Pad replacement system for robot vacuum cleaners

Abstract

A docking station for a mobile cleaning robot can include a housing. The housing can define or include a pad receptacle and a pad dispenser. The pad receptacle can be configured to receive soiled pads from a pad tray of the mobile cleaning robot. The pad dispenser can be configured to provide unused pads to the pad tray of the mobile cleaning robot.

Description

[Technical field]

[0001] Priority Application Claiming priority This patent application claims the benefit of U.S. patent application Ser. No. 63 / 195,794 to Brian Doughty, entitled “PAD CHANGING SYSTEM FOR ROBOTIC VACUUM CLEANERS,” filed June 2, 2021, which is incorporated by reference in its entirety under 35 U.S.C. § 119(e). Summary of the Invention [Means for solving the problem]

[0002] Some autonomous cleaning robots, often referred to as two-in-one robots or vacuums, can include both a vacuum system and a mop system that can enable the robot to perform both mopping and vacuuming actions (such as simultaneously or alternately). Some two-in-one robots include a pad-type mop system located behind the vacuum suction that allows the robot to extract debris from a floor surface immediately prior to mopping the surface with the pad. These systems can be effective for cleaning hard surfaces that may require both debris extraction and mopping. However, the use of a pad-type mop system often requires the mop pad to be replaced one or more times during a cleaning task, depending on the size of the area to be cleaned and how dirty the area is. Pad replacement can also be performed after a task is completed, such as to prepare the robot for the next task. A user can replace the mop pad on a mobile cleaning robot, but having the user attend to the mobile cleaning robot while it is working can increase cleaning time.

[0003] The present disclosure helps address these problems by providing a mobile cleaning robot and a docking station configured to autonomously replace the mop pads of the mobile cleaning robot before, during, or after a mopping task. For example, the mobile cleaning robot can navigate to the docking station and discard a dirty or dusty mop pad from the pad tray of the mobile cleaning robot in a pad receptacle. The mobile cleaning robot can then move to attach an unused or clean mop pad to the pad tray from a storage area (such as a pad dispenser) that houses clean pads within or on the docking station. Such a system can help reduce user interaction with the mop robot or two-in-one mobile cleaning robot and can help increase the autonomy of the robot. Such a system can also be used for dedicated mopping robots.

[0004] The above description is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive description of the invention. The following description is included to provide further information regarding this patent application.

[0005] In the drawings, which are not necessarily to scale, like numbers may describe like components in different views. Like numbers with different letter suffixes may represent different instances of like components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. [Brief description of the drawings]

[0006] [Figure 1A] FIG. 2 is an isometric view of the mobile cleaning robot in a first condition. [Figure 1B] FIG. 2 is an isometric view of the mobile cleaning robot in a second condition. [Figure 1C] FIG. 13 is an isometric view of the mobile cleaning robot in a third condition. [Figure 2A]FIG. 2 is a perspective view of a docking station. [Figure 2B] FIG. 2 is a perspective view of a docking station. [Figure 2C] FIG. 2 is a perspective view of a docking station. [Figure 3A] FIG. 1 is an isometric view of a mobile cleaning robot and a docking station. [Figure 3B] FIG. 1 is an isometric view of a mobile cleaning robot and a docking station. [Figure 4A] FIG. 2 is an isometric top view of a pad tray and pad of a mobile cleaning robot. [Figure 4B] FIG. 2 is an isometric exploded view of a pad tray and pad of the mobile cleaning robot. [Figure 5A] FIG. 13 is an isometric bottom view of the pad tray. [Figure 5B] FIG. 2 is an isometric top view of the pad. [Figure 6A] FIG. 2 is a perspective side view of a pad tray and a pad of the mobile cleaning robot. [Figure 6B] FIG. 2 is a perspective side view of a pad tray and a pad of the mobile cleaning robot. [Figure 7A] FIG. 2 is a side view of a pad tray and a pad of the mobile cleaning robot. [Figure 7B] FIG. 2 is a bottom view of the pad tray and pad of the mobile cleaning robot. [Figure 8A] FIG. 2 is an isometric side view of a pad tray and pad of a mobile cleaning robot. [Figure 8B] FIG. 2 is an enlarged isometric side view of a pad tray and pad of a mobile cleaning robot. [Figure 9A] FIG. 2 is a bottom perspective view of a pad assembly of the mobile cleaning robot. [Figure 9B] FIG. 2 is a bottom perspective view of a pad assembly of the mobile cleaning robot. [Figure 10] FIG. 2 is a perspective view of a mobile cleaning robot and a docking station. [Figure 11] FIG. 2 is a perspective view of a mobile cleaning robot and a docking station. [Figure 12A] FIG. 2 is a top view of the mobile cleaning robot and the docking station. [Figure 12B] FIG. 2 is a top view of the mobile cleaning robot and the docking station. [Figure 13A] FIG. 2 is a front view of the mobile cleaning robot and the docking station. [Figure 13B] FIG. 2 is a side view of the mobile cleaning robot and a docking station. [Figure 13C] FIG. 2 is a front view of the mobile cleaning robot and the docking station. [Figure 13D] FIG. 2 is a side view of the mobile cleaning robot and a docking station. [Figure 13E] FIG. 2 is a front view of the mobile cleaning robot and the docking station. [Figure 13F] FIG. 2 is a side view of the mobile cleaning robot and a docking station. [Figure 14] FIG. 2 is a side view of the mobile cleaning robot and a docking station. [Figure 15] FIG. 2 is a front view of the mobile cleaning robot and the docking station. [Figure 16] FIG. 1 is a schematic diagram of a mobile cleaning robot network. [Figure 17] 1 is a schematic diagram of a method for operating a mobile cleaning robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] FIG 1A shows an isometric view of the mobile cleaning robot 100 in a first condition. FIG 1B shows an isometric view of the mobile cleaning robot 100 in a second condition. FIG 1C shows an isometric view of the mobile cleaning robot 100 in a third condition. FIG 1A-FIG 1C also show forward and backward direction indicators. FIG 1A-FIG 1C are described together below.

[0008] The mobile cleaning robot 100 can include a body 102 and a mopping system 104. The mopping system 104 can include arms 106a and 106b (collectively referred to as arms 106) and a pad plate assembly 108. The robot 100 can also include a bumper 110 and other features such as a suction section (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., a motor, a gear train, and wheels), casters, sensors, etc., as shown in U.S. Patent Application No. 63 / 088,544 to Michael G. Sack, entitled "Two In One Mobile Cleaning Robot," filed on October 7, 2020 (Attorney Docket No. 5329.225PRV), which is incorporated herein by reference in its entirety. The proximal portions of the arms 106a and 106b can be connected to an internal drive system (as shown and described in U.S. Patent Application No. 63 / 088,544). The distal portion of the arm 106 may be connected to a pad plate assembly 108 .

[0009] In some example operations, the robot 100 can operate the arm 106 to move the pad plate assembly 108 between a stored position (shown in FIG. 1A), an extended position (shown in FIG. 1B), and an operating or cleaning position (shown in FIG. 1C). Optionally, the robot 100 can operate the arm 106 to move the pad plate assembly 108 at any position between the operating position and the stored position. The robot 100 can optionally be stored at any position.

[0010] In the stowed position, the robot 100 can perform only vacuuming operations. In the operating position, the robot can perform wet or dry mopping and vacuuming operations, or only mopping operations. In the extended position (and similar positions), the robot 100 can replace mop pads in the pad assembly, as described in more detail below.

[0011] Fig. 2A shows a perspective view of the docking station 112. Fig. 2B shows a perspective view of the docking station 112. Fig. 2C shows a perspective view of the docking station 112. Figs. 2A-2C are described together below.

[0012] The docking station 112 can include a housing 114 that defines a lower opening 116 and an upper opening 118. The housing 114 can include or define a pad receptacle 120 and a pad dispenser 122. The pad receptacle 120 can include a pad bin 124, a sensor 126, and a release 128 (shown in FIGS. 2A and 2C). The pad dispenser 122 can include a shoe 130 (shown in terms labeled 130a and 130b in FIG. 2B), a biasing element 132 (shown in FIG. 2B), and a shoe sensor 134 (shown in FIG. 2B).

[0013] The housing 114 may be a rigid or semi-rigid body constructed of one or more of metal, plastic, foam, ceramic, etc. The lower opening 116 of the housing 114 may be configured (e.g., sized or shaped) to receive the pad plate assembly 108 of the robot 100 therein, such as to allow the robot to discard soiled pads from a pad tray of the pad plate assembly 108 into a pad receptacle 120. The upper opening 118 of the housing 114 may be configured (e.g., sized or shaped) to receive the pad plate assembly 108 of the robot 100 therein, such as to allow the robot 100 to remove or receive unused pads.

[0014] The pad receptacle 120 may be a pad receptacle configured to receive soiled pads from a pad tray of the mobile cleaning robot (e.g., a pad tray of the pad plate assembly 108 of the robot 100). The bin 124 may be located near the opening 116 and may be a container configured to receive pads, such as soiled pads, from the mobile cleaning robot 100. The bin 124 may optionally be removable from the housing 114 of the docking station 112. The sensor 126 may be connected to the housing 114 or the bin 124 and configured to generate a signal or indicator based on a detected pad fill state in the pad receptacle, such as based on the contents of the bin 124. For example, the sensor 126 may be a pressure sensor, an optical sensor, or the like. The release 128 may be a protrusion or other feature connected to a rear portion (for example) of the housing 114 and configured to engage a portion of the pad plate assembly 108, such as to release a soiled mop pad from the pad plate assembly 108.

[0015] The pad dispenser 122 can be a pad dispenser configured to provide unused pads to a pad tray (such as a pad tray of the pad plate assembly 108) of the mobile cleaning robot. The shoe 130 can be configured to support one or more unused pads, can be disposed near the opening 118, and can be movable relative to the housing 114. The shoe 130 can be connected to the housing 114 via a biasing element 132, which can be a compression spring or the like. As shown in FIG. 2B, the biasing element 132 can bias the shoe 130 toward the opening 118 (the access side of the docking station) to, such as to move a clean pad, such as to move the shoe 130 to location 130b.

[0016] The shoe sensor 134 can be coupled to the housing 114 or the shoe 130 and can be configured to generate a signal or indicator based on a detected dispenser state of the shoe 130, such as based on the location of the shoe 130 relative to the housing 114 or the opening 118. For example, the sensor 126 can be a pressure sensor, an optical sensor, a Hall effect sensor, etc.

[0017] 2A, the shoe 130 can be tilted so that it is offset relative to the vertical or direction G of gravity at an angle of θ. This angle can allow the pad plate assembly 108 to drop onto a clean pad with the assistance of gravity, as described in more detail below.

[0018] The ribs or protrusions 128 may be connected to the housing 114 or the bin 124 and may be located near the rear of the docking station 112. The ribs 128 may be engageable with the pad tray of the pad plate assembly 108 to release the soiled pad from the pad tray. When the soiled pad is released from the pad tray, the soiled pad may fall into the bin 124. Optionally, if the magnets of the pad plate assembly 108 do not release the pad assembly 140 from the tray (if the soiled pad remains associated with the tray), the robot 100 may navigate to scrape the pad from the tray of the pad plate assembly 108 to discard the pad assembly 140 into the bin 124.

[0019] FIG. 3A shows an isometric view of the mobile cleaning robot 100 and the docking station 112. FIG. 3B shows an isometric view of the mobile cleaning robot and the docking station 112. FIG. 3A and FIG. 3B are described together below. The robot 100 and the docking station 112 may be similar to the robot 100 and the docking station of FIG. 1A-FIG. 2B described above. FIG. 3A and FIG. 3B show how the robot 100 and the docking station 112 interact.

[0020] For example, FIG. 3A shows the pad plate assembly 108 and the arm 106 of the robot 100 in an extended position, such that the pad assembly is elevated off the floor surface 50 and not in the stored position (shown in FIG. 1A). The robot 100 can operate or navigate, e.g., autonomously, to move at least a portion of the pad plate assembly 108 into the lower opening 116. The pad plate assembly 108 can be moved rearward until an actuator (e.g., a button) 136 of the pad assembly engages with a protrusion 128 of the housing 114. Such engagement can cause movement of the actuator 136 relative to the body 138 of the pad plate assembly 108 and the robot 100, which can release soiled pads attached to the pad plate assembly 108 from the pad plate assembly 108 into the bins 124 of the pad receptacle 120.

[0021] As shown in FIG. 3B , following release of the soiled pad into the pad receptacle 120, the robot 100 can move the pad plate assembly 108 from the lower opening 116 (following release of the pad) and can move the arm 106 to position the body 138 of the pad plate assembly 108 at least partially within the upper opening 118 for engagement with the pad assembly 140 supported by the shoe 130. Because the body 138 is free to tilt relative to the arm 106, engagement of the body 138 with the pad assembly 140 can rotate the body 138 upwards or backwards. The robot 100 can move or navigate to cause further upward movement of the body 138 relative to the arm 106 until the pad assembly 140 is aligned with the body 138. Once the pad assembly 140 is properly aligned with the body 138, the body 138 can fall with the assistance of gravity to connect the pad assembly 140 to the body 138, such as through a magnetic coupling, as described in more detail below. To assist in magnetically coupling the pad assembly 140 to the body 138, the robot 100 can translate or rotate (optionally repeatedly) to help obtain proper alignment and coupling.

[0022] Once the pad assembly 140 is secured to the body 138, the robot 100 can move the pad plate assembly 108 (including the pad assembly 140) out the opening 118 and away from the docking station 112, allowing the robot 100 to begin or continue a cleaning (e.g., mopping) task or activity. In this manner, the robot 100 can use the docking station 112 to discard soiled pads and retrieve unused or clean pads.

[0023] FIG. 4A shows an isometric top view of the pad plate assembly 108 of the mobile cleaning robot 100. The pad plate assembly 108 of the robot 100 may be similar to the pad tray described above. FIG. 4A shows further details of the pad assembly. For example, FIG. 4A shows that the pad plate assembly 108 can include a pad tray 135 including a body 138 and an actuator 136. The pad assembly 140 can include a pad backer 142 and a mop pad 144. The pad backer 142 can include mating features 146a and 146b and an iron plate 148.

[0024] The pad backer 142 can be a rigid or semi-rigid body made of plastic or non-ferrous materials. The pad backer 142 can be relatively wide with a small thickness to reduce weight and cost. The mop pad 144 can be a cleaning medium such as microfiber, cotton, bamboo, nylon, etc. Although the mop pad 144 is called a mop pad, which implies wet mopping, the mop pad 144 can be a dry mop pad, or in general, any cleaning pad. The mop pad 144 can be connected to the pad backer 142.

[0025] The mating features 146a and 146b can be features extending from the top surface 145 of the padbacker 142, where the mating features 146 can be insertable into recesses in the body 138 to align the padbacker 142 with the pad tray 135 and allow coupling of the padbacker 142 with the tray 135. Optionally, the mating features 146a and 146b can be inclined from front to back, such as with a ramp 147, so that the underside of the pad tray 135 can rise above the features, such as to avoid unused pads getting caught on the features when attached to the pad tray 135. The iron plate 148 can be a metal plate made of an iron material such that the plate 148 can be magnetically attracted by the magnet of the actuator 136. The plate 148 can be connected to the padbacker 142, can be located under the surface 145, or can be embedded in the padbacker 142.

[0026] FIG. 4B shows an isometric exploded view of the pad plate assembly 108. The pad plate assembly 108 of the robot 100 may be similar to the pad tray described above. FIG. 4B shows further details of the pad assembly. For example, FIG. 4B shows an opening 150 in the body 138 of the pad tray 135. The opening 150 may support an actuator 136, which may be an assembly of parts.

[0027] The actuator 136 may include a magnet (or magnet array 152), a translation member 154, and guides 156a and 156b. The guides 156a and 156b may be connected to the body 138 on each side of the opening 150. Ears or tabs 158a and 158b of the translation member 154 may be inserted into slots or channels 160a and 160b of the guides 156a and 156b, respectively. Such engagement may allow for limiting the translation of the sliding member 154 relative to the guides 156a and 156b, and thus relative to the body 138 to which the guide 156 is connected. The guides 156a and 156b may also include springs or biasing elements (e.g., compression springs, leaf springs, wave springs, etc.) that are engaged or engageable with the translation member 154 and the guide 156. The biasing elements may bias the actuator toward the rear of the tray 135.

[0028] The magnet 152 can be connected to the translation member 154 such that movement of the translation member 154 causes movement of the magnet array 152. The magnet 152 can be an array of magnets or a single magnet. In either case, the magnet 152 can be configured such that the magnetic flux of the magnet 152 does not stretch (or minimally stretches beyond) the ferrous plate 148 when the ferrous plate 148 is coupled to the magnet 152. The magnet 152 can be coupled to the ferrous plate 148 to secure the pad assembly 140 to the pad plate assembly 108. Movement of the translation member 154 can cause movement of the magnet 152 relative to the pad assembly 140, which can cause misalignment between the magnet 152 and the ferrous plate 148, causing the ferrous plate 148 to decouple from the magnet and cause separation of the pad assembly 140 from the pad plate assembly 108.

[0029] Also, optionally, the magnet 152 can be configured such that when the pad backer 142 of the pad assembly 140 is at a distance equal to or greater than the height h of the mating feature 146 from the underside of the tray 135, the force generated by the magnet 152 to attract the plate 148 is not strong enough to move the pad assembly 140 to couple the ferrous plate 148 to the magnet 152. In this manner, mis-coupling of the pad assembly 140 and the tray 135 can be reduced by ensuring that the ferrous plate 148 does not couple with the magnet 152 until the mating features 146a and 146b are aligned and at least partially inserted into the mating holes of the tray (as shown in FIGS. 5A and 5B below).

[0030] Figure 5A shows an isometric bottom view of the pad tray 535 of the pad plate assembly 508. Figure 5B shows an isometric top view of the pad assembly 540 of the pad plate assembly 508. Figures 5A and 5B are described together below. The pad tray 535 and pad assembly 540 of the pad plate assembly 508 may be similar to the pad plate assembly 108 described above, and like numbers may represent like components.

[0031] 5A illustrates how the body 538 of the tray 535 can include recessed portions 564a and 564b that can be recessed into the bottom surface 562 of the tray 535 and can be configured (e.g., sized and shaped) to at least partially receive mating features 546a and 546b (shown in FIG. 5B ) of the pad assembly 540, for example, to orient the mop pad assembly 540 relative to the tray 535. Such orientation allows the magnet 552 of the actuator 536 to magnetically couple with the plate 548 of the pad assembly 540 (e.g., a magnetically attractive member embedded in the pad assembly). Insertion of the features 546a and 546b into the recessed portions 564a and 564b can also align the wing magnets illustrated and described below.

[0032] 5A also shows a gap G between the actuator 536 and the body 538 of the tray 535, which can define the range over which the translation member 554 can move relative to the body 538. As shown in FIG. 5A, when the actuator 536 (located within the opening 550 in the body 538) is in a fully extended (and biased) position, the magnet 552 can be alignable with the plate 548 when the mating features 546a and 546b are within the recesses 564a and 564b, respectively.

[0033] When the translation member is moved to reduce or eliminate the gap G, the magnet 552 can move away from the plate 548 (and optionally align with the opening 549), but the mating feature 546 and recessed portion limit the relative movement of the pad assembly 540 and the pad tray 535. This action causes the magnet 552 and the plate 548 to separate and decouple, allowing the pad assembly 540 to separate from the tray 535, such as under gravity. In this manner, when the actuator 536 is actuated, such as by engagement with the protrusion 128 of the docking station 112, the pad assembly 540 (or pad assembly 140) can drop into the pad receptacle 120. The actuator 536 can be biased toward a rear position (shown in FIG. 5A ), so that the actuator can return to the rear position as the robot 100 is navigated such that the protrusion 128 is no longer in contact with the actuator 536 (or actuator 136).

[0034] Figure 6A shows a perspective side view of the pad tray 135 and pad assembly 140 of the mobile cleaning robot 100. Figure 6B shows a perspective side view of the pad tray 135 and pad assembly 140 of the mobile cleaning robot 100. The robot 100 of Figures 6A and 6B may be similar to the robot 100 described above with respect to Figures 1A-4B, and Figures 6A-6B show how the tray 135 can mate with the pad assembly 140.

[0035] 6A shows how the arm 106 can be extended to engage the tray 135 with the pad assembly 140 when the pad assembly 140 is supported by the shoe 130 of the docking station 112. As the robot 100 moves the tray 135 along the pad assembly 140, the tray 135 can engage with ramps 147a and 147b of mating features 146a and 146b to avoid getting caught on lips or other features of the tray 135.

[0036] 6B, the robot 100 can move the tray 135 until the protrusions 146a and 146b are positioned within receiving slots (similar to slots 564a and 564b) of the tray 135, allowing the magnets 152 to couple to the ferrous plate 148 to secure the pad assembly 140 to the tray 135. Following coupling of the tray 135 with the pad assembly 140, the robot 100 can move the pad assembly 140 and the tray 135 from the shoe 130.

[0037] Figure 7A shows a side view of the pad tray 135 and pad assembly 140 of the mobile cleaning robot 100. Figure 7B shows a bottom view of the pad tray 135 of the mobile cleaning robot 100. The robot 100 of Figures 7A and 7B may be similar to the robot 100 described above with respect to Figures 1A-4B and 6A-6B, and Figures 7A-7B show how the tray 135 can mate with the pad assembly 140.

[0038] 7A shows that the tray 135 can include a second magnet 166 (or wing magnet), and the pad backer 142 of the pad assembly 140 can include a second ferrous plate or magnetically attracted portion 168. The ferrous plate 168 can be magnetically coupled to the second magnet 166 to secure the wing portion or front portion of the pad assembly 140 to the front portion or wing portion of the tray 135, which can help reduce detachment of the pad assembly 140 from the tray 135 caused by friction or engagement with objects during cleaning operations.

[0039] Magnets 166a and 166b (shown in FIG. 7B ) can generate a binding force (e.g., with secondary plate 168) that is strong enough to limit separation of the wings or front portion of pad assembly 140 from tray 135, but weak enough to separate pad assembly 140 from tray 135 when actuator 136 is actuated to disengage magnet 152 from plate 148. For example, wing magnet 166 can be configured (e.g., sized and shaped) to support approximately 10%, 15%, 20%, 25%, etc., of the weight of the pad. Optionally, wing magnet 166 can include a multi-pole array of magnets to increase short-term adhesion and decrease long-term adhesion between magnet 166 and plate 168.

[0040] FIG 8A shows an isometric side view of the pad tray 135 and pad assembly 140 of the mobile cleaning robot 100. FIG 8B shows an enlarged isometric side view of the pad tray 135 and pad assembly 140 of the mobile cleaning robot 100. The pad tray 135 and pad assembly 140 of the mobile cleaning robot 100 of FIG 8A and FIG 8B may be similar to the pad tray 135 and pad assembly 140 of the mobile cleaning robot 100 of FIG 1A-FIG 4B and FIG 6A-FIG 7B described above, with FIG 8A-FIG 8B showing additional features of the pad plate assembly 108.

[0041] For example, FIGS. 8A and 8B show that a front portion of the pad (wing) 170 can form an angle θ2 with respect to the floor surface 50 when the mop pad 144 engages the floor. Such an angle of rise in the wing can help reduce separation of the pad assembly 140 from the tray 135 caused by friction or engagement with objects during a cleaning operation. More specifically, the body 138 of the pad tray 135 can include a recess 172 that can receive a sloped portion 174 of the pad backer 142 of the pad assembly 140. The sloped portion 176 of the mop pad 144 can connect to the sloped portion 174 of the pad backer 142 to together form a rise or sloped wing 170 at the angle θ2. The angle θ2 can help ensure that debris, sills, or other items that may engage the leading edge of the mop pad 144 do not cause separation of the pad assembly 140 from the tray 135. The angle θ2 can be between 30 and 60 degrees in some examples.

[0042] 9A shows a bottom perspective view of a pad plate assembly 908 of a mobile cleaning robot. FIG. 9B shows a bottom perspective view of the pad plate assembly 908. The pad plate assembly 908 can include a pad tray 935 similar to that described above, which can differ in that the tray can secure the pad using a flap mechanism. Any of the pad assemblies described above or below can be modified to include such a pad tray.

[0043] The pad tray 935 can include an actuator 936 including a catch 978 and flaps 980a and 980b. A body 938 of the pad tray 935 can include a slot 982 and a catch opening 984. The slot 982 can extend into a bottom surface of the body 938 and can be configured to receive a portion of a pad therein, such as a mounting card. The catch opening 984 can be disposed within the slot 982 and can extend at least partially through the body 938 and can be aligned with at least a portion of the actuator 936, such as the catch 978. The catch 978 can be rotatably positioned within the catch opening 984 and can be actuated by the actuator 936. The flaps 980a and 980b can be connected to the body 938 on either side of the slot 982. The flaps 980a and 980b can be rotatably connected to the body 938 and can be actuated or actuated by the actuator 936.

[0044] In operation, the actuator 936 can be biased to a non-actuated position as shown in FIG. 9A, and the catch 978 and flap 980 can hold a portion of the mounting card therein. When it is desired to release a pad (e.g., a soiled pad), the actuator 936 can be operated (as described with respect to FIGS. 2A and 2B), the flaps 980a and 980b can be opened, and the catch 978 can be rotated to release the mounting card from the tray 935. The catch 978 and flap 980 can remain in the open position until a mounting card or other item contacts the catch 978, which can rotate the catch 978 and close the flap 980, for example, to secure the mounting card of a clean pad. Such a pad tray can be used by a mobile cleaning robot to discard soiled pads and autonomously retrieve unused pads.

[0045] 10 shows a perspective view of a mobile cleaning robot 1000 and a docking station 1012. The mobile cleaning robot 1000 and docking station 1012 may be similar to those described above, except that the robot 1000 and docking station 1012 may include a magnet for removing soiled pads from the robot. Any of the robots and docking stations described above or below may be modified to include such a system.

[0046] The robot 1000 can include a body 1002, drive wheels 1003, and a suction portion 1005. The body can include a magnet 1086 or an array of magnets. Optionally, the robot 1000 can include a pad assembly (such as the pad plate assembly 108 described above) that can include the magnet 1086. The magnet 1086 can be configured to interact with an iron plate 1048 of the pad 1040 for coupling of the pad 1040 with the robot 1000. Optionally, the pad 1040 can include a hole or recess 1049 such that the iron plate 1048 can be accessible from both sides of the pad 1040.

[0047] The docking station 1012 can include a pad receptacle 1088 and an ejection magnet 1090. During ejection of a soiled pad from the robot 100, the robot 100 can navigate to align the plate 1048 of the pad 1040 with the ejection magnet 1090. The docking station 1012 can then translate or move the ejection magnet 1090 to engage the plate 1048, such as from an underside of the robot 100. The ejection magnet 1090 can be configured to generate a stronger magnetic force on the plate 1048 than the magnet 1086, such that the ejection magnet 1090 can pull the plate 1048 and pad 1040 away from the magnet 1086 and the robot 1000.

[0048] After discarding the pad 1040, the robot 1000 can navigate to the pad dispenser 1091 of the docking station 1012, where the magnet 1086 can attract the pad iron plate 1048b of the unused pad 1040b held in the dispenser 1091. The arms or flaps 1092a and 1092b of the dispenser 1091 can enable the robot 1000 to retrieve the pad 1040b as the robot 1000 exits the docking station 1012. In this manner, the docking station can discard the soiled pads and provide the robot 1000 with unused pads.

[0049] 11 shows a perspective view of a mobile cleaning robot 1100 and a docking station 1112. The mobile cleaning robot 1100 and docking station 1112 may be similar to those described above, except that the robot 1100 and docking station 1112 may include a conveyor system for changing pads. Any of the robots and docking stations described above or below may be modified to include such a system.

[0050] The conveyor system can include a delivery device 1196, which can be a spring or biasing element configured to deliver an unused pad 1140b to replace the soiled pad 1140a. The delivery device 1196 can deliver the unused pad 1140b to a track or rack 1198 of the conveyor system 1194. A drive gear or pinion 1197 can engage with the track 1198 to translate or move the track 1198. The track 1198 can move or translate to move the soiled pad 1140a from the robot 1102 to deliver the unused pad 1140b. The soiled pad 1140a can move along the track to a soiled pad location 1140a1, where the track can discard the pad into a receptacle, as indicated by the pad at location 1140a2. In this manner, the docking station 1112 can discard the soiled pad and provide the unused pad to the robot 1100.

[0051] FIG. 12A shows a top view of the mobile cleaning robot 1200 and docking station 1212. FIG. 12B shows a top view of the mobile cleaning robot 1200 and docking station 1212. FIG. 12A and FIG. 12B are described together below. The mobile cleaning robot 1200 and docking station 1212 may be similar to those described above, except that the robot 1200 and docking station 1212 may include a rotating pad replacement system. Any of the robots and docking stations described above or below may be modified to include such a system.

[0052] The robot 1200 can be configured to extend the arms 1206a and 1206b to a pad exchange position that is different from the cleaning or storage position. The tray 1235 of the pad assembly 1208 of the robot 1200 can include a curved or arcuate track 1299. The curvature of the track 1299 can be configured such that its center of curvature T is concentric with the center of rotation C of the robot 1200 when the robot 1200 holds the tray 1235 in the extended position (as shown in FIG. 12A ) and such that its center of curvature T is not concentric with the center of rotation C of the robot 1200 when the robot 1200 holds the tray 1235 in the cleaning or storage position (as shown in FIG. 12B ). This can help prevent the pad 1240 from being accidentally removed from the tray 1235 during a cleaning operation while still allowing the pad 1240 to be replaced during an exchange operation.

[0053] During such an exchange operation, the docking station 1212 can present a new pad 1240 in position for receipt by the track 1299. The robot 1200 can extend the arm 1206 to position the tray 1235 in a position such that the center of curvature T of the track 1299 is concentric with the center of rotation C of the robot 1200. The robot 1200 can rotate to engage the clean pad 1240 with the soiled pad. Such engagement during rotation can push the soiled pad out of the track 1299 and push the unused pad 1240 into the track 1299. Once the new pad is positioned in the track 1299, the robot 1200 can move the arm 1206 and tray 1235 to a cleaning or storage position and navigate away from the docking station 1212.

[0054] FIG. 13A shows a front view of the mobile cleaning robot and a portion of the docking station 1312. FIG. 13B shows a side view of the mobile cleaning robot and a portion of the docking station 1312. FIG. 13C shows a front view of the mobile cleaning robot and a portion of the docking station 1312. FIG. 13D shows a side view of the mobile cleaning robot and a portion of the docking station 1312. FIG. 13E shows a front view of the mobile cleaning robot and a portion of the docking station 1312. FIG. 13F shows a side view of the mobile cleaning robot and a portion of the docking station 1312. FIGS. 13A-13F are described together below. The mobile cleaning robot and docking station 1312 may be similar to those described above, except that the robot and docking station 1312 may include a pair of hooks for removing and replacing pads. Any of the robots and docking stations described above or below may be modified to include such a system.

[0055] 13A and 13B show that the arms 1306a and 1306b can be moved to insert the pad assembly 1308 of the pad 1340a into the pad receptacle 1320 of the docking station 1312. When in the docking station, the arms 1306a and 1306b can be engaged by the hooks 1351a and 1351b. The arms 1306a and 1306b can be made of a flexible material such as spring steel, Nitinol, or the like. Because the arms 1306 are flexible, the hooks 1351a and 1351b can be moved outward (such as by an actuator of the docking station 1312) to release the pad 1340a from the arms 1306, as shown in FIG. 13C. When the pad 1340a is released from the arm 1306, the pad 1340a can drop into the pad receptacle 1320, as shown in FIG. 13D. Optionally, the arms 1306 can be hinged with springs or the like that bias the arms 1306 toward each other and toward the center of the pad 1340.

[0056] With arms 1306a and 1306b held apart by hooks 1351a and 1351b, arm 1306 and hook 1351 can move into pad dispenser 1322 above partition 1353, as shown in FIG. 13F. Arm 1306 can then be positioned (such as autonomously by the robot) to engage unused pad 1340b (of pads 1340b-1340n), as shown in FIG. 13E. Hook 1351 can then release arm 1306 to allow arm 1306 to secure pad 1340b. The robot can then navigate away from the docking station to complete or continue its cleaning task (e.g., mopping task).

[0057] 14 shows a side view of a mobile cleaning robot 1400 and a docking station 1412. The mobile cleaning robot 1400 and docking station 1412 may be similar to those described above, except that the robot 1400 and docking station 1412 may include a vertical conveyor pad exchange system. Any of the robots and docking stations described above or below may be modified to include such a system.

[0058] More specifically, a conveyor or track 1455 of the docking station 1412 can be used to engage a pad 1440a connected to a tray 1435 of the robot 1400. The conveyor 1455 can move a soiled pad 1440a to a pad receptacle and disengage the soiled pad 1440a. The conveyor 1455 can then retrieve a clean pad 1440b from the pad shoe 1430 (biased toward the conveyor 1455) of the pad dispenser 1422. The retrieved clean pad 1440b can then be transported by the conveyor 1455 to the tray 1435 for attachment or connection to the tray 1435.

[0059] 15 shows a front view of a mobile cleaning robot 1500 and a docking station 1512. The mobile cleaning robot 1500 and docking station 1512 may be similar to those described above, except that the robot 1500 and docking station 1512 may include a double-sided pad replacement system. Any of the robots and docking stations described above or below may be modified to include such a system.

[0060] More specifically, the pad receptacle 1520 can be positioned on a first side of the docking station 1512, and the pad dispenser 1522 can be positioned on a second side of the docking station. A first conveyor or track 1557 of the docking station 1512 can retrieve soiled pads 1540a from a tray 1535 connected to the arm 1506 of the robot 1500. The robot 1500 can then navigate (e.g., autonomously) to the pad dispenser 1522 of the docking station 1512, where a second conveyor 1559 can deliver unused pads 1540b (of pads 1540b-1540n) from the pad shoe 1530 of the pad dispenser 1522 to the tray 1535 of the robot 1500.

[0061] FIG. 16 shows a schematic diagram of a mobile cleaning robot network 1600 that enables network connectivity between the mobile robot 100 and one or more other devices, such as a mobile device 1604, a cloud computing system 1606, another autonomous robot 1608 separate from the mobile robot 100, or a docking station 1612.

[0062] Using the communications network 1600, the robot 100, the mobile device 1604, the robot 1608, and the cloud computing system 1606 can communicate with each other to send and receive data from each other. In some examples, the robot 100, the docking station 1612, or both the robot 100 and the docking station 1612 communicate with the mobile device 1604 through the cloud computing system 1606. Alternatively, or in addition, the robot 100, the docking station 1612, or both the robot 100 and the docking station 1612 can communicate directly with the mobile device 1604. The communications network 1600 can employ various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical-based, etc.) and network architectures (e.g., point-to-point or mesh networks).

[0063] In some examples, the mobile device 1604 can be a remote device that can be linked to the cloud computing system 1606 and can allow a user to provide input. The mobile device 1604 can include user input elements such as, for example, one or more of a touch screen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to input provided by a user. The mobile device 1604 can also include immersive media (e.g., virtual reality) with which the user can interact to provide input. The mobile device 1604 can be a virtual reality headset or head mounted display in these examples.

[0064] A user can provide input corresponding to a command to the mobile robot 100. In such a case, the mobile device 1604 can send a signal to the cloud computing system 1606 to cause the cloud computing system 1606 to send the command signal to the mobile robot 100. In some implementations, the mobile device 1604 can present an augmented reality image. In some implementations, the mobile device 1604 can be a smartphone, a laptop computer, a tablet computing device, or other mobile device.

[0065] In some examples, the communication network 1600 can include additional nodes. For example, the nodes of the communication network 1600 can include additional robots. The nodes of the communication network 1600 can also include network-connected devices capable of generating information about the environment 40. Such network-connected devices can 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. The network-connected devices can also include home cameras, smartphones, and the like.

[0066] In the communication network 1600, the wireless links may utilize various communication methods, protocols, and the like, such as, for example, Bluetooth class, Wi-Fi, Bluetooth-low-energy also known as BLE, 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), infrared channels, satellite bands, and the like. In some examples, the wireless links may include any cellular network standard used to communicate between mobile devices, including, but not limited to, standards recognized as 1G, 2G, 3G, 4G, 5G, and the like. When utilized, the network standard may be recognized as one or more generations of mobile telecommunications standards by meeting a specification or standard, such as, for example, a specification maintained by the International Telecommunications Union. For example, the 4G standard corresponds 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. The cellular network standards may use various channel access methods, such as FDMA, TDMA, CDMA, or SDMA.

[0067] According to some examples described herein, a dispenser sensor can be included in the docking station 1612 and configured to generate a dispenser status indicator based on a detected dispenser status in the shoe (e.g., shoe 130). A controller of the robot 100 (or other device of the network 1600) can be configured to determine a number of unused pads placed in the shoe (e.g., 130) based on the detected dispenser status of the status indicator of the docking station (e.g., 1612). Such a calculation or determination can be used by one or more components of the network 1600, such as to generate an alert when the dispenser is out of unused pads, or to avoid returning to the docking station when the dispenser is out of unused pads, or to generate an alert before a task including mopping is initiated.

[0068] In another example, the docking station 1612 can include a receptacle sensor. For example, the sensor 126 can be connected to the housing 114 or the bin 124 and can be configured to generate a signal or indicator based on a detected pad fill status in the pad receptacle, such as based on the contents of the bin 124. The sensor 126 can be a pressure sensor, an optical sensor, or the like. A controller of the robot 100, the docking station 1612, or another controller can communicate with the mobile cleaning robot and the receptacle fill status sensor 126 such that the controller can be configured to determine the number of pads placed in the pad receptacle based on the receptacle fill status indicator. Such a calculation or determination can be used by one or more components of the network 1600, such as to generate an alert when the receptacle is full of soiled pads, or to avoid returning to the docking station when the receptacle is full of soiled pads, or to generate an alert before a task including mopping is initiated.

[0069] The controller of any of the devices described herein may be used to perform any of the functions or operations described herein, such as a robot (e.g., 100), a docking station (e.g., 112), or any other operated component.

[0070] FIG. 17 shows a schematic diagram of method 1700. Method 1700 can be a method of operating a mobile cleaning robot to replace the mop pad of the mobile cleaning robot using a docking station. A more specific example of method 1700 is described below. Although the steps or operations of method 1700 are shown in a particular order for convenience and clarity, many of the operations described can be performed in a different order or in parallel without significantly affecting other operations. Method 1700 described herein includes operations performed by multiple different actors, devices, and / or systems. It is understood that a subset of the operations described in method 1700 can be attributed to a single actor, device, or system and can be considered as a separate and independent process or method.

[0071] Method 1700 may begin at step 1702, where the mobile cleaning robot may navigate to a docking station. For example, the mobile cleaning robot 100 may navigate to the docking station 1112. At step 1704, a pad tray of the mobile cleaning robot may be moved to a discard position. For example, the pad tray 135 of the robot 100 may be moved to a discard position. At step 1706, the mobile cleaning robot may navigate or move to insert the pad tray into a pad receptacle of the docking station. For example, the mobile cleaning robot 100 may navigate or move to insert the pad tray 135 into the pad receptacle of the docking station 112.

[0072] At step 1708, the mop pad may be released from the pad tray into the pad receptacle. For example, the mop pad assembly 140 may be released from the pad tray 135 into the pad receptacle 120. Optionally, releasing the mop pad from the pad tray into the pad receptacle may include navigating the mobile cleaning robot to engage a release button on the pad tray with a release post on the docking station.

[0073] In step 1710, the mobile cleaning robot can navigate to remove the pad tray from the pad receptacle of the docking station. For example, the mobile cleaning robot 1000 can navigate to remove the pad tray 135 from the pad receptacle 120 of the docking station 112.

[0074] At step 1712, the pad tray may be moved to an unloading position. For example, the robot 100 may move the pad tray 135 of the pad plate assembly 108 to the unloading position (e.g., by extending the arm 106). At step 1714, the mobile cleaning robot may navigate to a pad dispenser. For example, the mobile cleaning robot 100 may navigate or move to the pad dispenser 122 (e.g., to the pad shoe 130). At step 1716, an unused pad may be engaged with the pad tray. For example, the pad assembly 140 may be engaged with the pad tray 135 of the pad plate assembly 108. At step 1718, the mobile cleaning robot may move to perform an attachment between the unused pad and the unused tray. For example, the robot 100 may move (e.g., autonomously) to perform a connection between the pad assembly 140 and the tray 135. For example, the robot 100 may rock or vibrate to obtain alignment between the magnet 152 and the plate 148 and to align the mating features 146 of the pad assembly 140 with the recesses in the tray 135 .

[0075] Notes and Examples The following non-limiting examples detail particular aspects of the present subject matter to, among other things, solve the problems and provide the advantages described herein.

[0076] Example 1 is a docking station for a mobile cleaning robot, the docking station comprising a housing that defines or comprises at least a pad receptacle configured to receive a soiled pad from a pad tray of the mobile cleaning robot, and a pad dispenser configured to provide an unused pad to the pad tray of the mobile cleaning robot.

[0077] In Example 2, the subject matter of Example 1 optionally further includes a receptacle fill sensor coupled to the housing and configured to generate a receptacle fill status indicator based on a detected pad fill status in the pad receptacle.

[0078] In Example 3, the subject matter of Example 2 optionally includes a controller in communication with the mobile cleaning robot and the receptacle fill status sensor, the controller configured to determine a number of pads placed in the pad receptacle based on the receptacle fill status indicator.

[0079] In example 4, the subject matter of example 3 optionally includes, wherein the pad dispenser includes a shoe configured to support an unused pad, the shoe being biased toward an access side of the docking station.

[0080] In Example 5, the subject matter of Example 4 optionally includes a dispenser sensor connected to the housing and configured to generate a dispenser status indicator based on a detected dispenser status of the shoe, and the controller configured to determine a number of unused pads placed in the shoe based on the dispenser status indicator.

[0081] In Example 6, the subject matter of any one or more of Examples 4-5 optionally includes, the shoe being inclined so as to be offset relative to a vertical direction of gravity.

[0082] In Example 7, the subject matter of any one or more of Examples 1-6 optionally includes a rib disposed at or near the pad receptacle, the rib engageable with the pad tray to release soiled pads from the pad tray.

[0083] Example 8 is a mobile cleaning robot comprising a mobile cleaning robot comprising a main body, a drive system connected to the main body and operable to move the mobile cleaning robot around a floor surface, a link connected to the main body and movable relative to the main body, and a pad tray connected to the link, the pad tray configured to support a mop pad engageable with the floor surface, the pad tray including a pad release actuator engageable with the docking station to release the mop pad from the pad tray.

[0084] In Example 9, the subject matter of Example 8 optionally includes a magnet included in or connected to and movable with the actuator, the magnet engageable with a magnetically attractable first portion of the pad to retain the pad on the pad tray.

[0085] In Example 10, the subject matter of Example 9 optionally includes, wherein the pad tray includes a body, and the actuator is translatable relative to the body.

[0086] In Example 11, the subject matter of Example 10 optionally includes that the body includes a wing magnet disposed in a front portion of the pad tray, the wing magnet being engageable with a second magnetically attractable second portion of the pad to hold the pad on the pad tray.

[0087] In Example 12, the subject matter of Example 11 optionally includes wherein the body includes a recess configured to at least partially receive a protrusion of the mop pad to orient the mop pad such that the magnet magnetically engages a first magnetically attractable portion of the pad and the wing magnet magnetically engages a second magnetically attractable portion of the pad.

[0088] In Example 13, the subject matter of Example 12 optionally includes, wherein the magnet has a magnetic field strong enough to move the pad a first distance less than the height of the protrusion and not strong enough to move the pad a second distance greater than the height of the protrusion.

[0089] In Example 14, the subject matter of any one or more of Examples 9-13 optionally includes, wherein the magnet is a multi-pole magnet.

[0090] Example 15 is a mobile cleaning robot system comprising: a mobile cleaning robot having a main body, a drive system connected to the main body and operable to move the mobile cleaning robot around a floor surface, a pad tray configured to support a mop pad engageable with a floor surface, and a link connected to the mop pad assembly and the main body; and a docking station comprising a housing at least partially defined by a plurality of walls, a pad receptacle configured to receive soiled pads from the pad tray, and a pad dispenser configured to deliver unused pads to the pad tray.

[0091] In Example 16, the subject matter of Example 15 optionally includes a receptacle fill sensor coupled to the housing and configured to generate a receptacle fill status indicator based on a detected pad fill status in the pad receptacle.

[0092] In Example 17, the subject matter of Example 16 optionally includes a controller in communication with the mobile cleaning robot and the receptacle fill status sensor, the controller configured to determine the number of pads placed in the pad receptacle based on the receptacle fill status indicator.

[0093] In Example 18, the subject matter of Example 17 optionally includes, wherein the pad dispenser includes a shoe configured to support an unused pad, the shoe being biased toward an access side of the docking station.

[0094] In Example 19, the subject matter of Example 18 optionally includes a dispenser sensor connected to the housing and configured to generate a dispenser status indicator based on a detected dispenser status within the shoe, and the controller configured to determine a number of unused pads placed within the shoe based on the dispenser status indicator.

[0095] In Example 20, the subject matter of any one or more of Examples 15-19 optionally includes, wherein the pad tray includes a pad release actuator engageable with the docking station to release the mop pad from the pad tray.

[0096] In Example 21, the subject matter of Example 20 optionally includes a magnet included in or connected to and movable with the actuator, the magnet engageable with a magnetically attractable first portion of the pad to hold the pad on the pad tray.

[0097] In Example 22, the subject matter of Example 21 optionally includes, wherein the pad tray includes a body, and the actuator is translatable relative to the body.

[0098] In Example 23, the subject matter of Example 22 optionally includes that the body includes a wing magnet disposed in a front portion of the pad tray, the wing magnet being engageable with a second magnetically attractable second portion of the pad to retain the pad on the pad tray.

[0099] In Example 24, the subject matter of Example 23 optionally includes wherein the body includes a recess configured to at least partially receive a protrusion of the mop pad to orient the mop pad such that the magnet magnetically engages with a magnetically attractable first portion of the pad and the wing magnet magnetically engages with a magnetically attractable second portion of the pad.

[0100] Example 25 is a method for replacing a mop pad of a mobile cleaning robot using a docking station, the method including the steps of navigating the mobile cleaning robot to the docking station, releasing the mop pad from a pad tray into a pad receptacle of the docking station, engaging an unused pad with the pad tray, and moving the mobile cleaning robot to perform an attachment between the unused pad and the unused tray.

[0101] In Example 26, the subject matter of Example 25 optionally includes the steps of moving a pad tray of the mobile cleaning robot to a disposal position and navigating the mobile cleaning robot to insert the pad tray into the pad receptacle.

[0102] In Example 27, the subject matter of Example 26 optionally includes the steps of navigating the mobile cleaning robot to remove the pad tray from a pad receptacle of the docking station, moving the pad tray to an ejection position, and navigating the mobile cleaning robot to a pad dispenser of the docking station.

[0103] In Example 28, the subject matter of Example 27 optionally includes, wherein the step of releasing the mop pad from the pad tray into the pad receptacle includes a step of navigating the mobile cleaning robot to engage a release button on the pad tray with a release post on the docking station.

[0104] In Example 29, the apparatus or method of any one or any combination of Examples 1-23 can optionally be configured such that all of the listed elements or options are available for use or selection.

[0105] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are also referred to herein as "examples." Such examples may include elements in addition to those shown or described. However, the inventors also contemplate examples in which only the elements shown or described are provided. Moreover, the inventors also contemplate examples that use any combination or permutation of the illustrated or described elements (or one or more aspects thereof) with respect to the particular example (or one or more aspects thereof) or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0106] In the event of a conflicting usage between this document and any document incorporated by reference, the usage in this document will control. In this document, the terms "including" and "in which" are used as the plain English equivalents of the respective terms "comprising" and "wherein." Also, in the following claims, the terms "including" and "comprising" are open-ended, i.e., a system, device, article, composition, formulation, or process that includes elements in addition to those recited after such terms in the claim will still be considered to be within the scope of the claim.

[0107] The above description is intended to be illustrative, not limiting. 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 of ordinary skill in the art upon review of the above description. The Abstract is provided to comply with 37 CFR §1.72(b) to enable the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be construed as intending that an unclaimed disclosed feature is essential to any claim. Rather, the subject matter of the invention may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. [Explanation of symbols]

[0108] 40 environment, 100 mobile cleaning robot, 102 body, 104 mop system, 106 arm, 108 pad plate assembly, 110 bumper, 112 docking station, 114 housing, 116 lower opening, 118 upper opening, 120 pad receptacle, 122 pad dispenser, 124 pad bin, 126 sensor, 128 release (projection, rib), 130 shoe, 132 biasing element, 134 shoe sensor, 135 pad tray, 136 actuator, 138 body, 140 pad assembly, 142 pad backer, 144 mop pad, 145 upper surface, 146 mating feature, 147 lamp, 148 iron plate, 150 opening, 152 magnet (magnet array), 154 translation member, 156 guide, 158 ear or tab, 160 slot or channel, 166 second magnet (wing magnet), 168 ferrous plate, 170 pad (wing), 172 recess, 174 inclined portion, 176 inclined portion, 508 pad plate assembly, 535 pad tray, 536 actuator, 538 body, 540 pad assembly, 546 mating feature, 548 ferrous plate, 550 opening, 552 magnet (magnet array), 564 recessed portion, 908 pad plate assembly, 935 pad tray, 936 actuator, 938 body, 978 catch, 980 flap, 982 slot, 984 catch opening, 1000 mobile cleaning robot, 1002 body, 1003 drive wheel, 1005 suction portion, 1012 docking station, 1040 Mop pad, 1048 iron plate, 1049 recess, 1086 magnet (magnet array), 1088 pad receptacle, 1091 pad dispenser, 1092 flap, 1100 mobile cleaning robot, 1112 docking station, 1140a soiled pad, 1140b unused pad, 1194 conveyor system, 1196 delivery device, 1197 drive gear or pinion, 1198 track, 1200 mobile cleaning robot, 1206 arm, 1208 pad plate assembly, 1212 docking station, 1235 pad tray, 1240 mop pad, 1299 track, 1306 arm, 1308Pad plate assembly, 1312, docking station, 1320, pad receptacle, 1322, pad dispenser, 1340, pad assembly, 1351, hook, 1353, divider, 1400, mobile cleaning robot, 1412, docking station, 1435, pad tray, 1440a, soiled pad, 1440b, unused pad, 1455, conveyor, 1500, mobile cleaning robot, 1506, arm, 1512, docking station, 1520, pad receptacle, 1522, pad dispenser, 1530, shoe, 1535, pad tray, 1540b, unused pad, 1557, track, 1559, conveyor, 1600, mobile cleaning robot network, 1604, mobile device, 1606, cloud computing system, 1608, autonomous robot, 1612, docking station

Claims

1. 1. A docking station for a mobile cleaning robot, the docking station comprising: a pad receptacle configured to receive a soiled pad from a pad tray of the mobile cleaning robot; a pad dispenser configured to provide unused pads to the pad tray of the mobile cleaning robot; A housing defining or comprising at least Equipped with a docking station.

2. A receptacle fill status sensor coupled to the housing and configured to generate a receptacle fill status indicator based on a detected pad fill status in the pad receptacle. The docking station of claim 1 further comprising:

3. a controller in communication with the mobile cleaning robot and the receptacle fill status sensor, the controller configured to determine a number of pads placed in the pad receptacle based on the receptacle fill status indicator. The docking station of claim 2 further comprising:

4. The docking station of claim 3 , wherein the pad dispenser includes a shoe configured to support the unused pad, the shoe being biased toward an access side of the docking station.

5. a dispenser sensor coupled to the housing and configured to generate a dispenser status indicator based on a detected dispenser status of the shoe, the controller configured to determine a number of unused pads placed in the shoe based on the dispenser status indicator. The docking station of claim 4 further comprising:

6. The docking station of claim 4 , wherein the shoe is inclined so as to be offset relative to a vertical direction of gravity.

7. a rib disposed at or near the pad receptacle, the rib being engageable with the pad tray to release the soiled pad from the pad tray. The docking station of any one of claims 1 to 6, further comprising:

8. A mobile cleaning robot, The main body, a drive system connected to the body and operable to move the mobile cleaning robot around a floor surface; a link connected to the body and movable relative to the body; a pad tray connected to the link, the pad tray configured to support a mop pad engageable with the floor surface, the pad tray including a pad release actuator engageable with a docking station to release the mop pad from the pad tray. A mobile cleaning robot.

9. a magnet included in or connected to and movable with the pad release actuator, the magnet engageable with a magnetically attractable first portion of the mop pad to retain the mop pad on the pad tray; The mobile cleaning robot of claim 8, further comprising:

10. 10. The mobile cleaning robot of claim 9, wherein the pad tray includes a body, and the pad release actuator is translatable relative to the body.

11. 11. The mobile cleaning robot of claim 10, wherein the body includes a wing magnet disposed at a front portion of the pad tray, the wing magnet being engageable with a second magnetically attractable second portion of the mop pad to hold the mop pad on the pad tray.

12. 12. The mobile cleaning robot of claim 11, wherein the body includes a recess configured to at least partially receive a protrusion of the mop pad to orient the mop pad such that the magnet magnetically engages the magnetically attractable first portion of the mop pad and the wing magnet magnetically engages the magnetically attractable second portion of the mop pad.

13. 13. The mobile cleaning robot of claim 12, wherein the magnet has a magnetic field that is strong enough to move the mop pad a first distance that is less than a height of the protrusions and not strong enough to move the mop pad a second distance that is greater than the height of the protrusions.

14. The mobile cleaning robot according to any one of claims 9 to 13, wherein the magnet is a multi-pole magnet.

15. A mobile cleaning robot, The main body, a drive system connected to the body and operable to move the mobile cleaning robot around a floor surface; a pad tray configured to support a mop pad engageable with the floor surface; a link connected to the mop pad and the body; A mobile cleaning robot comprising: a housing defined at least in part by a plurality of walls; a pad receptacle configured to receive a soiled pad from the pad tray; a pad dispenser configured to deliver unused pads to the pad tray; a docking station comprising: A mobile cleaning robot system.

16. A receptacle fill status sensor coupled to the housing and configured to generate a receptacle fill status indicator based on a detected pad fill status in the pad receptacle. The system of claim 15 further comprising:

17. a controller in communication with the mobile cleaning robot and the receptacle fill status sensor, the controller configured to determine a number of pads placed in the pad receptacle based on the receptacle fill status indicator. The system of claim 16, further comprising:

18. 20. The system of claim 17, wherein the pad dispenser includes a shoe configured to support the unused pad, the shoe being biased toward an access side of the docking station.

19. a dispenser sensor coupled to the housing and configured to generate a dispenser status indicator based on a detected dispenser status within the shoe, the controller configured to determine a number of unused pads placed within the shoe based on the dispenser status indicator.

20. The system of claim 18, further comprising:

20. The system of any one of claims 15 to 19, wherein the pad tray includes a pad release actuator engageable with a docking station to release the mop pad from the pad tray.

21. a magnet included in or connected to and movable with the pad release actuator, the magnet engageable with a magnetically attractable first portion of the mop pad to retain the mop pad on the pad tray; 21. The system of claim 20, further comprising:

22. 22. The system of claim 21, wherein the pad tray includes a body, and the pad release actuator is translatable relative to the body.

23. 23. The system of claim 22, wherein the body includes a wing magnet disposed on a front portion of the pad tray, the wing magnet being engageable with a second magnetically attractable second portion of the mop pad to hold the mop pad on the pad tray.

24. 24. The system of claim 23, wherein the body includes a recess configured to at least partially receive a protrusion of the mop pad to orient the mop pad such that the magnet magnetically engages the magnetically attractable first portion of the mop pad and the wing magnet magnetically engages the magnetically attractable second portion of the mop pad.

25. 1. A method for replacing a mop pad of a mobile cleaning robot using a docking station, the method comprising: navigating the mobile cleaning robot to the docking station; Releasing a mop pad from a pad tray into a pad receptacle of said docking station; engaging an unused pad with the pad tray; and moving the mobile cleaning robot to perform attachment between the unused pad and the pad tray.

26. moving the pad tray of the mobile cleaning robot to a disposal position; navigating the mobile cleaning robot to insert the pad tray into the pad receptacle; 26. The method of claim 25, further comprising:

27. navigating the mobile cleaning robot to remove the pad tray from the pad receptacle of the docking station; moving the pad tray to an unloading position; navigating the mobile cleaning robot to a pad dispenser of the docking station; 27. The method of claim 26, further comprising:

28. 28. The method of claim 27, wherein releasing the mop pad from the pad tray into the pad receptacle includes navigating the mobile cleaning robot to engage a release button on the pad tray with a release post on the docking station.

Images