot 100 based on the signal from the proximity sensor. In some examples, a collision sensor can be used to detect movement of buffer 109 along the front-rear axis of robot 100. Collision sensor 139 can also be used to detect movement of buffer 109 along one or more sides of robot 100, and can optionally detect vertical buffer movement. Collision sensor 139 can transmit the signal to controller 111, allowing controller 111 to redirect robot 100 based on the signal from collision sensor 139.

[0068] Robot 100 may also optionally include one or more dirt sensors 144 connected to body 102 and communicating with controller 111. The dust sensors 144 may be microphones, piezoelectric sensors, optical sensors, etc., located in or near the flow path of debris, for example, near the opening of cleaning roller 114 or in one or more channels within body 102. This allows the dust sensors 144 to detect at any time during a cleaning task how much dust has been ingested by vacuum assembly 124 (e.g., via extractor 113). Because robot 100 can know its location, it can maintain a log or record of which areas or rooms are dirtier or have collected more dirt.

[0069] Image capture device 140 can be configured to generate signals based on images of the robot 100's environment 40 as the robot 100 moves on floor surface 50. Image capture device 140 can transmit such signals to controller 111. Controller 111 can use one or more signals from image capture device 140 for various tasks, algorithms, etc., as discussed in further detail below.

[0070] In some examples, the obstacle following sensor can detect detectable objects, including obstacles such as furniture, walls, people, and other objects in the environment of robot 100. In some implementations, the sensor system may include an obstacle following sensor along a side surface, and the obstacle following sensor can detect the presence or absence of an object adjacent to the side surface. One or more obstacle following sensors may also function as obstacle detection sensors, similar to the proximity sensors described herein.

[0071] The robot 100 may also include sensors for tracking the distance traveled by the robot 100. For example, the sensor system may include an encoder associated with a motor 116 for driving the wheels 118, and the encoder may track the distance the robot 100 has traveled. In some embodiments, the sensor may include an optical sensor facing downwards toward a floor surface. The optical sensor may be positioned to guide light through the bottom surface of the robot 100 toward the floor surface 50. The optical sensor may detect reflections of light and may detect the distance traveled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

[0072] The controller 111 can use data collected by the sensors of the sensor system to control the navigation behavior of the robot 100 during the task. For example, the controller 111 can use sensor data collected by the obstacle detection sensors (cliff sensors, proximity sensors, and collision sensors) of the robot 100 to enable the robot 100 to avoid obstacles in the robot 100's environment during the task.

[0073] Sensor data can also be used by controller 111 for Simultaneous Localization and Mapping (SLAM) techniques, where controller 111 extracts features of the environment represented by the sensor data and constructs a map of the floor surface 50 of the environment. Sensor data collected by image capture device 140 can be used for techniques such as vision-based SLAM (VSLAM), where controller 111 extracts visual features corresponding to objects in environment 40 and uses these visual features to construct a map. When controller 111 guides robot 100 on floor surface 50 during a task, controller 111 can use SLAM techniques to determine the position of robot 100 within the map by detecting features represented in the collected sensor data and comparing those features with previously stored features. The map formed from sensor data can indicate the location of traversable and non-traversable spaces within the environment. For example, the location of obstacles can be indicated on the map as non-traversable space, and the location of open floor space can be indicated on the map as traversable space.

[0074] Sensor data collected by any sensor can be stored in memory 126. Additionally, other data generated for SLAM technology, including map-building data that forms the map, can be stored in memory 126. This data generated during a task can include persistent data generated during the task and available during further tasks. Besides storing software used to enable robot 100 to perform its actions, memory 126 can also store data generated from the processing of sensor data for access by controller 111. For example, the map could be a map that can be used and updated by robot 100's controller 111 from one task to another to navigate robot 100 on floor surface 50.

[0075] Persistent data, including persistent maps, can help enable robot 100 to effectively clean floor surface 50. For example, the map can enable controller 111 to guide robot 100 toward open floor spaces and avoid inaccessible areas. Furthermore, for subsequent tasks, controller 111 can use the map to optimize the path taken during the task to help plan robot 100's navigation through environment 40.

[0076] Controller 111 can also send commands to the motor (within body 102) to drive arm 106 so that pad assembly 108 is in the storage position. Figure 2A and Figure 2D (as shown) and unfolded position ( Figure 2C and Figure 2E The pad assembly 108 (mop pad 142) can be moved between the two positions shown in the diagram. In the unfolded position, the pad assembly 108 (mop pad 142) can be used to wipe the floor surface of any room in environment 40.

[0077] Mop pad 142 can be a dry pad or a wet pad. Optionally, when mop pad 142 is a wet pad, pump 134 can be operated by controller 111 to spray or drip fluid (e.g., water or cleaning solution) onto floor surface 50 or mop pad 142. The wetted mop pad 142 can then be used by robot 100 to perform a wet mopping operation on floor surface 50 of environment 40. As discussed in further detail below, controller 111 can determine when to dispense fluid and when to move pad tray 141 and mop pad 142 between storage and cleaning locations.

[0078] docking station and robot examples Figure 3An isometric view of a mobile cleaning robot 100 and a docking station 300 is shown. The docking station 300 may include a housing and a base 348. Components of the docking station 300 may be rigid or semi-rigid parts made of one or more materials such as metal, plastic, foam, elastomer, ceramic, composite materials, or combinations thereof. The materials of some components are discussed in further detail below. While the docking station 300 (or other docking stations discussed below) is discussed as working with robot 100, the docking station 300 (or other docking stations discussed below) may work with any mobile cleaning robot that only vacuums or collects debris.

[0079] The housing may include an outer wall 350 and a top or cover assembly 352 (which may be a debris container). The base 348 may include a platform 354, which includes rails. The platform 354 may also include a vacuum port 356 configured to dock with a debris port 135. The base 348 may be an inclined member including the platform 354, wherein the base 348 may be configured to receive the mobile cleaning robot 100 thereon for maintenance, such as charging the mobile cleaning robot and emptying debris. The docking station 300 may also include a docking opening 358 configured to receive the mobile cleaning robot 100 at least partially therein. For example, the mobile cleaning robot 100 may move across the platform 354 into the docking opening 358 until the vacuum port 356 aligns with the debris port 135 of the robot 100, which may also align the charging contacts of the docking station 300 with the contacts of the mobile cleaning robot 100, and other features of the mobile cleaning robot 100 and the docking station 300.

[0080] The box can be the upper part of the docking station 300 connected to the base 348, wherein the box can extend upward from the base 348 such that the box can be at least partially located above the base 348. The outer wall 350 of the box can have the shape of a generally rectangular hollow prism with rounded corners, wherein the outer wall 350 can define the open top of the box.

[0081] The container may also at least partially support the lid assembly 352 thereon, for example, above the container 360. The container 360 may be a container or can, such as a trash can, bin, waste bin, waste container, etc., wherein the container 360 may be configured to receive garbage, waste, discarded items, etc. The container 360 may optionally be detachable from the outer wall 350 or user-removable. The lid assembly 352 may include a lid 362, which may be configured in a closed position (…). Figure 3 (As shown in the image) It moves between the open position and the closed position, where trash or waste can be stored by the user into the container 360 through the cover assembly 352.

[0082] In some example operations, when robot 100 is docked on base 348 and vacuum port 356 is aligned with debris port 135, docking station 300 can be operated to extract debris from robot 100 (e.g., from cleaning bin 137) and through docking station 300 into container 360 (or into its bag or liner). In this way, docking station 300 can serve as a trash can or waste bin and a debris emptying system for robot 100. Further details of docking station 300 and other docking stations are discussed below.

[0083] Network Example Figure 4 This diagram illustrates a communication network 400 that enables networking between a mobile robot 100 and one or more other devices, docking station 300 (or any docking station discussed herein), mobile device 404 (including a controller), cloud computing system 406 (including a controller), or another autonomous robot detached from the mobile robot 100. Using the communication network 400, the robot 100, mobile device 404, docking station 300, and cloud computing system 406 can communicate with each other to send and receive data. In some examples, the robot 100, docking station 300, or both the robot 100 and docking station 300 can communicate with the mobile device 404 via the cloud computing system 406. Alternatively or additionally, the robot 100, docking station 300, or both the robot 100 and docking station 300 can communicate directly with the mobile device 404. The communication network 400 can employ various types and combinations of wireless networks (e.g., Bluetooth-based, radio frequency, optical, etc.) and network architectures (e.g., Wi-Fi or mesh networks).

[0084] In some examples, mobile device 404 may be a remote device that can be linked to cloud computing system 406 and enable a user to provide input. Mobile device 404 may include user input elements, such as one or more of a touchscreen display, buttons, microphone, mouse, keyboard, or other devices that respond to user input. Mobile device 404 may also include immersive media (e.g., virtual reality or augmented reality) that a user can interact with to provide input. In these examples, mobile device 404 may be a virtual reality headset or head-mounted display.

[0085] The user can provide input corresponding to commands for the mobile robot 100. In such a case, the mobile device 404 can transmit signals to the cloud computing system 406 so that the cloud computing system 406 can transmit command signals to the mobile robot 100. In some embodiments, the mobile device 404 can display augmented reality images. In some embodiments, the mobile device 404 can be a smartphone, laptop computer, tablet computer, or other mobile device.

[0086] In some examples, the communication network 400 may include additional nodes. For example, a node in the communication network 400 may include an additional robot. Furthermore, nodes in the communication network 400 may include network-connected devices capable of generating information about the environment 40. Such network-connected devices may include one or more sensors, such as acoustic sensors, image capture systems, or other sensors that generate signals to detect characteristics of the environment 40 from which features can be extracted. Network-connected devices may also include home cameras, smart sensors, etc.

[0087] In communication networks 400, wireless links can utilize various communication schemes and protocols, such as Bluetooth, Wi-Fi, Bluetooth Low Energy (also known as BLE), 802.15.4, Global Microwave Access Interoperability (WiMAX), infrared channels, satellite bands, etc. In some examples, wireless links may include any cellular network standard used for communication between mobile devices, including but not limited to standards eligible for 1G, 2G, 3G, 4G, 5G, etc. Network standards (if utilized) are eligible as, for example, first-generation or multi-generation mobile telecommunications standards by conforming to specifications or standards such as those maintained by the International Telecommunication Union. For example, the 4G standard may 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, such as FDMA, TDMA, CDMA, or SDMA.

[0088] docking station example Figure 5A A schematic diagram showing the airflow path design including docking station 500A is shown. Figure 5B A schematic diagram showing the airflow path design including docking station 500B is provided. Figure 5C A schematic diagram showing the airflow path design, including docking station 500C, is presented. Let's discuss this further below. Figures 5A-5C Docking station 500 can be similar to docking station 300 discussed above, but can include various flow or pressure arrangements.

[0089] The docking station 500 may include multiple similar components. For example, such as... Figures 5A-5CAs shown, docking station 500 may include a blower 564, which may be a fan or the like connected to a motor. The blower 564 is configured to generate or produce an airflow (including changes in pressure and airflow path) to transport debris from robot 100 through debris conduit 568 into container 560. The blower 564 may be connected to container 560 via outlet air chamber 566. Docking station 500 may also include a debris conduit 568 connected to container 560 and connected to a vacuum port, such as vacuum port 356.

[0090] The airflow generated by blower 564 can exit container 560 and pass through inlet filter 574, which may be user-serviceable. The airflow can travel through outlet chamber 566 before reaching blower 564 and ultimately being discharged from blower 564 into the environment. In some examples, docking station 500 may include a secondary filter element 572 on the output side of the blower, which is user-serviceable.

[0091] The docking station may also include several different components or arrangements of components. For example, docking station 500A may include or may define a first volume V1, which may be connected to the debris conduit 568 and the outlet air chamber 566, wherein the first volume V1 is at least partially defined by container 560. Docking station 500A may also include or may define a second volume V2 connected to the debris conduit and at least partially fluidly or physically separated from the first volume V1. The second volume V2 may be at least partially defined by a box. In this way, the first volume V1 and the second volume V2 may be physically isolated or separated, but may be exposed to a common or similar pressure by both being fluidly connected to a blower 564 via the outlet air chamber 566. This may allow the garbage bag or liner located within the second volume V2 to function properly when debris is deposited into the bag and container 560. For example, the second volume V2 may be connected to the outlet air chamber 566 via a stabilizing pipe or conduit 345. Optionally, the first volume V1 and the second volume V2 can be connected by an alternative stabilizing tube 345a on the inlet side of the volume.

[0092] The docking station 500B can be arranged slightly differently. A first volume V1 can be connected to the outlet air chamber 566 and the debris conduit 568, wherein the first volume V1 can be at least partially defined by container 560. A second volume V2 can be at least partially fluidly connected to the first volume V1, wherein the second volume can be at least partially defined by container 546. That is, container 546 and the second volume V2 can be connected to the outlet air chamber 566 and the blower 564 via container 560 and the first volume V1.

[0093] The docking station 500C can be arranged slightly differently. A first volume V1 can be connected to a debris conduit 568 and an outlet chamber 566, wherein the first volume V1 can be at least partially defined by a cover assembly 552. That is, a container 560 and a second volume V2 can be connected to the outlet chamber 566 and a blower 564 via the cover assembly 552 and the first volume V1. However, the docking station 500 may also include a door 570 between the first volume V1 and the second volume V2, wherein the door 570 separates volumes V1 and V2 when closed and connects volumes when open. In this way, the blower 564 can be operated to draw airflow through the first volume V1 and deposit debris into the first volume V1 and the cover assembly 552 only when the door 570 is closed. When the cover assembly 552 becomes full or when it is otherwise desired to deposit debris from the cover assembly 552 into the container 560, the door 570 can be operated to release debris into the container 560. In such an example, the blower 564 can be disabled while debris is being emptied from the cover assembly 552 into the container 560. Examples of each type of docking station 500 are discussed in further detail below.

[0094] Figure 6A An isometric view of docking station 300 is shown. Figure 6B An isometric view of docking station 300 is shown. Let's discuss it together. Figure 6A and Figure 6B The docking station 300 can be used in conjunction with the above-discussed systems. Figure 3 The arrangement is consistent, and docking station 300 can also be schematically similar to docking station 500A. Figures 6A-6B (And the other accompanying figures below) Docking station 300 is discussed in more detail. Any docking station discussed above or below may be modified to include the features of docking station 300.

[0095] Figure 6A and 6B The docking station 300 is shown to include a debris conduit 368, which can be connected to a vacuum port 356. The debris conduit 368 can be connected to a cover assembly 352, for example, at the inlet of the cover assembly 352. The docking station 300 may also include a discharge conduit 366 (which may optionally be part of the debris conduit 368). The discharge conduit 366 can be connected to the cover assembly 352, for example, at the outlet of the cover assembly 352. The cover assembly 352 may be a component that can be detached by a user from the rest of the docking station 300, for example, for maintenance of the docking station 300 (e.g., removing garbage bags or liners, or for cleaning filters).

[0096] The exhaust duct 366 can also be connected to a blower 364. The blower 364 can be a motorized fan (e.g., axial or centrifugal) configured to generate an airflow, such as an air stream. The blower 364 can be connected to an exhaust filter 372, which can be located at the exhaust port of the housing 346. The blower 364 can be connected to either the housing 346 or the base 348.

[0097] The docking station 300 may also include an inlet filter 374. The inlet filter 374 may be connected to the cover assembly 352 and to the exhaust duct 366, and may be located at the inlet of the exhaust duct 366. The inlet filter 374 may filter at least a portion of the airflow as it exits the cover assembly 352, thereby helping to limit debris from entering the exhaust duct 366. Similarly, the exhaust filter 372 may filter the airflow as it exits the exhaust duct, which may help limit debris emissions into the environment and may help mitigate the odor emitted from debris or other litter or waste into the environment.

[0098] In operation, blower 364 can be operated to generate an airflow that travels from mobile cleaning robot 100 through vacuum port 356, through debris duct 368, through cover assembly 352, through inlet filter 374, through exhaust duct 366, through exhaust filter 372, and exits bin 346. Debris can be transported from robot 100 to debris bin via the airflow. A reduction in air velocity of airflow A may occur as debris leaves the small cross-section of debris duct 368 and enters the relatively large volume of cover assembly 352. This may cause relatively heavy solids to fall out of the airflow. Light debris and particles (such as dust or small pieces of paper) trapped in the airflow can be removed from the airflow as it passes through filter 374. The function of this filter is to remove any debris that may damage blower 364 or prematurely terminate its lifespan. Secondary exhaust filter 372 can help remove any remaining particles to help reduce the release of such substances into the environment.

[0099] Figure 6A and 6B It is also shown that the cover assembly 352 may include a cover 362, which may at least partially cover the opening 376 in the cover assembly 352. The cover 362 may... Figure 6A Opening position and Figure 6BThe cover 362 moves between closed and open positions. When the cover 362 is in the closed position, it can seal against the cover assembly 352. The cover 362 can be user-movable (e.g., by hand or foot pedal) or movable by one or more actuators 378, which can be connected to or engaged with the cover assembly 352. One or more actuators 378 can be connected to a controller 380, which can be a programmable controller, such as a single-board or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), etc.

[0100] The docking station 300 may also include a sensor 382 connected to the cover assembly 352. The sensor 382 may be a motion sensor, a light sensor, etc., configured to generate signals based on environmental changes, such as movement near the cover 362 (e.g., hand waving). The controller 380 may be configured to operate one or more actuators 378 based on sensor signals to move the cover 362 between an open position and a closed position. Optionally, the controller 380 may be connected to a blower 364 and may be configured to operate the blower 364, for example, based on one or more signals from the robot 100 or the docking station 300. Optionally, the controller 380 may be omitted, and components of the docking station 300 may communicate with a controller 111 or a mobile device 404, which may control components of the docking station 300, such as one or more actuators 378 or the blower 364.

[0101] Figures 6A-6B The docking station 300 is also shown to include a deflector 384 that can be attached to a cover 362. The deflector 384 can also be a separate piece or component attached to the cover assembly 352. The deflector 384 can move with the cover 362 and can be configured to interact with at least a portion of the airflow when the cover 362 is in the closed position to direct debris toward the container. Figure 6B As shown, the discharge port of the debris duct 368 can be located near the deflector 384 to direct the airflow toward the deflector 384, thereby helping to guide the debris from the flow into the container 360.

[0102] Figure 6C An isometric view of the cross-section of docking station 300 is shown. Figure 6C The docking station 300 can be the same as the docking station 300 discussed above; Figure 6C Additional details of docking station 300 are shown. For example, Figure 6C The diagram shows that docking station 300 can define a first volume V1 that is fluidly connected to debris conduit 368, wherein the first volume V1 is at least partially defined by container 360. Figure 6CIt is also shown that docking station 300 may define a second volume V2, which may be fluidly connected to debris conduit 368, such as through port 385, which may be connected to discharge conduit 366. The second volume V2 may be at least partially separated from the first volume V1, and the second volume V2 may be at least partially defined by a housing (e.g., outer wall 350).

[0103] Figure 6C It is also shown that container 360 may include a lip or flange 386 that can engage with support 388. Support 388 may be connected to outer wall 350 such that support 388 extends radially inward (or laterally inward) from outer wall 350. Support 388 may be configured to engage flange 386 to support container 360 within box 346.

[0104] Figure 6D An isometric view of a portion of docking station 300 is shown. Figure 6D The docking station 300 can be the same as the docking station 300 discussed above; Figure 6D Additional details of docking station 300 are shown. For example, Figure 6D Port 385 can be connected to discharge pipe 366 more clearly. In this way, the second volume V2 can be fluidly connected to discharge pipe 366 to equalize the pressure between the first volume V1 and the second volume V2.

[0105] Figure 6D It is also shown that container 360 may define one or more perforations or holes 390 that can extend through the container. The holes 390 connect the internal fluid of container 360 to volume V2, which can help equalize the pressure on both sides of the liner within container 360, help ensure that the liner within container 360 does not expand or shift, and help ensure that the liner can be easily removed after a debris evacuation operation. Although two of the holes 390 are shown, container 360 may include any number of holes or may include an array of one or more holes.

[0106] Figure 7A An isometric view of docking station 700 is shown. Figure 7B An isometric view of docking station 700 is shown. Let's discuss it together. Figure 7A and 7B . Figure 7B The diagram shows docking station 700 with its cover removed. Docking station 700 may be schematically arranged similarly to docking station 500B. Any docking station discussed above or below may be modified to include features of docking station 700.

[0107] Figure 7A and 7BThe docking station 700 is shown to include a housing 746, which includes an outer wall 750. The docking station 700 may also include a base 748, which includes a platform 754. The docking station 700 may also include a debris port 756, which is connected to the platform 754 and configured to dock with a vacuum port of a mobile cleaning robot. The docking station 700 may also include a container 760, which may be at least partially located within the housing 746.

[0108] The docking station 700 may also include a top portion or cover assembly 752, which can be attached to the upper portion of the housing 746, such as to the outer wall 750, wherein the cover assembly 752 may be movable to provide user access to the internal components. The cover assembly 752 may optionally be user-removable. Figure 7A The docking station 700 is also shown to include a cover 762, which can be attached to a cover assembly 752 and can move between an open position and a closed position, the open position being used to expose the container 760 to the environment, such as... Figure 7A As shown.

[0109] Figure 7A and 7B It is also shown that docking station 700 may include debris conduit 768, which may be connected to debris port 756 and may be configured to discharge airflow into container 760. Figure 7B The outer wall 750 is also shown to include a support 788 configured to engage at least a portion of a flange 786 of the container 760 to at least partially support the container 760 within the housing 746. The support 788 may define one or more ports 792a-792n extending through the support 788. Ports 792 may be positioned around the periphery of the support 788 and the flange 786. Ports 792 may be configured to receive at least a portion of an airflow passing through them and to fluidly connect a first volume V1 to a second volume V2, wherein the first volume V1 may be at least partially defined by the container 760 and the second volume V2 may be at least partially defined by the housing 746.

[0110] Figure 7A The docking station 700 is also shown to include an exhaust duct 766 connected to an exhaust filter 772. The exhaust duct 766 and the exhaust filter 772 can be configured to receive at least a portion of the airflow passing through it before the airflow exits from the housing 746. In such a configuration, the exhaust filter 772 can be configured to filter the airflow as it exits the housing, which can help limit debris emissions into the environment and help mitigate the odor of debris or other litter or waste being emitted into the environment.

[0111] Figure 7CAn isometric view of a portion of docking station 700 is shown. Figure 7D An isometric view of a portion of docking station 700 is shown. Let's discuss this further. Figure 7C and 7D . Figure 7C and Figure 7D The docking station 700 can be connected to the one discussed above. Figure 7A and Figure 7B The docking station is consistent with 700. Figure 7C and 7D Additional details about docking station 700 were discussed. For example, Figure 7C It is shown that when the lid is opened, the opening 776 can be opened to expose the container 760 to the environment, so that garbage or waste can be stored in the container 760 by the user.

[0112] Figure 7C and 7D The debris conduit 768 is also shown to include a fixed portion 794 and a movable portion 796. The fixed portion 794 can be connected to a housing, and the movable portion 796 can be connected to the underside of a cover 762. The movable portion 796 can move together with the cover 762 between an open position and a closed position. When the cover is in the closed position, the movable portion 796 can form a seal with the fixed portion 794, allowing airflow to travel from the fixed portion 794 and through the movable portion 796 downward toward the container 760. Alternatively, a seal can be formed between the fixed portion 794 and the movable portion 796 by means of a gasket or by means of a tapered interface or by means of a portion of the fixed portion 794 inserted into the movable portion 796 (or a portion of the movable portion 796 inserted into the fixed portion 794).

[0113] Figure 7E An isometric view of a portion of docking station 700 is shown. Figure 7F An isometric view of a portion of docking station 700 is shown. Figure 7E and 7F The docking station 700 can connect with Figures 7A-7D The docking station is consistent with 700. Figure 7E and 7F Additional details about docking station 700 were discussed. For example, Figure 7E and Figure 7F A blower 764 connected to an exhaust duct 766 is shown. The blower can be operated to generate an airflow to flow through a debris duct 768 and into a container 760, where debris is deposited, and where the airflow can continue to the exhaust duct 766.

[0114] Figure 7E and 7FAn exhaust grille 798 is also shown, which may be located upstream of the inlet filter 774 and may be configured to receive at least a portion of the airflow passing through it. The inlet filter 774 may be configured to filter at least a portion of the airflow before it enters the blower 764. Figure 7F It is also shown that the base 748 may include exhaust ports 799a-799n. Exhaust port 799 may be configured to receive at least a portion of the airflow passing through it, such as airflow from port 792, to allow air to flow through exhaust grille 798 and inlet filter 774 and to blower 764 before being discharged to the environment through opening 776 and exhaust filter 772. Optionally, exhaust port 799 may deliver airflow between exhaust grille 798 and inlet filter 774, such as... Figure 7G As shown.

[0115] Figure 7G A cross-sectional side view of a portion of docking station 700 is shown. Figure 7G The docking station 700 can connect with Figures 7A-7F The docking station is consistent with 700. Figure 7G Additional details of docking station 700 are shown. For example, Figure 7G The diagram illustrates how the discharge port 799 can deliver an airflow between the discharge grille 798 and the inlet filter 774, for example, when the airflow enters a third volume V3, which may be a third volume at least partially defined by the outer wall 750 and the other wall of the container 760 or docking station 700. Figure 7G It is also shown that the first volume V1 and the second volume V2 can be at least partially fluidly connected.

[0116] In some example operations, airflow can enter the debris port 756 and flow through the debris duct 768 before being discharged by a movable portion 796 within the outer wall 750 of the container 746. The airflow can be discharged downwards from the movable portion 796 to deposit debris from the robot 100 into the container 760. The airflow can continue through port 792 of the support 788 and can enter a second volume V2, which may be outside the container 760 and within the outer wall 750. The airflow can pass through the discharge grille 798 or discharge port 799 and can continue through the inlet filter 774 to reach the blower 764 before being discharged from the outer wall 750.

[0117] Figure 8A An isometric view of docking station 800 is shown. Figure 8B An isometric view of docking station 800 is shown. Let's discuss it together. Figure 8A and 8B Docking station 800 can be schematically arranged similarly to docking station 500C. Figures 8A-8B(And the other accompanying figures below) Docking station 800 is discussed in more detail. Any docking station discussed above or below may be modified to include the features of docking station 800.

[0118] Figure 8A and 8B The docking station 800 is shown to include a container 846, which includes an outer wall 850. The docking station 800 may also include a base 848, which includes a platform 854. Similar to the docking stations discussed above, the container 846 may be connected to the base 848. The docking station 800 may also include a debris port 856, which is connected to the platform 854 and configured to dock with a vacuum port of a mobile cleaning robot. The docking station 800 may also include a container 860, which may be at least partially located within the container 846.

[0119] The docking station 800 may also include a top or cover assembly 852 which may be hingedly connected to the upper part of the container 846, such as to the outer wall 850, wherein the cover assembly 852 may optionally be user removable. Figures 8A-8B It is also shown that docking station 800 may include a cover 862, which may be part of cover assembly 852 or may be part of cover assembly 852. Cover 862 may be in an open position that exposes container 860 to the environment. Figures 8A to 8B Move between the indicated closing positions.

[0120] Figure 8A and 8B The docking station 800 is also shown to include a debris duct 868 connected to a debris port 856 at a platform 854. The debris duct 868 may extend through a base 848 and a housing 846 and may enter a cover assembly 852. The docking station 800 may also include a discharge duct 866 connected to the cover assembly 852 and to a blower 864, which may be a fan (e.g., centrifugal or axial, etc.) configured to generate an airflow. The blower 864 may be configured to agitate the airflow to move debris from the robot 100 through the debris port and into the debris duct 868. The cover assembly 852 may use filtration, inertial separation, etc., to separate debris from the airflow in order to extract debris from the airflow. The airflow may then exit the cover assembly 852 and travel down the discharge duct 866 to the blower 864 before exiting the docking station 800.

[0121] Figure 8C An isometric view of a portion of docking station 800 is shown. Figure 8D An isometric view of a portion of docking station 800 is shown. Let's discuss this further. Figure 8C and 8D . Figure 8C and8D The docking station 800 can connect with Figure 8A and 8B The docking station is consistent with 800. Figure 8C and 8D Additional details about docking station 800 were discussed.

[0122] For example, Figure 8C The debris conduit 868 is shown to include a discharge portion 802, which can be the discharge outlet of the debris conduit 868. The discharge portion 802 can be configured to mate with a hole 804 in the cover assembly 852 to form a seal between them when the cover 862 is in the closed position, for example, by inserting the discharge portion 802 into the hole 804. When the cover 862 is in the open position, the discharge portion 802 can be disengaged from the cover 862, such as... Figure 8A As shown. When the cover 862 is in the closed position, the seal formed between the discharge portion 802 and the hole 804 can be achieved via a gasket, a radial seal, a face seal, an insertable geometry from one to the other, or some other sealing method.

[0123] Similarly, the discharge conduit 866 may include an inlet portion 806 located at the inlet of the discharge conduit 866. When the cover 862 is moved to the closed position, the discharge conduit 866 can be inserted into the opening 808 of the cover 862, and when the cover 862 is in the open position, the discharge conduit 866 can be separated from the cover 862, such as... Figure 8A As shown. Optionally, opening 808 may be covered by one or more screens, pre-filters, etc., to help limit debris movement into opening 808. When cover 862 is in the closed position, inlet portion 806 and opening 808 may form a seal between them, for example via a gasket, radial seal, face seal, or via inlet portion 806 inserted into opening 808. Dock station 800 may also include inlet filter 874, which may be at least partially located within discharge duct 866 and may be configured to receive at least a portion of the airflow passing through it. Inlet filter 874 may be configured to filter at least a portion of the airflow before at least a portion of the airflow enters blower 864.

[0124] Figure 8C and 8D It is also shown that cover 862 may include a body 810 and a door 812 (similar to door 570), wherein door 812 may be hingedly connected to body 810, for example via a single hinge, multiple hinges, one or more sliding features or other mechanisms, so that door 812 can move relative to body 810, and door 812 may be in a closed position relative to body 810. Figure 8C (as shown) and open position ( Figure 8DThe door 812 moves between the lid assembly 852 and the container 860. In the closed position, the lid assembly 852 can retain debris therein, and in the open position, the body 810 can release debris from the lid assembly 852 into the container 860. The door 812 can be releasably secured to the body 810, for example, via a manual actuator or an actuator operated by a controller.

[0125] In some example operations, blower 864 can be operated to generate an airflow to pull debris from a mobile cleaning robot (e.g., robot 100). The airflow can travel through debris conduit 868 and exit discharge section 802 and enter orifice 804 for collecting debris within cover assembly 852. The airflow can exit cover assembly 852 through opening 808 and can enter inlet section 806, passing through inlet filter 874. Features within cover assembly 852 can be operated to separate debris from the airflow, such as a breathable bag for trapping debris internally, a conventional filtration system with one or more filter elements, inertial separation designs (such as centrifugal debris separation), etc. Including one or more of these systems within cover assembly 852 can help ensure that debris is adequately removed from the airflow before reaching blower 864. Furthermore, when using a bag, cover assembly 852 can include one or more features within body 810 to interface with the port of the bag and to help retain the bag within cover assembly 852. When a filter is used, the cover assembly 852 may include one or more features to insert or deposit debris into the cover assembly 852 as far away from the opening 808 as possible. The cover assembly 852 may also include one or more features within the body 810 to help manage airflow through the cover assembly 852. When inertial separation is used, the cover assembly 852 may include one or more features within the body 810 to generate the desired airflow, thereby creating separation of debris from the airflow within the body 810.

[0126] Airflow can then pass through blower 864 and exit container 846. During this process, debris can be collected within a first volume V1, at least partially defined by cover assembly 852. When blower 864 is closed, door 812 can be operated to release debris from cover assembly 852 into a second volume V2, at least partially defined by container 860. In this way, when door 812 is closed to collect debris in the first volume V1, the second volume V2 can be fluidly isolated or separated from the first volume V1, and when door is opened to allow disposal of debris from the first volume V1 into the second volume V2, the second volume V2 can be exposed to (or connected to) the first volume V1.

[0127] Optionally, the cover assembly 852 may include an actuator communicating with a controller (e.g., controller 111 or controller 380), and the controller may operate the actuator to open or close the door 812 to release debris into the container 860. Each time the blower 864 is operated to deposit debris into the cover assembly 852, the controller may operate the actuator to open the door 812 to release debris, or the controller may operate the actuator to open the door 812 to release debris at intervals or in batches. For example, the blower 864 may be used to open the door 812 every two or three evacuations. Alternatively, the door 812 may be opened based on an estimated amount of debris in the cover assembly 852. For example, the docking station 800 may include one or more pressure sensors, and the door 812 may be operated open to allow the cover assembly 852 to be emptied based on the controller detecting a pressure change (e.g., upstream of the blower 864), and can determine that the cover assembly 852 is full, and when the controller determines that the cover assembly 852 is full, the controller may open the door 812.

[0128] In an example where a bag is used within the cover assembly 852, the cover assembly 852 can be lifted and the door 812 can be manually opened to remove the air-permeable debris collection bag from the cover assembly 852. Alternatively, the door 812 can be automatically actuated by a device to remove or replace the bag.

[0129] Figure 8E An isometric view of a portion of docking station 800 is shown. Figure 8E The docking station 800 can connect with Figures 8A-8D The docking station is consistent with 800. Figure 8E A cover 862 is shown, with the door removed to expose the first volume V1. In this view, an opening 808 is shown that can receive an inlet portion 806 or interface with an inlet portion 806 or an inlet filter 874 to form a seal between the cover 862 and the inlet portion 806.

[0130] Figure 8E A debris outlet pipe 814 connected to the bore 804 is also shown. The debris outlet pipe 814 may be fixed to the bore 804, or the bore 804 may be part of the debris outlet pipe 814, such that a discharge portion 802 may be inserted into the debris outlet pipe 814, or the debris outlet pipe 814 may be inserted into the discharge portion 802. Alternatively, the debris outlet pipe 814 and the discharge portion 802 may be fitted together via a gasket to form a seal therebetween. Figure 8E It is also shown that the debris outlet pipe 814 may include one or more elbows or bends to direct the discharge of the debris outlet pipe 814 away from the opening 808 into the cover 862, in order to help limit short-circuit airflow through the cover 862.

[0131] Figure 8F An isometric view of a portion of docking station 800 is shown. Figure 8G An isometric view of a portion of the docking station is shown. The docking station 800 may be similar to the docking station 800 discussed above, except that the docking station 800 may include a top 852a, which includes two doors. Any docking station discussed above or below may be modified to include the feature of the top 852a.

[0132] The top 852a may be constructed similarly to the cover assembly 852, but may include doors 812a and 812b, which may each be pivotally connected (or hingedly connected) to the body 810 (or cover 862) of the cover assembly 852. Doors 812a and 812b may be in a closed position (e.g., Figure 8F (as shown) and opening position (as shown) Figure 8G The cover assembly 852 may include a gasket or seal between doors 812a and 812b to form a seal between doors 812a and 812b. Doors 812a and 812b may also form a seal with the body 810. Optionally, doors 812a and 812b may overlap to form a seal. By using two doors, the distance that doors 812a and 812b extend into the container 860 can be reduced.

[0133] Figure 9 An isometric view of a portion of docking station 900 is shown. Docking station 900 may be similar to the docking stations discussed above; docking station 900 may include a top portion or cover assembly 952, which includes a sliding door. Any docking station discussed above or below may be modified to include features of docking station 900.

[0134] The cover assembly 952 may be or may include a cover 962, which may be pivotally connected to a container (e.g., container 846) to provide access to the container (e.g., container 860). The cover 962 may include a body 910 and doors 912a and 912b connected thereto. Doors 912a and 912b may be configured in a closed position (e.g., ...). Figure 9 The cover 952 can move between an open position and a closed position, where the closed position seals the volume of the cover assembly 952, and the open position allows debris to be released from the cover assembly 952 into the container. The cover assembly 952 may also include an actuator 916, which may be user-operable to move doors 912a and 912b between the open and closed positions. The actuator 916 may be configured to move one or both doors 912a and 912b to release debris from the cover assembly 952 into the container. Optionally, the cover 962 may include fewer or more doors, such as one, three, four, five, etc. Using sliding doors can limit the extension of the doors toward the container. Optionally, the actuator 916 may be biased to return doors 912a and 912b to the closed position when the actuator 916 is released.

[0135] Figure 10 An isometric view of docking station 1000 is shown. Docking station 1000 may be similar to the docking stations discussed above; docking station 1000 may include a top portion or cover assembly 1052, which includes a revolving door or cylinder valve. Any docking station discussed above or below may be modified to include features of docking station 1000.

[0136] More specifically, the cover assembly 1052 can be connected to the box 1046, for example, to its outer wall 1050. The box 1046 can support a container 1060 therein, which is configured to receive debris, trash, waste, etc. The cover 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 relative to the housing 1020 and the body 1010. The actuator 1024 can be a manual (user-operated) actuator or can communicate with a controller (e.g., controller 380).

[0137] In operation, an airflow can be generated to flow through the distributor assembly 1018, for example, via a blower or fan (e.g., blower 864). As the airflow passes through the distributor assembly 1018, the distributor assembly 1018 can collect debris from the airflow. When needed, the user (or controller) can operate actuator 1024 to rotate a rotating door 1022 within the distributor assembly 1018 to release debris into the container 1060. By including the rotating door 1022, 1000 can avoid or limit any component extending into the container 1060 during the deposition of debris into the container 1060, thereby helping to limit the interaction between the rotating door 1022 and the debris, garbage, or waste within the container 1060.

[0138] Figure 11 An isometric view of docking station 1100 is shown. Docking station 1100 may be similar to the docking stations discussed above; docking station 1100 may include components for pad cleaning. Any docking station discussed above or below may be modified to include features of docking station 1100.

[0139] Docking station 1100 may include a base 1148 connected to container 1146, wherein the container may include an outer wall 1150 configured to at least partially support container 1160 therein. Docking station 1100 may also include a cover assembly 1152, which may be or may include a cover movable between an open position and a closed position for access to container 1160, for example, to store trash or waste therein. Docking station 1100 may also include an emptying system to deposit debris from a mobile cleaning robot into container 1160, as described above.

[0140] In addition, docking station 1100 may include various components to support pad cleaning, such as agitator 1126, which is configured to engage and scrub the cleaning pad (e.g., mop pad 142). Docking station 1100 may also include actuator 1128, which can communicate with a controller and is operable to move (e.g., rotate) agitator 1126. 1100 may also include a clean water tank 1130 and a wastewater tank 1132, wherein the clean water tank can deliver fluid for pad cleaning or filling tanks of robot 100, and wherein the wastewater tank 1132 can receive wastewater from agitator 1126 or a reservoir of docking station 1100.

[0141] Docking station 1100 may also include a user interface 1161, which may be connected to an external portion of the housing 1146 or the cover assembly 1152 (or another portion of docking station 1100). The user interface 1161 may be any display or input device. For example, the user interface 1161 may be a touchscreen display. In another example, the user interface 1161 may include lights, buttons, or switches. The user interface 1161 may be configured to display information (such as via a display screen or lights), such as information received from a controller (e.g., controller 380). The user interface 1161 may be configured to receive input from a user (such as via a display screen or buttons), and the user interface 1161 may transmit the received input to the controller. The user interface 1161 may be operated by the user to perform various functions of docking station 1100, such as emptying the robot, opening the cover 1162 (or the upper part), emptying debris from cover assembly 1152 into container 1160, cleaning pads, etc.

[0142] Figure 12 An isometric view of docking station 1200 is shown. Docking station 1200 may be similar to docking station 800 discussed above, such that the same reference numerals may denote the same parts. Docking station 1200 may include a cleaning port configured to receive debris from the floor. Any docking station discussed above or below may include features of docking station 1200.

[0143] More specifically, docking station 1200 may include a cleaning port 1234, which may extend at least partially through the base 1248 or housing 1246 of docking station 1200. Cleaning port 1234 may be connected to cleaning conduit 1236, which may be connected to debris conduit 1268. Docking station 1200 may also include a valve 1238, which may be movable to direct at least a portion of the airflow through cleaning port 1234 or debris port 1256, as per [reference needed]. Figure 13A and 13B The docking station 1200 may also include an actuator 1240 operable to move valve 1238 or operate blower 1264 to generate airflow. Optionally, actuator 1240 may be a push button, and valve 1238 and blower 1264 may be connected to a controller such that the controller can receive signals from the push button to operate valve 1238 and blower 1264.

[0144] Figure 13A A schematic diagram of valve 1238 of docking station 1200 is shown. Figure 13B A schematic diagram of valve 1238 of docking station 1200 is shown. Let's discuss it together. Figure 13A and 13B . Figure 13A and 13B The diagram shows that valve 1238 can be connected to debris port 1256, cleaning pipe 1236, and debris pipe 1268. (As shown) Figure 13A As shown, a valve can be operated to block the flow through the debris port 1256, thereby allowing airflow (D) to flow from the cleaning pipe 1236 and into the debris pipe 1268. Figure 13B As shown, a valve can be operated to block the flow through the cleaning pipe 1236, thereby allowing airflow (D) to flow from the debris port 1256 and into the debris pipe 1268.

[0145] In this way, docking station 1200 can be used to discharge debris from the mobile cleaning robot into container 1260, and docking station 1200 can be used to empty debris from the floor of the environment into container 1260, thereby allowing docking station 1200 to perform several cleaning functions.

[0146] System Example Figure 14A block diagram of an example machine 1400 is shown, on which any one or more techniques (e.g., methods) discussed herein can be performed. As described herein, the example may include logic or components or mechanisms in machine 1400, or may be operated by logic or components or mechanisms in machine 1400. A circuit (e.g., a processing circuit) is a collection of circuits implemented in the tangible entity of machine 1400, which includes hardware (e.g., simple circuits, gates, logic, etc.). Circuit membership can be flexible over time. A circuit includes members that can perform a specified operation individually or in combination during operation. In the example, the hardware of the circuit may be immutably designed to perform a specific operation (e.g., hardwired). In the example, the hardware of the circuit may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.), including machine-readable media that are physically modified (e.g., magnetically, electrically, movable placement of invariant aggregated particles, etc.) to encode instructions for a specific operation. When connecting physical components, the underlying electrical characteristics of the hardware configuration change, for example, from an insulator to a conductor, and vice versa. Instructions enable embedded hardware (e.g., an execution unit or loading mechanism) to create members of a circuit within the hardware via variable connections, portions of which perform specific operations during operation. Thus, in the example, a machine-readable medium element is either part of the circuit or another component communicatively coupled to the circuit during device operation. In the example, any physical component can be used in more than one member of more than one circuit. For example, during operation, an execution unit may be used at one point in time in a first circuit of a first circuit system and reused at a different time by a second circuit in the first circuit system, or by a third circuit in the second circuit system. Additional examples of these components for machine 1400 are provided below.

[0147] In alternative embodiments, machine 1400 may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, machine 1400 may operate as a server machine, a client machine, or both in a server-client network environment. In the example, machine 1400 may act as a peer-to-peer (P2P) (or other distributed) network environment. Machine 1400 may be a personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, web device, network router, switch, or bridge, or any machine capable of executing instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Furthermore, although only a single machine is shown, the term "machine" should also be considered to include any collection of machines that individually or jointly execute a set (or more) of instructions to perform any one or more methods discussed herein, such as cloud computing, Software as a Service (SaaS), and other computer cluster configurations.

[0148] Machine (e.g., computer system) 1400 may include hardware processor 1402 (e.g., central processing unit (CPU), graphics processing unit (GPU), hardware processor core, or any combination thereof), main memory 1404, static memory (e.g., memory or storage device for firmware, microcode, basic input / output (BIOS), unified extensible firmware interface (UEFI), etc.) 1406, and mass storage device 1408 (e.g., hard disk drive, tape drive, flash memory device, or other block device), some or all of which may communicate with each other via interconnect link (e.g., bus) 1430. Machine 1400 may also include display unit 1410, alphanumeric input device 1412 (e.g., keyboard), and user interface (UI) navigation device 1414 (e.g., mouse). In this example, display unit 1410, input device 1412, and UI navigation device 1414 may be a touchscreen display. Machine 1400 may additionally include a storage device (e.g., a drive unit) 1408, a signal generation device 1418 (e.g., a speaker), a network interface device 1420, and one or more sensors 1416 (e.g., a Global Positioning System (GPS) sensor, a compass, an accelerometer, or other sensors). Machine 1400 may include an output controller 1428, which is connected serially (e.g., Universal Serial Bus (USB)), in parallel, or otherwise wired or wirelessly (e.g., infrared (IR), near field communication (NFC), etc.) to communicate with or control one or more peripheral devices (e.g., a printer, a card reader, etc.).

[0149] The registers of processor 1402, main memory 1404, static memory 1406, or mass storage device 1408 may be or may include machine-readable medium 1422 on which one or more sets of data structures or instructions 1424 (e.g., software) embody or be utilized by any one or more of the technologies or functions described herein. During execution of instructions 1424 by machine 1400, instructions 1424 may also reside wholly or at least partially within any register of processor 1402, main memory 1404, static memory 1406, or mass storage device 1408. In the example, one or any combination of hardware processor 1402, main memory 1404, static memory 1406, or mass storage device 1408 may constitute machine-readable medium 1422. Although machine-readable medium 1422 is shown as a single medium, the term "machine-readable medium" may include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) configured to store one or more instructions 1424.

[0150] The term "machine-readable medium" can include any medium capable of storing, encoding, or carrying instructions for execution by machine 1400 and causing machine 1400 to perform any one or more of the technologies disclosed herein, or capable of storing, encoding, or carrying data structures used by or associated with such instructions. Examples of non-limiting machine-readable media can include solid-state memory, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon-based signals, sound signals, etc.). In examples, non-transitory machine-readable media includes machine-readable media having a plurality of particles having invariant (e.g., rest) mass and thus being a composition of matter. Therefore, a non-transitory machine-readable medium is a machine-readable medium that does not include transiently 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; disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

[0151] Commands 1424 can be transmitted or received on communication network 1426 via network interface device 1420 using any of a variety of transport protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Example communication networks may include local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), conventional telephone (POTS) networks, and wireless data networks (e.g., the IEEE 802.11 family of standards known as Wi-Fi®, the IEEE 802.16 family of standards known as WiMax®), the IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, etc. In this example, network interface device 1420 may include one or more physical jacks (e.g., Ethernet, coaxial, or telephone jacks) or one or more antennas for connection to communication network 1426. In the example, network interface device 1420 may include multiple antennas to perform wireless communication using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or multiple-input single-output (MISO) technologies. The term "transmission medium" should be considered to include any intangible medium capable of storing, encoding, or carrying instructions executable by machine 1400, and includes digital or analog communication signals or other intangible media to facilitate communication of such software. The transmission medium is a machine-readable medium.

[0152] Notes and Examples The following non-limiting examples detail certain aspects of this topic to address challenges and provide benefits discussed herein.

[0153] 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 box connected to the base and at least partially located above the base, the box including: a debris conduit connected to the debris port and configured to receive an airflow from the mobile cleaning robot; a cover assembly connected to the debris conduit and configured to receive at least a portion of the airflow from the mobile cleaning robot; and a container connected to the cover assembly, the container being configured to receive at least a portion of debris from the airflow or the cover assembly.

[0154] In Example 2, the subject of Example 1 may optionally include a debris blower connected to the box or the base, the debris blower being operable to generate the airflow that travels from the mobile cleaning robot, through the debris port and debris pipe, through the cover assembly, and exits the container.

[0155] In Example 3, the subject of Example 2 may optionally include an exhaust duct and a filter connected to the box, the exhaust duct being configured to receive at least a portion of the airflow passing through it, and the filter being connected to the exhaust duct and configured to receive at least a portion of the airflow passing through it.

[0156] In Example 4, the subject of any one or more of Examples 1-3 may optionally include a pad washing system comprising an agitator that engages with the cleaning pad of the mobile cleaning robot; a cleaning water tank configured to deliver cleaning liquid to the mobile cleaning robot and the pad washing system; and a wastewater tank configured to receive wastewater from the pad washing system.

[0157] In Example 5, the subject of any one or more of Examples 1-4 may optionally include a cleaning port that extends at least partially through the base or housing and is connected to a debris duct; and a valve that is movable to direct at least a portion of the airflow through the cleaning port or the debris port.

[0158] In Example 6, the subject of any one or more of Examples 1-5 may optionally include a lid that is attached to the container and movable between an open position and a closed position, in which the container is open to the environment.

[0159] In Example 7, any one or more of the subjects in Examples 1-6 may optionally include a discharge conduit connected to the cover assembly and the container, the discharge conduit being configured to receive at least a portion of an airflow passing through it; a first volume connected to the debris conduit, the first volume being at least partially defined by the container; and a second volume connected to the debris conduit and at least partially fluidly isolated from the first volume, the second volume being at least partially defined by the box.

[0160] In Example 8, the subject of Example 7 optionally includes a port connected to the discharge pipe, which is configured to fluidly connect a second volume to the discharge pipe.

[0161] In Example 9, the subject matter of any one or more of Examples 6-8 may optionally include: a lid actuator connected to a lid; a lid sensor connected to the box or the lid, the lid sensor being configured to generate a lid signal; and a controller communicating with the lid actuator, the controller being configured to operate the lid actuator based on the lid signal.

[0162] In Example 10, the subject of Example 9 may optionally include a deflector attached to the lid, the deflector being configured to interact with at least a portion of the airflow to direct debris toward the container.

[0163] In Example 11, the subject of any one or more of Examples 1-10 may optionally include a discharge duct connected to a box, the discharge duct being configured to receive at least a portion of an airflow passing through it; a first volume connected to the debris duct, the first volume being at least partially defined by the container; and a second volume at least partially fluidly connected to the first volume, the second volume being at least partially defined by the box.

[0164] In Example 12, the subject of Example 11 optionally includes a lid that is attached to the container and is movable between an open position and a closed position, in which the container is open to the environment.

[0165] In Example 13, the subject of Example 12 may optionally include a debris conduit comprising a fixed portion connected to a box and a movable portion connected to the underside of a lid, the movable portion being movable together with the lid between an open position and a closed position.

[0166] In Example 14, the subject matter of any one or more of Examples 11-13 may optionally include the box comprising: a support member that can engage with a portion of the container to support the container within the box, the support member defining a plurality of ports configured to receive at least a portion of an airflow therethrough.

[0167] In Example 15, the subject of any one or more of Examples 1-14 may optionally include a discharge duct connected to a box, the discharge duct being configured to receive at least a portion of an airflow passing through it; a first volume connected to the debris duct, the first volume being at least partially defined by the debris duct; and a second volume at least partially fluidly isolated from the first volume, the second volume being at least partially defined by a container.

[0168] In Example 16, any one or more of the subjects in Examples 11-15 may optionally include a lid that is attached to a container and movable between an open position and a closed position, in which the container is open to the environment and in the closed position, the lid forms at least a portion of a lid assembly.

[0169] In Example 17, the subject matter of Example 16 may optionally include: a door connected to a lid and a lid assembly, operable to move between a closed position and an open position, the closed position for retaining debris within the lid and lid assembly, and the open position for dispensing debris from the lid assembly and lid into a container; and a door actuator connected to the door and operable to move the door between the open position and the closed position.

[0170] In Example 18, the subject matter of Example 17 may optionally include a cover sensor connected to a box or lid, the cover sensor being configured to generate a cover signal; and a controller communicating with a door actuator, the controller being configured to operate the door actuator based on the cover signal.

[0171] In Example 19, the subject matter of any one or more of Examples 17-18 may optionally include: wherein a lid and a container form a seal therebetween to at least partially fluidly isolate the first volume from the second volume.

[0172] 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 box connected to the base and at least partially located above the base, the box including: a debris conduit connected to the debris port; a cover assembly connected to the debris conduit; and a container connected to the cover assembly, the container being configured to receive debris from the cover assembly or the debris conduit.

[0173] In Example 21, the subject of Example 20 may optionally include a debris blower connected to the container or the base, the debris blower being operable to generate an airflow that travels from the mobile cleaning robot, through the debris port and the debris conduit, through the cover assembly, and exits the box.

[0174] In Example 22, the subject of Example 21 may optionally include an exhaust duct and a filter connected to the container, the exhaust duct being configured to receive at least a portion of the airflow passing through it, and the filter being connected to the exhaust duct and configured to receive at least a portion of the airflow passing through it.

[0175] In Example 23, any one or any combination of the apparatus or method of Examples 1-22 may optionally be configured such that all elements or options are available or selectable.

[0176] The above detailed description includes reference to the accompanying drawings, which form part of the detailed description. The drawings illustrate, by way of illustration, specific embodiments in which the present invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. Furthermore, the inventors also contemplate examples using any combination or arrangement of those elements (or one or more aspects thereof) shown or described 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.

[0177] In the event of any inconsistency between the usage in this document and any other document incorporated by reference, the usage in this document shall prevail.

[0178] In this document, as is common in patent documents, the term “a” is used to include one or more, independent of any other instance or use of “at least one” or “one or more.” In this document, the term “or” is used to refer to a non-exclusive “or,” such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise stated. In this document, the terms “comprising” and “wherein” are used as concise English equivalents to the corresponding terms “including” and “wherein.” Furthermore, in the following claims, the terms “comprising” and “including” are open-ended, meaning that a system, apparatus, article, composition, formulation, or process that includes elements other than those listed after such terms in the claims is still considered to fall within the scope of that claim. Additionally, in the appended claims, the terms “first,” “second,” and “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their contents.

[0179] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used by those skilled in the art upon reading the above description. An abstract is provided to conform to 37C.FR §1.72(b) to allow the reader to quickly determine the nature of the technical disclosure. It should be understood that the abstract is not intended to interpret or limit the scope or meaning of the claims. Furthermore, in the above detailed description, various features may be grouped together to simplify the disclosure. This should not be construed as meaning that any unclaimed disclosed features are essential to any claim. Rather, the subject matter of the utility model may lie in all features of fewer than the particular disclosed embodiment. Therefore, the appended claims are thus incorporated into the detailed description as examples or embodiments, wherein each claim is an independent, separate embodiment, and such embodiments are contemplated to be combined with each other in various combinations or arrangements. The scope of the utility model should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A docking station for a mobile cleaning robot, characterized in that, The docking station includes: A base configured to receive at least a portion thereon of the mobile cleaning robot, the base including a debris port; and A box, the box being connected to the base and at least partially located above the base, the box comprising: A debris duct, which is connected to the debris port and configured to receive airflow from the mobile cleaning robot; A cover assembly, which is connected to the debris duct and configured to receive at least a portion of the airflow from the mobile cleaning robot; and A container connected to the cover assembly, the container being configured to receive at least a portion of debris from the airflow or the cover assembly.

2. The docking station according to claim 1, characterized in that, include: A debris blower is connected to the housing or the base. The debris blower is operable to generate an airflow that travels from the mobile cleaning robot, through the debris port and the debris pipe, through the cover assembly, and out of the housing.

3. The docking station according to claim 2, characterized in that, include: An exhaust duct, connected to the housing, the exhaust duct configured to receive at least a portion of the airflow passing through it, and A filter, which is connected to the exhaust duct and configured to receive at least a portion of the airflow passing through it.

4. The docking station according to any one of claims 1-3, characterized in that, include: A pad washing system, comprising an agitator capable of engaging with the cleaning pad of the mobile cleaning robot; A cleaning tank, configured to deliver cleaning liquid to the mobile cleaning robot and the pad washing system; and A wastewater tank is configured to receive wastewater from the pad washing system.

5. The docking station according to any one of claims 1-3, characterized in that, include: A cleaning port, which extends at least partially through the base or the housing, is connected to the debris conduit; and A valve that is movable to direct at least a portion of the airflow through the cleaning port or the debris port.

6. The docking station according to any one of claims 1-3, characterized in that, include: A lid, which is attached to the container and is movable between an open position and a closed position, in which the container is open to the environment.

7. The docking station according to any one of claims 1-3, characterized in that, include: An exhaust duct, connected to the cover assembly and the container, the exhaust duct being configured to receive at least a portion of the airflow passing through it; A first volume, connected to the debris conduit, the first volume being at least partially defined by the container; and A second volume, which is connected to the debris conduit and is at least partially fluidly isolated from the first volume, is at least partially defined by the box.

8. The docking station according to claim 7, comprising: A port connected to the discharge pipe, the port being configured to fluidly connect the second volumetric volume to the discharge pipe.

9. The docking station according to any one of claims 1-3 and 8, characterized in that, include: A cover actuator, which is connected to the cover; A lid sensor, connected to the box or the lid, the lid sensor being configured to generate a lid signal; and A controller that communicates with the cover actuator is configured to operate the cover actuator based on the cover signal.

10. The docking station according to claim 9, characterized in that, include: A deflector, connected to the cover, is configured to interact with at least a portion of the airflow to direct debris toward the container.

11. The docking station according to claim 1, characterized in that, include: An exhaust duct connected to the housing, the exhaust duct being configured to receive at least a portion of the airflow passing through it; A first volume, connected to the debris conduit, the first volume being at least partially defined by the container; and A second volume, which is at least partially fluidly connected to the first volume, is at least partially defined by the box.

12. The docking station according to claim 11, characterized in that, include: A lid, which is attached to the container and is movable between an open position and a closed position, in which the container is open to the environment.

13. The docking station according to claim 12, characterized in that, The debris conduit includes a fixed portion connected to the box and a movable portion connected to the underside of the cover, the movable portion being movable together with the cover between the open position and the closed position.

14. The docking station according to any one of claims 11-13, characterized in that, The box includes: A support member capable of engaging with a portion of the container to support the container within the box, the support member defining a plurality of ports configured to receive at least a portion of the airflow passing through it.

15. The docking station according to claim 1, characterized in that, include: An exhaust duct connected to the housing, the exhaust duct being configured to receive at least a portion of the airflow passing through it; A first volume, connected to the debris conduit, the first volume being at least partially defined by the debris conduit; and A second volume, which is at least partially fluidly isolated from the first volume, is at least partially defined by the container.

16. The docking station according to claim 15, characterized in that, include: A lid, which is attached to the container and is movable between an open position and a closed position, wherein the container is open to the environment in the open position, and the lid forms at least a part of the lid assembly in the closed position.

17. The docking station according to claim 16, characterized in that, include: A door connected to a lid and a lid assembly, the door being operable to move between a closed position and an open position, the closed position for retaining debris within the lid and the lid assembly, and the open position for dispensing debris from the lid assembly and the lid into the container; as well as A door actuator is connected to the door and is operable to move the door between the open position and the closed position.

18. The docking station according to claim 17, characterized in that, include: A lid sensor, connected to the box or the lid, the lid sensor being configured to generate a lid signal; and A controller that communicates with the door actuator is configured to operate the door actuator based on the cover signal.

19. The docking station according to claim 17 or 18, characterized in that, The cover and the cover assembly form a seal between the cover and the cover assembly to at least partially fluidly isolate the first volume and the second volume.

20. A docking station for a mobile cleaning robot, characterized in that, The docking station includes: A base configured to receive at least a portion thereon of the mobile cleaning robot, the base including a debris port; and A box, the box being connected to the base and at least partially located above the base, the box comprising: A debris conduit connected to the debris port; A cover assembly, which is connected to the debris conduit; and A container connected to the cover assembly, the container being configured to receive debris from the cover assembly or the debris conduit.

21. The docking station according to claim 20, characterized in that, include: A debris blower, connected to the housing or the base, is operable to generate an airflow that travels from the mobile cleaning robot, through the debris port and the debris pipe, through the cover assembly, and exits the housing.

22. The docking station according to claim 21, characterized in that, include: An exhaust duct, connected to the housing, the exhaust duct configured to receive at least a portion of the airflow passing through it, and A filter, which is connected to the exhaust duct and configured to receive at least a portion of the airflow passing through it.

Images