Mobile cleaning robot with debris compaction

Abstract

A mobile cleaning robot can include a body, a debris bin connected to the body, and one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment. The mobile cleaning robot can include an extractor connected to the body that can be operable to extract debris from the environment. The mobile cleaning robot can also include a vacuum system connected to the body and configured to generate a flow stream through the extractor. The mobile cleaning robot can include a compaction system connected to the body and a discharge of the extractor. The compaction system can include a plenum configured to receive debris and the flow stream from the discharge and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.

Description

MOBILE CLEANING ROBOT WITH DEBRIS COMPACTIONPRIORITY CLAIM

[0001] This patent application claims the benefit of priority to U.S. Provisional Patent Application Serial No. 63 / 728,805, filed on December 6, 2024, and U.S. Provisional Patent Application Serial No. 63 / 853,321, filed on July 29, 2025, each of which is hereby incorporated by reference herein in its entirety.BACKGROUND

[0002] Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks within an environment, such as a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. Some robots can perform vacuuming operations and some can perform mopping operations. Other robots can include components or systems to perform both vacuuming and mopping operations. Most types of mobile cleaning robots can interface with a docking station that can perform maintenance on the robot, such as charging and debris evacuation.SUMMARY

[0003] Certain mobile cleaning robots can be configured to collect and store debris within their body, such as in a debris bin. However, the bins must be emptied from time to time to allow for proper operation. It may be desirable to reduce a frequency of emptying a debris bin of debris; however, space is relatively limited within the body of the robot and it is therefore difficult to increase a size of the debris bin.

[0004] To help address these issues, this disclosure discusses solutions including a debris compactor located at least partially within the robot where the compactor can be configured to receive debris from the extractor of the robot and compact the debris intothe debris bin, which can significantly reduce a frequency at which the debris bin must be emptied.

[0005] For example, a mobile cleaning robot can include a body, a debris bin connected to the body, and one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment. The mobile cleaning robot can include an extractor connected to the body that can be operable to extract debris from the environment. The mobile cleaning robot can also include a vacuum system connected to the body and configured to generate a flow stream through the extractor. The mobile cleaning robot can include a compaction system connected to the body and a discharge of the extractor. The compaction system can include a plenum configured to receive debris and the flow stream from the discharge and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.

[0006] The above discussion is intended to provide an overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The description below is included to provide further information about the present patent application.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

[0008] FIG. 1 illustrates a plan view of a mobile cleaning robot in an environment.

[0009] FIG. 2A illustrates a bottom view of a mobile cleaning robot.

[0010] FIG. 2B illustrates a top isometric view of a mobile cleaning robot.

[0011] FIG. 3 illustrates a side cross-sectional view of a mobile cleaning robot.

[0012] FIG. 4 illustrates a diagram illustrating an example of a communication network in which a mobile cleaning robot operates and data transmission in the network.

[0013] FIG. 5 illustrates an isometric view of a mobile cleaning robot.

[0014] FIG. 6 illustrates an isometric view of a portion of a mobile cleaning robot.

[0015] FIG. 7 illustrates an isometric cross-sectional view of a portion of a mobile cleaning robot.

[0016] FIG. 8 illustrates an isometric view of a portion of a mobile cleaning robot.

[0017] FIG. 9 illustrates an isometric cross-sectional view of a portion of a mobile cleaning robot.

[0018] FIG. 10 illustrates an isometric view of a portion of a mobile cleaning robot.

[0019] FIG. 11 illustrates an isometric cross-sectional view of a portion of a mobile cleaning robot.

[0020] FIG. 12 illustrates an isometric view of a portion of a mobile cleaning robot.

[0021] FIG. 13 illustrates an isometric view of a portion of a mobile cleaning robot.

[0022] FIG. 14 illustrates an isometric cross-sectional view of a portion of a mobile cleaning robot.

[0023] FIG. 15 illustrates an isometric cross-sectional view of a mobile cleaning robot and docking station.

[0024] FIG. 16 illustrates an isometric view of a docking station.

[0025] FIG. 17 illustrates an isometric view of a portion of a docking station.

[0026] FIG. 18 illustrates an isometric cross-sectional view of a portion of a docking station.

[0027] FIG. 19 illustrates an isometric cross-sectional view of a portion of a docking station.

[0028] FIG. 20 illustrates a cross-sectional view of a portion of a docking station.

[0029] FIG. 21 illustrates a cross-sectional view of a portion of a docking station.

[0030] FIG. 22 illustrates a cross-sectional view of a portion of a docking station.

[0031] FIG. 23 illustrates a cross-sectional view of a portion of a docking station.

[0032] FIG. 24 illustrates a cross-sectional view of a portion of a docking station.

[0033] FIG. 25 illustrates a cross-sectional view of a portion of a docking station.

[0034] FIG. 26 illustrates a cross-sectional view of a portion of a docking station.

[0035] FIG. 27 illustrates a cross-sectional view of a portion of a docking station.

[0036] FIG. 28 illustrates an isometric view of a portion of a docking station.

[0037] FIG. 29 illustrates a block diagram illustrating an example of a machine upon which one or more embodiments may be implemented.DETAILED DESCRIPTIONRobot Overview

[0038] FIG. 1 illustrates a plan view of a mobile cleaning robot 100 in an environment 40. The environment 40 can be a dwelling, such as a home or an apartment, and can include rooms 42a-42e. Obstacles, such as a bed 44, a table 46, and an island 48 can be located in the rooms 42 of the environment. Each of the rooms 42a-42e can have a floor surface 50a-50e, respectively. Some rooms, such as the room 42d, can include a rug, such as a rug 52. The floor surfaces 50 can be of one or more types such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, stone, or the like.

[0039] The mobile cleaning robot 100 can be operated, such as by a user 60, to autonomously clean the environment 40 in a room-by-room fashion. In some examples, the robot 100 can clean the floor surface 50a of one room, such as the room 42a, before moving to the next room, such as the room 42d, to clean the surface of the room 42d. Different rooms can have different types of floor surfaces. For example, the room 42e (which can be a kitchen) can have a hard floor surface, such as wood or ceramic tile, and the room 42a (which can be a bedroom) can have a carpet surface, such as a medium pile carpet. Other rooms, such as the room 42d (which can be a dining room) can include multiple surfaces where the rug 52 is located within the room 42d. The robot 100 can be configured to navigate over various floor types through one or more components such as a suspension. The suspension of the robot can also allow the robot 100 to navigate over obstacles, such as thresholds between rooms or over rugs, such as the rug 52.

[0040] Also during cleaning or traveling operations, the robot 100 can use data collected from various sensors (such as optical sensors) and calculations (such as odometry and obstacle detection) to develop a map of the environment 40. Once the map is created, the user 60 can define rooms or zones (such as the rooms 42) within the map. The map can be presentable to the user 60 on a user interface, such as a mobile device, where the user 60 can direct or change cleaning preferences, for example.

[0041] Also, during operation, the robot 100 can detect surface types within each of the rooms 42, which can be stored in the robot or another device. The robot 100 can update the map (or data related thereto) such as to include or account for surface types of the floor surfaces 50a-50e of each of the respective rooms 42 of the environment. In some examples, the map can be updated to show the different surface types such as within each of the rooms 42.Components of the Robot

[0042] FIG. 2A illustrates a bottom view of the mobile cleaning robot 100. FIG. 2B illustrates a bottom view of the mobile cleaning robot 100. FIG. 3 illustrates a crosssection view across indicators 3-3 of FIG. 2A of the mobile cleaning robot 100. FIG. 3 also shows orientation indicators Bottom, Top, Front, and Rear. FIGS. 2A-3 are discussed together below.

[0043] The cleaning robot 100 can be a mobile cleaning robot that can autonomously traverse the floor surface 50 while ingesting the debris 75 from different parts of the floor surface 50. As depicted in FIGS. 2A and 3, the robot 100 can include a body 200 movable across the floor surface 50. The body 200 can include multiple connected structures to which movable components of the cleaning robot 100 can be mounted. The connected structures can include an outer housing to cover internal components of the cleaning robot 100, a chassis to which drive wheels 210a and 210b and the cleaning rollers 205a and 205b (of a cleaning assembly or extractor 206) are mounted, and a bumper 138 mounted to the outer housing.

[0044] As shown in FIG. 2A, the body 200 can include a front portion 202a that has a substantially semicircular shape and a rear portion 202b that has a substantially semicircular shape. As shown in FIG. 2A, the robot 100 can include a drive system including actuators 208a and 208b, e.g., motors, operable with drive wheels 210a and 210b. The actuators 208a and 208b can be mounted in the body 200 and can be operably connected to the drive wheels 210a and 210b, which are rotatably mounted to the body 200. The drive wheels 210a and 210b can support the body 200 above the floor surface50. The actuators 208a and 208b, when driven, can rotate the drive wheels 210a and 210b to enable the robot 100 to move across the floor surface 50.

[0045] The controller (or processor) 212 can be located within the housing 200 and can be a programable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programable logic controller (PLC), or the like. In other examples the controller 212 can be any computing device, such as a handheld computer, for example, a smart phone, a tablet, a laptop, a desktop computer, or any other computing device including a processor and communication capabilities. The memory 213 can be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash-memory devices, and other storage devices and media. The memory 213 can be located within the housing 200 and can be connected to the controller 212 and accessible by the controller 212.

[0046] The controller 212 can operate the actuators 208a and 208b to autonomously navigate the robot 100 about the floor surface 50 during a cleaning operation. The actuators 208a and 208b are operable to drive the robot 100 in a forward drive direction, in a backwards direction, and to turn the robot 100. The robot 100 can include a caster wheel 211 (or alternatively skids) that supports the body 200 above the floor surface 50. The caster 211 can support the front portion 202a of the body 200 above the floor surface 50, and the drive wheels 210a and 210b support a middle and rear portion 202b of the body 200 above the floor surface 50.

[0047] As shown in FIG. 3, a vacuum assembly 118 can be located within the body 200 of the robot 100, e.g., in the middle of the body 200. The controller 212 can operate the vacuum assembly 118 to generate an airflow that flows through the air gap near the cleaning rollers 205a and 205b, through the body 200, and out of the body 200. The vacuum assembly 118 can include, for example, an impeller that generates the airflow when rotated. The airflow and the cleaning rollers 205a and 205b, when rotated, cooperate to ingest debris 75 into the robot 100, such as into a discharge 348 of the extractor 205, where the discharge 348 can be a tube, duct, or the like. A debris bin 322 can be mounted in the body 200 and connected to the discharge 348. The debris bin 322can be configured to receive and contain the debris 75 ingested by the robot 100. A filter 145 (that can be located at least partially within the debris bin 322) can separate the debris 75 from the airflow before the airflow 120 enters the vacuum assembly 118 and is exhausted out of the body 200. In this regard, the debris 75 is captured in both the debris bin 322 and the filter before the airflow 120 is exhausted from the body 200. Debris 75 captured in the debris bin 322 can also be evacuated through a debris port 135.

[0048] The cleaning rollers 205a and 205b can operably connected to actuators 214a and 214b, e.g., motors, respectively. The cleaning head 205 and the cleaning rollers 205a and 205b can positioned forward of the debris bin 322. The cleaning rollers 205a and 205b can be mounted to a housing 124 of the cleaning head 205 and mounted, e.g., indirectly or directly, to the body 200 of the robot 100. For example, the cleaning rollers 205a and 205b can be mounted to an underside of the body 200 so that the cleaning rollers 205a and 205b engage debris 75 on the floor surface 50 during the cleaning operation when the underside faces the floor surface 50.

[0049] The housing 124 of the cleaning head 205 can be mounted to the body 200 of the robot 100. In this way, the cleaning rollers 205a and 205b can also mounted to the body 200 of the robot 100, e.g., indirectly mounted to the body 200 through the housing 124. The cleaning head 205 can also be a removable assembly of the robot 100 where the housing 124 with the cleaning rollers 205a and 205b mounted therein is removably mounted to the body 200 of the robot 100. The housing 124 and the cleaning rollers 205a and 205b can be removable from the body 200 as a unit so that the cleaning head 205 is easily interchangeable with a replacement cleaning head.

[0050] The control system can further include a sensor system with one or more electrical sensors. The sensor system, as described herein, can generate a signal indicative of a current location of the robot 100, and can generate signals indicative of locations of the robot 100 as the robot 100 travels along the floor surface 50.

[0051] Cliff sensors 134 (shown in FIG. 2A) can be located along a bottom portion of the housing 200. Each of the cliff sensors 134 can be an optical sensor that can be configured to detect a presence or absence of an object below the optical sensor, such as the floor surface 50. The cliff sensors 134 can be connected to the controller 212. Abumper 138 can be removably secured to the body 200 and can be movable relative to body 200 while mounted thereto. In some examples, the bumper 138 form part of the body 200. The bump sensors 139a and 139b (the bump sensors 139) can be connected to the body 200 and engageable or configured to interact with the bumper 138. The bump sensors 139 can include break beam sensors, capacitive sensors, switches, or other sensors that can detect contact between the robot 100, i.e., the bumper 138, and objects in the environment 40. The bump sensors 139 can be in communication with the controller 212.

[0052] An image capture device 140 can be a camera connected to the body 200 and can extend through the bumper 138 of the robot 100, such as through an opening 143 of the bumper 138. The image capture device 140 can be a camera, such as a front-facing camera, configured to generate a signal based on imagery of the environment 40 of the robot 100 as the robot 100 moves about the floor surface 50. The image capture device 140 can transmit the signal to the controller 212 for use for navigation and cleaning routines.

[0053] Obstacle following sensors 141 (shown in FIG. 2B) can include an optical sensor facing outward from the bumper 138 and that can be configured to detect the presence or the absence of an object adjacent to a side of the body 200. The obstacle following sensor 141 can emit an optical beam horizontally in a direction perpendicular (or nearly perpendicular) to the forward drive direction of the robot 100. The optical emitter can emit an optical beam outward from the robot 100, e.g., outward in a horizontal direction, and the optical detector detects a reflection of the optical beam that reflects off an object near the robot 100. The robot 100, e.g., using the controller 212, can determine a time of flight of the optical beam and thereby determine a distance between the optical detector and the object, and hence a distance between the robot 100 and the object.

[0054] A side brush 142 can be connected to an underside of the robot 100 and can be connected to a motor 144 operable to rotate the side brush 142 with respect to the body 200 of the robot 100. The side brush 142 can be configured to engage debris to move the debris toward the cleaning assembly 206 or away from edges of the environment 40. Themotor 144 configured to drive the side brush 142 can be in communication with the controller 212. The brush 142 can rotate about a non-horizontal axis, e.g., an axis forming an angle between 75 degrees and 90 degrees with the floor surface 50. The non- horizontal axis, for example, can form an angle between 75 degrees and 90 degrees with the longitudinal axes 126a and 126b of the rollers 205a and 205b.

[0055] The brush 142 can be a side brush laterally offset from a center of the robot 100 such that the brush 142 can extend beyond an outer perimeter of the body 200 of the robot 100. Similarly, the brush 142 can also be forwardly offset of a center of the robot 100 such that the brush 142 also extends beyond the bumper 138. Optionally, the robot 100 can include multiple side brushes, such as one located on each side of the body 200, such as in line with drive wheels 210a and 210b, respectively. The robot 100 can also include a button 146 (or interface) that can be a user-operable interface configured to provide commands to the robot, such as to pause a mission, power on, power off, or return to a docking station.Operation of the Robot

[0056] In operation of some examples, the robot 100 can be propelled in a forward drive direction or a rearward drive direction. The robot 100 can also be propelled such that the robot 100 turns in place or turns while moving in the forward drive direction or the rearward drive direction.

[0057] When the controller 212 causes the robot 100 to perform a mission, the controller 212 can operate the motors 208 to drive the drive wheels 210 and propel the robot 100 along the floor surface 50. In addition, the controller 212 can operate the motors 214 to cause the rollers 205a and 205b to rotate, can operate the motor 144 to cause the brush 142 to rotate, and can operate the motor of the vacuum system 118 to generate airflow. The controller 212 can execute software stored on the memory 213 to cause the robot 100 to perform various navigational and cleaning behaviors by operating the various motors of the robot 100.

[0058] The various sensors of the robot 100 can be used to help the robot navigate and clean within the environment 40. For example, the cliff sensors 134 can detect obstaclessuch as drop-offs and cliffs below portions of the robot 100 where the cliff sensors 134 are disposed. The cliff sensors 134 can transmit signals to the controller 212 so that the controller 212 can redirect the robot 100 based on signals from the cliff sensors 134.

[0059] In some examples, a bump sensor 139a can be used to detect movement of the bumper 138 along a fore-aft axis of the robot 100. A bump sensor 139b can also be used to detect movement of the bumper 138 along one or more sides of the robot 100. The bump sensors 139 can transmit signals to the controller 212 so that the controller 212 can redirect the robot 100 based on signals from the bump sensors 139.

[0060] The image capture device 140 can be configured to generate a signal based on imagery of the environment 40 of the robot 100 as the robot 100 moves about the floor surface 50. The image capture device 140 can transmit such a signal to the controller 212. The image capture device 140 can be angled in an upward direction, e.g., angled between 5 degrees and 45 degrees from the floor surface 50 about which the robot 100 navigates. The image capture device 140, when angled upward, can capture images of wall surfaces of the environment so that features corresponding to objects on the wall surfaces can be used for localization.

[0061] In some examples, the obstacle following sensors 141 can detect detectable objects, including obstacles such as furniture, walls, persons, and other objects in the environment of the robot 100. In some implementations, the sensor system can include an obstacle following sensor along a side surface, and the obstacle following sensor can detect the presence or the absence an object adjacent to the side surface. The one or more obstacle following sensors 141 can also serve as obstacle detection sensors, similar to the proximity sensors described herein.

[0062] The robot 100 can also include sensors for tracking a distance travelled by the robot 100. For example, the sensor system can include encoders associated with the motors 208 for the drive wheels 210, and the encoders can track a distance that the robot 100 has travelled. In some implementations, the sensor can include an optical sensor facing downward toward a floor surface. The optical sensor can be positioned to direct light through a bottom surface of the robot 100 toward the floor surface 50. The opticalsensor can detect reflections of the light and can detect a distance travelled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

[0063] The controller 212 can use data collected by the sensors of the sensor system to control navigational behaviors of the robot 100 during the mission. For example, the controller 212 can use the sensor data collected by obstacle detection sensors of the robot 100, (the cliff sensors 134, the bump sensors 139, and the image capture device 140) to enable the robot 100 to avoid obstacles within the environment of the robot 100 during the mission.

[0064] The sensor data can also be used by the controller 212 for simultaneous localization and mapping (SLAM) techniques in which the controller 212 extracts features of the environment represented by the sensor data and constructs a map of the floor surface 50 of the environment. The sensor data collected by the image capture device 140 can be used for techniques such as vision- based SLAM (VSLAM) in which the controller 212 extracts visual features corresponding to objects in the environment 40 and constructs the map using these visual features. As the controller 212 directs the robot 100 about the floor surface 50 during the mission, the controller 212 can use SLAM techniques to determine a location of the robot 100 within the map by detecting features represented in collected sensor data and comparing the features to previously stored features. The map formed from the sensor data can indicate locations of traversable and non-traversable space within the environment. For example, locations of obstacles can be indicated on the map as non-traversable space, and locations of open floor space can be indicated on the map as traversable space.

[0065] The sensor data collected by any of the sensors can be stored in the memory 213. In addition, other data generated for the SLAM techniques, including mapping data forming the map, can be stored in the memory 213. These data produced during the mission can include persistent data that are produced during the mission and that are usable during further missions. In addition to storing the software for causing the robot 100 to perform its behaviors, the memory 213 can store data resulting from processing of the sensor data for access by the controller 212. For example, the map can be a map thatis usable and updateable by the controller 212 of the robot 100 from one mission to another mission to navigate the robot 100 about the floor surface 50.

[0066] The persistent data, including the persistent map, helps to enable the robot 100 to efficiently clean the floor surface 50. For example, the map enables the controller 212 to direct the robot 100 toward open floor space and to avoid non-traversable space. In addition, for subsequent missions, the controller 212 can use the map to optimize paths taken during the missions to help plan navigation of the robot 100 through the environment 40.Network Examples

[0067] FIG. 4 is a diagram showing a communication network 400 that enables networking between the mobile robot 100 and one or more other devices, a docking station 300 (or any of the docking stations discussed herein), a mobile device 404 (including a controller), a cloud computing system 406 (including a controller), or another autonomous robot separate from the mobile robot 100. Using the communication network 400, the robot 100, the mobile device 404, the docking station 300, and the cloud computing system 406 can communicate with one another to transmit and receive data from one another. In some examples, the robot 100, the docking station 300, or both the robot 100 and the docking station 300 can communicate with the mobile device 404 through the cloud computing system 406. Alternatively, or additionally, the robot 100, the docking station 300, or both the robot 100 and the docking station 300 can communicate directly with the mobile device 404. Various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical based, etc.) and network architectures (e.g., wi-fi or mesh networks) can be employed by the communication network 400.

[0068] In some examples, the mobile device 404 can be a remote device that can be linked to the cloud computing system 406 and can enable a user to provide inputs. The mobile device 404 can include user input elements such as, for example, one or more of a touchscreen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to inputs provided by the user. The mobile device 404 can also includeimmersive media (e.g., virtual reality or augmented reality) with which the user can interact to provide input. The mobile device 404, in these examples, can be a virtual reality headset or a head-mounted display.

[0069] The user can provide inputs corresponding to commands for the mobile robot 100. In such cases, the mobile device 404 can transmit a signal to the cloud computing system 406 to cause the cloud computing system 406 to transmit a command signal to the mobile robot 100. In some implementations, the mobile device 404 can present augmented reality images. In some implementations, the mobile device 404 can be a smart phone, a laptop computer, a tablet computing device, or other mobile device.

[0070] In some examples, the communication network 400 can include additional nodes. For example, nodes of the communication network 400 can include additional robots. Also, nodes of the communication network 400 can include network-connected devices that can generate information about the environment 40. Such a network- connected device can include one or more sensors, such as an acoustic sensor, an image capture system, or other sensor generating signals, to detect characteristics of the environment 40 from which features can be extracted. Network-connected devices can also include home cameras, smart sensors, or the like.

[0071] In the communication network 400, the wireless links can utilize various communication schemes, protocols, etc., such as, for example, Bluetooth classes, Wi-Fi, Bluetooth-low-energy, also known as BLE, 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), an infrared channel, satellite band, or the like. In some examples, wireless links can include any cellular network standards used to communicate among mobile devices, including, but not limited to, standards that qualify as 1G, 2G, 3G, 4G, 5G, or the like. The network standards, if utilized, qualify as, for example, one or more generations of mobile telecommunication standards by fulfilling a specification or standards such as the specifications maintained by International Telecommunication Union. For example, the 4G standards can correspond to the International Mobile Telecommunications Advanced (IMT- Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LIE Advanced, MobileWiMAX, and WiMAX- Advanced. Cellular network standards can use various channel access methods, e g., FDMA, TDMA, CDMA, or SDMA.Debris Compaction Examples

[0072] FIG. 5 illustrates an isometric view of a mobile cleaning robot 500. The mobile cleaning robot 500 can be consistent with the robots discussed above. FIG. 5 shows how the mobile cleaning robot 500 (or any of the robots discussed above) can include a body 502 (which can be similar to the body 200) and a debris bin 504 (which can be similar to the debris bin 322) that can be connected to the body 502. The mobile cleaning robot 500 can also include a compactor assembly 506 that can be located at least partially within the body 502 or at least partially within the debris bin 504. The compactor assembly 506 can be driven by an actuator 508 that can be located at least partially within the body 502 or the debris bin 504. The actuator 508 can be connected to the controller 212 and in communication therewith. The compactor assembly 506 can be configured or operable to be driven by the actuator 508 to compact debris within (or traveling to) the debris bin 504. The compactor assembly 506 and related features are discussed in further detail below.

[0073] FIG. 6 illustrates an isometric view of a portion of the mobile cleaning robot 500. FIG. 7 illustrates an isometric cross-sectional view of a portion of the mobile cleaning robot 500. FIG. 8 illustrates an isometric view of a portion of the mobile cleaning robot 500. FIGS. 6-8 are discussed together below. The mobile cleaning robot 500 of FIGS. 6-8 can be consistent with FIG. 5 discussed above; FIGS. 6-8 show additional details of the mobile cleaning robot 500. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 500.

[0074] For example, FIG. 6 shows that the debris bin 504 can include or can define a plenum 510 and an opening 512 connected to a discharge of the extractor (such as to the discharge 348 of the extractor 206). The plenum 510 can be or include an independent duct connected to the extractor, can be part of the debris bin, can be part of the duct connecting the extractor to the debris bin, or the like. The opening 512 can extend at least partially through one or more walls 514 of the debris bin 504. The one or more walls 514can also at least partially define a debris chamber 516. The debris chamber 516 can be configured to receive and store debris including compacted debris. FIG. 6 also shows that compactor assembly 506 can be located at least partially within the plenum 510. The compactor assembly 506 can be located at least partially in the plenum 510, at least partially within an upstream plenum or discharge duct, or at least partially within a debris bin. As discussed in further detail below, the compactor assembly 506 can be operable to compact debris from the plenum into the debris chambers 516.

[0075] The compactor assembly 506 can include an auger 518 (which can or can include one or more screw, lobe, auger, blade, or the like) that can be located at least partially within the debris bin 504. The auger 518 can be configured to rotate relative to and within the plenum 510. The auger 518 can include a one or more lobes, blades, or vanes and can be configured to engage debris within the plenum 510 to compact debris into the debris chamber 516. The auger 518 can be connected to the actuator 508 such that the auger 518 can be driven to rotate within and relative to the plenum 510. The auger 518 can be driven to rotate both in forward and reverse to compact debris or to clear the plenum 510 (or the opening 534) from clogs or jams. The auger 518 can be connected to the actuator 508 via one or more gears 520. The gears 520 can include a driven gear configured to be driven by the actuator 508 and can include a drive gear connected to the auger 518. A gear ratio of the drive gear and the driven gear can be selected based on a desired relative speed of the actuator 508 and the auger 518.

[0076] The compactor assembly 506 can also include a filter screen 522 that can be connected to the plenum 510 (or to one or more walls 514). The filter screen 522 can be located downstream of the compactor (e.g., the auger 518); however, the filter screen 522 can be in parallel to the auger 518 relative to the airflow such that the heavier debris travels to the auger 518 and the lighter debris is carried to the filter screen 522. The filter screen 522 can include a plurality of holes, bores, or openings, such that the filter screen 522 can separate debris from the flow stream based on size, allowing small debris to pass through the filter screen 522 and relatively larger debris to be compacted by the auger 518. A debris filter 524 can also be connected to the body 502 and can be locateddownstream of the filter screen 522. The debris filter 524 can be configured to collect fine debris from the air stream that passes through the filter screen 522.

[0077] In some examples, the auger 518 can have or can be variable pitch such that a blade of the auger 518 can decrease in pitch as the blade extends toward the opening 534. This variable pitch of the blade (with a course pitch at a beginning portion) can allow the auger 518 to quickly move debris away from the inlet plenum 510 while the finer pitch at the end portion of the blade (e.g., near the elbow opening 534) can allow for a relatively high compressive force delivered by the blade and the auger 518 to help compact debris into the debris bin 504 as the debris bin 504 starts to fill.

[0078] The compactor assembly 506 can also include an impactor assembly 526 operable to impact the filter screen 522 to clear debris buildup from an upstream side of the filter screen 522. The impactor assembly 526 can include an actuator 528 and an impactor 530. The actuator 528 can be a user hand-operable actuator or can be or can include one or more motors operable by a controller. The impactor 530 can be a device shaped to engage the filter screen 522 to cause the filter screen 522 to move abruptly. In some examples, the compactor assembly 506 can include a clutch connected to the actuator 508 or to one or more of the one or more gears 520 where the clutch can be configured to drive the impactor assembly 526 to rotate when the auger 518 is driven backwards by the one or more gears 520 and the actuator 508, such as when airflow is paused.

[0079] Also, the impactor 530 can include a ledge 532 or cam configured such that as the filter screen 522 is rotated, the filter screen 522 slowly flexes away from the impactor 530 (upstream). For example, the controller can pause (or reduce) generation of airflow by the fan (e.g., the vacuum assembly 118). The controller can then drive the actuator 508 backwards (or can drive the actuator 508 forwards and the one or more gears 520 can drive the auger 518 backwards) which can cause the impactor 530 to rotate. Then, as the impactor 530 rotates, the filter screen 522 can fall off the ledge 532 such that the impactor 530 disengages the filter screen 522, causing the filter screen 522 to snap or quickly move, resulting in debris on an upstream side of the filter screen 522 to fall off the filter screen 522 and onto the auger 518. That is, as the impactor 530 rotates, theimpactor 530 can cause the filter screen 522 to cyclically flex and unflex to clear debris from the filter screen 522.

[0080] In operation of some examples, the vacuum assembly 118 and the cleaning head 205 can cooperate to ingest an airstream including debris that can enter the opening 512 and enter into the plenum 510. Debris that is sufficiently heavy can fall out of the airstream and onto the auger 518. The actuator 508 can be controlled (e.g., by a controller), such as when the vacuum assembly 118 is operating, to rotate the one or more gears 520 to drive the auger 518 to rotate. As the auger 518 rotates, the auger 518 can move debris through an opening 534 and into the debris chamber 516. Optionally, the auger 518 and the opening 534 can cooperate or mate to form a seal or interface to help limit air flow into the debris chamber 516 and to help limit debris from escaping the debris chamber 516. Debris moved into the debris chambers 516 by the auger 518 can be compacted, helping to increase a storage capacity of the debris bin 504 and therefore helping to reduce a frequency at which the debris bin 504 requires emptying by a user.

[0081] As the airflow continues to flow past (e.g., over) the auger 518, debris that does not fall out of the stream can be collected by the filter screen 522. Some of this debris that engages or is collected by the filter screen 522 can fall down onto the auger 518 for compaction into the debris chamber 516. However, other debris may collect on or in a face of the filter screen 522. This collected debris can build up on the face of the filter screen 522 over time and can increase pressure drop through the filter screen 522, reducing airflow through the filter screen 522.

[0082] When this occurs, airflow can be paused or reduced (e.g., by the controller) the impactor assembly 526 can be operated to rotate to flex the filter screen 522 (as described above) and to cause an impulse on the filter screen 522 that causes the collected debris to fall off the filter screen 522 and onto the auger 518, which can be located directly below the filter screen 522. Also, when the filter screen 522 is flexed and released, the process can create an instantaneous change in air pressure in a cavity downstream of the filter screen 522 where the downstream air is forced to travel backwards through the filter screen 522, further helping to dislodge or remove debris collected on the face of the filterscreen 522. The dislodged debris can fall onto the auger 518 and can be compacted into the debris chamber 516 by the auger 518.

[0083] Finer debris not captured by the filter screen 522 can be collected by the debris filter 524 before air is discharged by to the environment. This process can result in debris compaction that helps to increase a storage capacity of the debris bin 504 while helping to ensure the filter screen 522 stays clear to allow the mobile cleaning robot 500 to operate for long intervals between service of the debris bin 504.

[0084] Because the airflow is paused to activate the impactor assembly 526, the filter screen 522 can be cleaned in intervals. For example, the controller can reduce or pause airflow to activate the impactor assembly 526 based on run time. For example, the impactor assembly 526 can be operated every X minutes of run time of the mobile cleaning robot 500, such as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 minutes, or the like. In some examples, airflow through the filter screen 522 can be monitored and the impactor assembly 526 can be operated when the airflow falls below a threshold level. Similarly, pressure drop across the filter screen 522 can be monitored and the impactor assembly 526 can be operated when the pressure drop increases to or past a threshold. In some examples, one or more of these conditions can be inferred based on operation of the vacuum assembly 118, such as a fan thereof, where a current of the motor can be used to determine when the pressure drop across the filter screen 522 is too high or the airflow is too low and the impactor assembly 526 can be operated when one or more of these thresholds is crossed or reached.

[0085] The controller can also be connected to the actuator 508, which can include one or more sensors such as a current sensor. The controller can monitor a current of the actuator 508 to determine when the debris bin 504 is full or there is a jam. For example, the controller can determine there is a jam or the debris bin 504 is full based on a current from the actuator 508 passing a threshold. When the controller determines or detects a relatively quick or abrupt spike or rise in current of the actuator 508, the controller can determine or detect that there is a jam or clog and can drive the actuator 508 backwards in an attempt to unclog the auger 518. When the controller detects or determines that the current of the actuator 508 of the auger 518 rises slowly over time, the controller candetermine that the debris bin 504 is full and can transmit a signal to another device indicating that the debris bin 504 is full. FIG. 9 illustrates an isometric cross-sectional view of a portion of a mobile cleaning robot 900. The mobile cleaning robot 900 can be similar to the mobile cleaning robot 500 discussed above; the mobile cleaning robot 900 shows how a debris bin 904 including a compactor assembly 906 can be modified to direct flow into a plenum 910. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 900.

[0086] More specifically, the debris bin 904 can include an opening 912 connected to the plenum 910 upstream of an auger 918 (which can be similar to the auger 518). The auger 918 can be driven to compact debris by an actuator 908 and one or more gears 920. A filter screen 922 can be similar to the filter screen 522 and can filter debris from the airstream for collection and compaction by the auger 918 into a debris chamber. A debris filter 924 can be used to filter relatively fine debris from the airstream downstream of the filter screen 922. And, an impactor assembly 926 can be operable to clear the filter screen 922 of debris.

[0087] The debris bin 904 can also include a radiused portion 936, which can be a shroud, portion of the plenum 910, duct, flow path, or the like, that is curved, radiused, or shaped to guide airflow and debris toward the auger 918 while helping to reduce turbulent flow and pressure drop through the plenum 910. A dimension A at or near the radiused portion 936 can be significantly smaller than a distance B between the radiused portion 936 and a central axis of the auger 918. For example, a ratio of B:A can be between 1 and 4. In other examples a ratio of B:A can be between 1.5 and 3, such as 1.6, 1.7, 1.8, 1.9. 2.0, 2.1, 2.2, 2.3, 3.4, 2.5, 2.6, 2.7, 2.8, 2.9, or 3.0. Such a ratio can help reduce turbulence while reducing a velocity of the flow stream sufficiently so that the heavier debris cannot easily turn and carry over the auger 918, helping to direct more debris toward the auger 918.

[0088] FIG. 10 illustrates an isometric view of a portion of a mobile cleaning robot 1000. FIG. 11 illustrates an isometric cross-sectional view of a portion of the mobile cleaning robot 1000. FIGS. 10 and 11 are discussed together below. The mobile cleaning robot 1000 can be similar to the mobile cleaning robots 500 and 900 discussed above; themobile cleaning robot 1000 shows how a debris bin 1004 including a compactor assembly 1006 can include an impactor assembly including a reciprocating piston. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 1000.

[0089] More specifically, the debris bin 1004 can include an opening 1012 connected to the plenum 1010 upstream of an auger 1018 (which can be similar to the auger 518). The auger 1018 can be driven to compact debris by an actuator 1008 and one or more gears 1020. A filter screen 1022 can be similar to the filter screen 522 and can filter debris from the airstream for collection and compaction by the auger 1018 into a debris chamber. A debris filter 1024 can be used to filter relatively fine debris from the airstream downstream of the filter screen 1022. And, an impactor assembly 1026 can be operable to clear the filter screen 1022 of debris.

[0090] More specifically, the impactor assembly 1026 can include a piston 1038 that can be connected to an actuator or motor or can be user-operable. The piston 1038 can be operated to reciprocate or translate to engage the filter screen 1022 to cause the filter screen 1022 to cyclically flex and unflex, which can release debris from the filter screen 1022 to help keep the filter screen 1022 clear or clean. The piston 1038 can also impact the filter screen 1022 to create an impulse (and can create a brief air flow reversal) to help release the debris to the auger 1018 for compaction.

[0091] FIG. 12 illustrates an isometric view of a portion of a mobile cleaning robot 1200. FIG. 13 illustrates an isometric view of a portion of the mobile cleaning robot 1200. FIGS. 12 and 13 are discussed together below. The mobile cleaning robot 1200 can be similar to the mobile cleaning robots 500, 900, or 1000 discussed above; FIGS. 12 and 13 show how a mobile cleaning robot can include a second compactor. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 1200.

[0092] More specifically, the mobile cleaning robot 1200 can include a debris bin 1204 and a compactor assembly 1206. The debris bin 1204 can include an opening 1212 connected to the plenum 1210 upstream of an auger 1218 (which can be similar to the auger 518) of the compactor assembly 1206. The auger 1218 can be driven to compactdebris by an actuator 1208 and one or more gears 1220 to compact debris into a debris chamber 1216. A filter screen 1222 can be similar to the filter screen 522 and can filter debris from the airstream for collection and compaction by the auger 1018 into a debris chamber. A debris filter 1224 can be used to filter relatively fine debris from the airstream downstream of the filter screen 1222. And, a second auger 1240 can be connected to or located at least partially downstream of a filter screen 1222.

[0093] The second auger 1240 can be connected to the one or more gears 1220 such that rotation of the one or more gears 1220 from the actuator 1208 can drive the auger 1218 to rotate and can drive the second auger 1240 to rotate. The second auger 1240 can rotate in the same direction as the auger 1218 or can rotate in the opposite direction as the auger 1218. The second auger 1240 can collect debris that is carried by the airstream past the auger 1218, such as past the filter screen 1222. The second auger 1240 can be operable to compact debris into the debris chamber 1216 that moves past the auger 1218 to more effectively collect and compact debris entering the plenum 1210.

[0094] FIG. 14 illustrates an isometric cross-sectional view of a portion of the mobile cleaning robot 500. The mobile cleaning robot 500 of FIG. 14 can be consistent with the mobile cleaning robot 500 discussed above. FIG. 14 shows that the debris chamber 516 can include multiple volumes and one or more radiused wall. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 500.

[0095] More specifically, FIG. 14 shows that the debris chamber 516 can include a first volume 542 and a second volume 544 where the first volume 542 and the second volume 544 can be connected to each other. Though the volumes are shown as being precisely located, the volumes are shown for explanatory purposes and can be any portion of the debris chamber 516. FIG. 14 also shows that the debris chamber 516 can include a radiused wall 546. The radiused wall 546 can be a shroud, portion of the debris chamber 516, duct, flow path, or the like, that is curved, radiused, or shaped to guide debris move or flow through the first volume 542 and toward the second volume 544 to help efficiently pack or fill the debris chamber 516 with compacted or condensed debris and tohelp increase a storage capacity of the debris bin 504 and therefore helping to reduce a frequency at which the debris bin 504 requires emptying by a user.

[0096] FIG. 15 illustrates an isometric cross-sectional view of the mobile cleaning robot 500 and a docking station 1500. FIG. 16 illustrates an isometric view of the docking station 1500. FIGS. 15 and 16 are discussed together below. The mobile cleaning robot 500 can be consistent with the mobile cleaning robot 500 (or any other mobile cleaning robot discussed above).

[0097] The docking station 1500 can include a base 1550 and a canister 1552 connected to the base 1550. The base 1550 can be configured to receive the mobile cleaning robot 500 at least partially therein or thereon for docking and activities such as charging and evacuation of debris from the mobile cleaning robot 500. Fig. 15 shows that the canister 1552 can be supported by the base 1550 such that the canister 1552 can be located at least partially above the base 1550 and at least partially above the mobile cleaning robot 500.

[0098] The docking station 1500 can also include a compaction system 1554 that can be connected to the base 1550 or the canister 1552. The canister 1552 can also include an exhaust fan or blower 1553 connected to the compaction system 1554 such as to generate an airstream through the compaction system 1554 from the mobile cleaning robot 500. The compaction system 1554 can be fluidically connected to the mobile cleaning robot 500 (when the mobile cleaning robot 500 is docked to the docking station 1500) via a suction pipe 1556. The suction pipe can be a pipe, tube, duct, or the like configured to connect the mobile cleaning robot 500 to the compaction system 1554 and to transfer debris from the mobile cleaning robot 500 to the compaction system 1554, which is discussed in further detail below.

[0099] Generally, in operation of some examples, the base 1550 can receive the mobile cleaning robot 500 at least partially therein or thereon to perform one or more docking operations such as charging or debris evacuation (e.g., from the debris bin 504) from the mobile cleaning robot 500 to the compaction system 1554. During evacuation, a fan or blower of the docking station can be enabled to draw an air stream through the mobile cleaning robot 500 (and more specifically through the debris bin 504) to pull the 1stream and debris through the suction pipe 1556 and into the compaction system 1554, emptying the debris from the mobile cleaning robot 500 to allow the mobile cleaning robot 500 to continue on its mission or to avoid or limit user-emptying of the debris bin 504.

[0100] FIG. 16 shows that the compaction system 1554 can include a body 1558 defining a plenum (discussed below) and defining a handle 1560. The handle 1560 can be user-graspable or grabbable to separate the compaction system 1554 from the canister 1552 or the docking station 1500. The compaction system 1554 can also include a cover 1562 that can be hingeably connected to the body 1558 for emptying of debris from the compaction system 1554, as discussed in further detail below.

[0101] FIG. 17 illustrates an isometric view of the compaction system 1554. FIG. 18 illustrates an isometric cross-sectional view of the compaction system 1554. FIG. 19 illustrates an isometric cross-sectional view of the compaction system 1554. FIGS. 17-19 are discussed together below.

[0102] The compaction system 1554 of FIGS. 17-19 can be consistent with the compaction system 1554 of FIGS. 15 and 16; FIGS. 17-19 show additional details of the compaction system 1554. For example, FIG. 17 shows that the body 1558 can be or can at least partially define a debris bin 1564 configured to receive debris (such as from the mobile cleaning robot 500 via the suction pipe 1556) at least partially therein.

[0103] The suction pipe can be connected to a plenum 1566 via an inlet 1568. The compaction system 1554 can also include an outlet 1570 of the plenum 1566, allowing the plenum 1566 to receive a flow stream generated by a fan (or fans) which can carry debris into the plenum 1566 as the flow stream passes through the inlet 1568 to the outlet 1570. The compaction system 1554 can also include a filter 1572 (or filter screen) located between the inlet 1568 and the outlet 1570 (e.g., downstream of the inlet 1568 and upstream of the outlet 1570). The filter 1572 can be configured to separate debris from the flow stream for compaction by a compactor. The compaction system 1554 can also include a lid 1574 that can be hingeably connected to the body 1558 for user access of the inlet 1568, the outlet 1570, and the filter 1572.

[0104] The compaction system 1554 can also include a compactor 1576 located downstream of the inlet 1568 of the plenum 1566 and upstream or in the debris bin 1564. The compactor 1576 can be an auger or rotary screw and can be connected to a motor 1578 (optionally via one or more gears) such that the motor 1578 can be driven (e.g., by a controller) to drive the compactor 1576 to rotate within the plenum 1566 to compact debris carried by a flow stream from the plenum into the debris bin 1564.

[0105] The compaction system 1554 can also include an elbow 1580 connected to a discharge of the compactor 1576 and a discharge of the plenum 1566 on an upstream side of the elbow 1580. A downstream side of the elbow 1580 can be connected to the debris bin 1564. The elbow 1580 can be configured (e.g., shaped and sized) to direct compacted debris from the compactor 1576 to the debris bin 1564.

[0106] The compaction system 1554 can also include a plunger 1582 located at least partially between the compactor 1576 and the debris bin 1564 and downstream of the plenum 1566. The plunger 1582 can be movable between a first or retracted position and a second or an extended position. FIG. 18 shows the plunger 1582 in the retracted position 1582 A and the extended position 1582B. FIG. 17 shows the plunger 1582 in only the retracted position and FIG. 19 shows the plunger 1582 in only the extended position.

[0107] The plunger 1582 can be a movable member configured to conform to a shape of the elbow 1580 in the retracted position. As the plunger 1582 moves from the retracted position to the extended position, the plunger 1582 can move into an opening of the elbow 1580 and towards the cover 1562 to force debris out of the elbow 1580 and into the debris bin 1564. The plunger 1582 can be connected to a handle 1584 that can be operable to move the plunger 1582 between the retracted position and the extended position. The handle 1584 can be engaged with one or more biasing elements 1586 (which can be springs or the like). The one or more biasing elements 1586 can also be engaged with the body 1558 to bias the handle 1584 and the plunger 1582 away from the extended position and towards the retracted position.

[0108] The plunger 1582 can also include one or more guides 1588 extending away from a body of the plunger 1582, such as in the shape of projections, fins, or the like.Each of the guides 1588 can be located at least partially within one or more slots 1590 of the elbow. The guides 1588 can be engaged with the slots 1590 such that the guides 1588 can guide movement of the plunger 1582 between the retracted position and the extended position. FIG. 18 also shows that the plunger 1582 can include a lip 1591 that can engage an internal surface of the elbow 1580, such as adjacent the one or more slots 1590. The one or more slots 1590 can thereby help to form a seal between the elbow 1580 and the guides 1588 and can help to limit movement of the plunger 1582 toward the retracted position.

[0109] As discussed above, the compactor 1576 can be an auger or rotary screw. The compactor 1576 can include a blade 1592 connected to a shaft 1594 that are driven to rotate by the motor 1578. The blade 1592 can be or can include one or more vanes, blades, or lobes extending between an outer wall of the compaction system 1554 and an inlet to the elbow 1580. In some examples, the blade 1592 of the compactor 1576 can have or can be variable pitch such that the blade 1592 can decrease in pitch as the blade 1592 extends toward an end of the blade 1592 near the elbow 1580. This variable pitch of the blade 1592 (with a course pitch at a beginning portion) can allow the compactor 1576 to quickly move debris away from the inlet 1568 while the finer pitch at the end portion of the blade 1592 (e.g., near the elbow 1580) can allow for a relatively high compressive force delivered by the blade 1592 and the compactor 1576 to help compact debris into the elbow 1580 which forces debris down into the debris bin 1564 as the debris bin 1564 starts to fill.

[0110] FIG. 17 also shows that the cover 1562 can be connected to the body 1558 by one or more clips 1596 and one or more hinges. As shown in FIG. 17, the clips 1596 can secure one end of the cover 1562 to the body 1558 and the hinges 1598 can secure an opposite end of the cover 1562 to the body 1558. Then, as shown in FIG. 19, when the one or more clips 1596 are unlocked, the cover 1562 can be rotated via the hinges 1598 to open the cover 1562 to allow debris to be emptied from the debris bin 1564. An interface between the cover 1562 and the debris bin 1564 can include one or more seals, such as a rubber or other polymer gasket.

[0111] In operation of some examples, when the mobile cleaning robot 500 is docked on the docking station 1500, the blower system of the docking station 1500 can be operated to generate an air stream to flow from the mobile cleaning robot 500 (e.g., through the debris port 135), through the suction pipe 1556 and into the inlet 1568 of the plenum 1566 where debris from the flow stream or air stream can fall from the plenum 1566 toward the compactor 1576. The flow stream can continue through the filter 1572 toward the outlet 1570 where the filter 1572 can help to separate large debris from the flow stream and the separated large debris can fall from the filter 1572 onto the compactor 1576. In some examples, the docking station 1500 can also include a final filter downstream of the filter 1572 and upstream of the fan or blower. In some examples, the docking station 1500 can include an impactor, such as the impactor assembly 526 to help clear the filter 1572 of debris.

[0112] Debris from the flow stream that falls onto the compactor 1576 can be moved by the compactor 1576 as it rotates (and is driven by the motor 1578) toward the elbow 1580 and the debris can be compacted as it is driven into the elbow 1580 and the debris bin 1564. The debris can fall into the debris bin 1564 and when the debris bin 1564 begins to fill, the compactor 1576 can continue to operate, packing debris into the debris bin 1564. The plunger 1582 can be operated to help clear debris away from the compactor 1576 in case of clogs and can be used to help empty the debris bin 1564.

[0113] In some examples, the controller can also be connected to the actuator 1578, which can include one or more sensors such as a current sensor. The controller can monitor a current of the actuator 1578 to determine when the debris bin 1564 is full or there is a jam. For example, the controller can determine there is a jam or the debris bin 1564 is full based on a current from the actuator 1578 passing a threshold. When the controller determines or detects a relatively quick or abrupt spike or rise in current of the motor 1578 the controller can determine or detect that there is a jam or clog and can drive the actuator 1578 backwards in an attempt to unclog the compactor 1576. When the controller detects or determines that the current of the actuator 1578 of the compactor 1576 rises slowly over time, the controller can determine that the debris bin 1564 is full and can transmit a signal to another device indicating that the debris bin 1564 is full.

[0114] For example, when the debris bin 1564 becomes full or it is desired to empty the debris from the debris bin 1564, a user can separate the compaction system 1554 from the docking station 1500. The one or more clips 1596 can then be operated to open the cover 1562 (e.g., about the hinges 1598) to release debris from the debris bin 1564. The handle 1584 can also be manipulated (e.g., by a user) to move the guides 1588 to help push debris out of the debris bin 1564 to help empty the debris bin 1564. In this way, the compaction system 1554 can provide a bagless debris system that can be used within the docking station 1500 that can store a relatively large amount of compacted debris in the compaction system 1554, which can be easily emptied using the cover 1562 and the elbow 1580, helping to reduce a frequency of user engagement with the docking station 1500 while also eliminating the need for bags. Also, because air is not moved through the debris bin 1564 (and therefore not through the debris) during evacuation from the robot to the docking station 1500, odors or smells emitted from the docking station 1500 can be reduced.Additional Docking Station Examples

[0115] FIG. 20 illustrates a cross-sectional view of a portion of a docking station 2000. FIG. 21 illustrates a cross-sectional view of a portion of the docking station 2000. FIGS. 20 and 21 are discussed together below. The docking station 2000 can be similar to any of the docking stations discussed above. The docking station can include a debris bag and extraction assembly. Any of the docking stations discussed above or below can include the features of the docking station 2000.

[0116] The docking station 2000 can include a base (which can be similar to the base 1550) and a canister 2052 connected to the base. The base can be configured to receive a mobile cleaning robot at least partially therein or thereon for docking and activities such as charging and evacuation of debris from the mobile cleaning robot. The canister 2052 can be supported by the base such that the canister 2052 can be located at least partially above the base and at least partially above the mobile cleaning robot.

[0117] The docking station 2000 can also include a compaction system 2054 that can be connected to the base or the canister 2052 or can be part of the cannister 2052. Thecanister 2052 can also include an exhaust fan or blower connected to the compaction system 2054 such as to generate an airstream through the compaction system 2054 from the mobile cleaning robot. The compaction system 2054 can be fluidically connected to the mobile cleaning robot (when the mobile cleaning robot is docked to the docking station 200) via a suction pipe. The suction pipe can be a pipe, tube, duct, or the like configured to connect the mobile cleaning robot to the compaction system 2054 and to transfer debris from the mobile cleaning robot to the compaction system 2054, which is discussed in further detail below.

[0118] The compaction system 2054 can include a body 2058 defining a plenum (discussed below) and defining a handle 2060. The handle 2060 can be user-graspable or grabbable to separate the compaction system 2054 from the canister 2052 or the docking station 2000. The compaction system 2054 can also include a cover 2062 that can be hingeably connected to the body 2058 for emptying of debris from the compaction system 2054, as discussed in further detail below.

[0119] The body 2058 can be or can at least partially define a debris bin 2064 configured to receive debris (such as from the mobile cleaning robot via a suction pipe) at least partially therein. The suction pipe can be connected to a plenum 2066 via an inlet 2068. The compaction system 2054 can also include an outlet 2070 of the plenum 2066, allowing the plenum 2066 to receive a flow stream generated by a fan (or fans) which can carry debris into the plenum 2066 as the flow stream passes through the inlet 2068 to the outlet 2070.

[0120] The compaction system 2054 can also include a filter 2072 (or filter screen) located between the inlet 2068 and the outlet 2070 (e.g., downstream of the inlet 2068 and upstream of the outlet 2070). The filter 2072 can be configured to separate debris from the flow stream for compaction by a compactor (or hopper). The filter 2072 can be removable connected to the body 2058, such as for cleaning or replacement of the filter 2072. The compaction system 2054 can also include a lid 2074 that can be hingeably connected to the body 2058 for user access of the inlet 2068, the outlet 2070, and the filter 2072.

[0121] The compaction system 2054 can also include a compactor 2076 (or hopper) located downstream of the inlet 2068 of the plenum 2066 and upstream or in the debris bin 2064. The compactor 2076 can be an auger or rotary screw and can be connected to a motor 2078 (optionally via one or more gears) such that the motor 2078 can be driven (e.g., by a controller) to drive the compactor 2076 rotate within the plenum 2066 to compact debris carried by a flow stream from the plenum into the debris bin 2064. The motor can optionally be a 6 volt motor, but can be a 3 volt or 12 volt motor or the like. The motor 2078 can connect to the compactor 2076 via a gear train with a reduction of 120:1, but can be at other ratios, such as 10:1, 20:1, 30: 1, 40: 1, 50:1, 60:1, 70: 1, 80: 1, 90: 1, 100: 1, 110: 1, 130: 1, 140: 1, 150: 1, 160: 1, 170: 1, 180: 1, 190: 1, 200: 1, or the like. In some examples, the motor 2078 can be connected to a current sensor that communicates with the controller. The controller can use the current sensor to determine when there is a clog or jam of the compactor 2076 (such as when current spikes). When this determination is made, the controller can drive the compactor 2076 in reverse to help clear the clog or jam.

[0122] As shown in FIG. 21, the compactor 2076 can be at least partially surrounded by a housing 2061. The housing 2061 can be part of the body 2058 or can be connected to the body 2058. The housing 2061 can at least partially define a cavity or housing for the compactor 2076. A radial clearance between the compactor 2076 and the housing 2061 can be kept to a minimum to help minimize debris bypass, such as 0.25 mm nominal clearance. In other examples, the clearance can be 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm, or the like. Also, a contact angle between the compactor 2076 and the housing 2061 can be 120 degrees but can also be between 90 degrees and 180 degrees, such as 90, 110, 120, 130, 140, 150, 160, 170, 180, or the like.

[0123] The compaction system 2054 can also include a debris bag 2081 configured to receive compacted debris from the compactor 2076. The debris bag 2081 can be sized to a portion of or all of a volume of the debris bin 2064. The debris bag 2081 can be removable or replaceable. The debris bag 2081 can be releasably secured to the body 2058 via one or more snap engagements or a friction fit between the body 2058 and the debris bag 2081.

[0124] The compaction system 2054 can also include an extractor 2082 located at least partially within the debris bin 2064 and downstream of the plenum 2066 and the compactor 2076. The extractor 2082 can be movable between a first or retracted position and a second or an extended position. The extractor 2082 can be operable to extract debris and the debris bag 2081 from the debris bin 2064, as discussed in further detail below.

[0125] FIG. 20 also shows that the extractor 2082 can include a handle 2084 including a latch 2086 including an end portion 2088 that is rounded and configured to engage with a catch 2090 of the cover 2062. The latch 2086 can be guided in movement by the body 2058 such that the latch 2086 translates with the handle 2084 with respect to the body 2058. The extractor 2082 can also include ejectors 2092 connected to the handle 2084 and movable therewith. In some examples, the extractor 2082 can include biasing elements 2094 at least partially surrounding the ejectors 2092 and engaged with the handle 2084 and a wall of the body 2058. The biasing elements 2094 can bias the handle 2084 and the ejectors 2092 toward a neutral position.

[0126] FIG. 22 illustrates a cross-sectional view of a portion of the docking station 2000. FIG. 23 illustrates a cross-sectional view of a portion of the docking station 2000. FIG. 24 illustrates a cross-sectional view of a portion of the docking station 2000. FIGS. 22-24 are discussed together below. The docking station 2000 of FIGS. 22-24 can be consistent with the docking station 2000 discussed above; FIGS. 22-24 show how the extractor 2082 can operate to eject the handle 2084.

[0127] FIGS. 22 and 23 also more clearly show that the extractor 2082 can include a plurality of ejectors 2092a-2092n and a plurality of biasing elements 2094a-2094n. Though four ejectors and biasing elements are shown, the docking station 2000 can include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or the like of each the ejectors 2092 and the biasing elements 2094. The docking station 2000 can include the same number of ejectors 2092 and biasing elements 2094 or can include a different number of ejectors 2092 and biasing elements 2094. Upward movement (or movement opposite arrow D or away from the cover 2062) of the handle 2084 and the ejectors 2092 can be limited by engagement between heads of the biasing elements 2094 and stops 2096 of a wall 2059 of the body2058, as shown in FIG. 22. Downward movement of the handle 2084 and the ejectors2092 can be limited by engagement between a body 2093 of the extractor 2082 and the wall 2059. In some examples, the ejectors 2092 can extend downward from the body2093 or the handle 2084.

[0128] FIGS. 22-24 also show that the debris bag 2081 can include a bag 2083 and a cover 2085. The cover 2085 can be relatively rigid and can act as a frame or structural member of the bag 2083. The cover 2085 can include an opening that extends therethrough to receive debris from the compactor 2076. The debris bag 2081 can include an absorbent layer 2087 connected to the absorbent layer 2087, which can help to absorb odors of the debris in the debris bag 2081 and to help control ingested liquid.

[0129] In operation of some examples, a user or operator can operate the handle 2084, such as by forcing the handle 2084 in the direction D when a force applied in the direction D is sufficient to overcome the combined force of the biasing elements 2094 (plus any frictional forces). As the handle 2084 moves toward the direction D, the ejectors 2092 can engage the cover 2085. At or around this time, the latch 2086 can move in the direction D and can release or disengage from the catch 2090 of the cover 2062, releasing the cover 2062. Further movement of the biasing elements 2094 can cause the debris bin 2064 to begin to move through a bottom opening of the compaction system 2054 as the cover 2062 can fall open due to a force of gravity or can be forced out by force transferred from the biasing elements 2094 to the cover 2085, to the bag 2083, and to the cover 2062. As shown in FIG. 23, the debris bag 2081 can move out of the debris bin 2064. And, as shown in FIG. 24, the debris bag 2081 can be entirely separated from the debris bin 2064 and the docking station 2000. Thereafter, the debris bag 2081 can be cleaned or disposed of and replaced with a clean or fresh filter. Because the compaction system 2054 can cause relatively high internal forces, the ejection system can help a user more easily remove debris and the debris bag 2081 from the docking station 2000.

[0130] When emptying the docking station 2000, debris that is compacted will tend to rapidly expand out, which can create a potential mess for the user. By using the debris bag 2081, debris can be caught or held within the bag 2083 to make handling much cleaner and easier for the user. The debris bag 2081 can also be sized to be relativelylarge, such as between 1-2 liters within the docking station 2000 and can be configured to expand outside the docking station 2000, such as when removed, (such as between 3 and 6 liters, e.g., 5.5 liters), which can collect debris for 6 months or more. In some examples, the bag 2083 can expand to a volume of about 3 times its volume within the docking station 2000.

[0131] The debris bag 2081 can be made of a relatively thin and light polymer and the debris bag 2081 can be optionally biodegradable. In some examples, the cover 2085 can be made of cardboard or similar materials to help reduce cost and increase biodegradability. Such a cardboard cover could be coated to help maintain structural integrity during contact with liquids. The bag 2083 can also include an

[0132] FIG. 25 illustrates a cross-sectional view of a portion of the docking station 2000. The docking station 2000 can be consistent with the docking station 2000 discussed above. FIG. 25 shows that the docking station 2000 can include a recess 2098 formed between the handle 2084 and the body 2058, which can prove user access to the handle 2084. The docking station 2000 can also include a ledge 2099, which can allow a user to improve grip, purchase, or increase force or stability while force is applied on the handle 2084 by using a second hand to grab the ledge 2099.

[0133] FIG. 26 illustrates a cross-sectional view of a portion of the docking station 2000. The docking station 2000 can be consistent with the docking station 2000 discussed above. FIG. 26 shows that the docking station 2000 can include a filter switch 2091 that can be in communication with a controller (e.g., the controller 212). The cover 2085 can be engageable with the filter switch 2091 such as to allow the controller to determine whether a debris bag is installed. In some examples, the controller can prevent or limit debris evacuation and compacting when the controller determines that a debris bag is not installed. FIG. 26 also shows that the body 2058 can include a sloped wall 2097. The sloped wall 2097 can be part of or can be connected to the body 2058 and can help feed debris from the inlet 2068 to the compactor 2076.

[0134] FIG. 27 illustrates a cross-sectional view of the filter 2072 of the docking station 2000. The filter 2072 can be consistent with the filter 2072 discussed above. FIG. 27 shows that the filter 2072 can include a first filter 2073 and a second filter 2075. Thefirst filter 2073 can be a washable mesh (e.g., a washable metallic or polymer mesh filter) and the second layer can be a washable porous media. In some examples, the first filter 2073 can be a B85 Nylon mesh, including 85 micron openings, and a 49-50 percent open area. The second filter 2075 can be releasably securable to the first filter 2073 via clips 2051. The clips 2051 can be connected to or integral to the first filter 2073.

[0135] FIG. 28 illustrates an isometric view of the compactor 2076 of the docking station 200. The compactor 2076 can be consistent with the compactor 2076 discussed above. FIG. 28 shows that the compactor 2076 can include a drive shaft 2077 and a blade 2079 connected thereto. The drive shaft 2077 and the blade 2079 can be integrally formed (or formed together) or the blade 2079 can be connected to (e.g., welded) to the drive shaft 2077. The compactor 2076 can be connected to the motor 2078 and can be driven thereby to rotate the drive shaft 2077 and the blade 2079.

[0136] The blade 2079 of the compactor 2076 can include a pitch that varies between the drive shaft 2077 and an opposite end portion (termination). For example, a pitch of the blade 2079 in the range of Pl of FIG. 28 can be about 50 degrees, such as between the drive shaft 2077 and about two thirds of a length of the blade 2079 to about nine tenths of the length. The second pitch P2 can be about 25 degrees and a third pitch P3 can be about 15 degrees. This variable pitch of the blade 2079 (with a course pitch at a beginning portion) can allow the compactor 2076 to quickly move debris away from the inlet while the finer pitch at the end portion of the blade 2079 can allow for a relatively high compressive force delivered by the blade 2079 and the compactor 2076 to help compact debris into the debris bin 2064 as the debris bin 2064 starts to fill. The first pitch can be in a range of 60 degrees to 30 degrees. The second pitch can be in a range between 10 degrees and 40 degrees. The third pitch can be in a range between 5 degrees and 20 degrees. The pitch of Pl can be sized to allow for a full bin of debris from the robot to be grabbed seamlessly without immediately wrapping around the compactor 2076.

[0137] FIG. 29 illustrates a block diagram of an example machine 2900 upon which any one or more of the techniques (e.g., methodologies) discussed herein may perform. Examples, as described herein, may include, or may operate by, logic or a number of components, or mechanisms in the machine 2900. Circuitry (e.g., processing circuitry) isa collection of circuits implemented in tangible entities of the machine 2900 that include hardware (e.g., simple circuits, gates, logic, etc.). Circuitry membership may be flexible over time. Circuitries include members that may, alone or in combination, perform specified operations when operating. In an example, hardware of the circuitry may be immutably designed to carry out a specific operation (e.g., hardwired). In an example, the hardware of the circuitry may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.) including a machine readable medium physically modified (e.g., magnetically, electrically, moveable placement of invariant massed particles, etc.) to encode instructions of the specific operation. In connecting the physical components, the underlying electrical properties of a hardware constituent are changed, for example, from an insulator to a conductor or vice versa. The instructions enable embedded hardware (e.g., the execution units or a loading mechanism) to create members of the circuitry in hardware via the variable connections to carry out portions of the specific operation when in operation. Accordingly, in an example, the machine readable medium elements are part of the circuitry or are communicatively coupled to the other components of the circuitry when the device is operating. In an example, any of the physical components may be used in more than one member of more than one circuitry. For example, under operation, execution units may be used in a first circuit of a first circuitry at one point in time and reused by a second circuit in the first circuitry, or by a third circuit in a second circuitry at a different time. Additional examples of these components with respect to the machine 2900 follow.

[0138] In alternative embodiments, the machine 2900 may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, the machine 2900 may operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example, the machine 2900 may act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment. The machine 2900 may be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a mobile telephone, a web appliance, a network router, switch or bridge, or any machine capable of executing instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, whileonly a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations.

[0139] The machine (e.g., computer system) 2900 may include a hardware processor 2902 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), a main memory 2904, a static memory (e.g., memory or storage for firmware, microcode, a basic-input-output (BIOS), unified extensible firmware interface (UEFI), etc.) 2906, and mass storage 2908 (e.g., hard drive, tape drive, flash storage, or other block devices) some or all of which may communicate with each other via an interlink (e.g., bus) 2930. The machine 2900 may further include a display unit 2910, an alphanumeric input device 2912 (e.g., a keyboard), and a user interface (UI) navigation device 2914 (e.g., a mouse). In an example, the display unit 2910, input device 2912 and UI navigation device 2914 may be a touch screen display. The machine 2900 may additionally include a storage device (e.g., drive unit) 2908, a signal generation device 2918 (e.g., a speaker), a network interface device 2920, and one or more sensors 2916, such as a global positioning system (GPS) sensor, compass, accelerometer, or other sensor. The machine 2900 may include an output controller 2928, such as a serial (e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.).

[0140] Registers of the processor 2902, the main memory 2904, the static memory 2906, or the mass storage 2908 may be, or include, a machine readable medium 2922 on which is stored one or more sets of data structures or instructions 2924 (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein. The instructions 2924 may also reside, completely or at least partially, within any of registers of the processor 2902, the main memory 2904, the static memory 2906, or the mass storage 2908 during execution thereof by the machine 2900. In an example, one or any combination of the hardware processor 2902, the main memory 2904, the static memory 2906, or the mass storage 2908 may constitute the machine readable media2922. While the machine readable medium 2922 is illustrated 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 the one or more instructions 2924.

[0141] The term “machine readable medium” may include any medium that is capable of storing, encoding, or carrying instructions for execution by the machine 2900 and that cause the machine 2900 to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding or carrying data structures used by or associated with such instructions. Non-limiting machine readable medium examples may include solid-state memories, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon based signals, sound signals, etc.). In an example, a non- transitory machine readable medium comprises a machine readable medium with a plurality of particles having invariant (e.g., rest) mass, and thus are compositions of matter. Accordingly, non-transitory machine-readable media are machine readable media that do not include transitory propagating signals. Specific examples of non-transitory machine readable media may include: non-volatile memory, such as semiconductor memory devices (e.g., Electrically Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM)) and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magnetooptical disks; and CD-ROM and DVD-ROM disks.

[0142] The instructions 2924 may be further transmitted or received over a communications network 2926 using a transmission medium via the network interface device 2920 utilizing any one of a number of transfer protocols (e.g., frame relay, internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), hypertext transfer protocol (HTTP), etc.). Example communication networks may include a local area network (LAN), a wide area network (WAN), a packet data network (e.g., the Internet), mobile telephone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, and wireless data networks (e.g., Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards known as Wi-Fi®, IEEE 802.16 family of standards known as WiMax®), IEEE 802.15.4 family of standards, peer-to-peer (P2P)networks, among others. In an example, the network interface device 2920 may include one or more physical jacks (e.g., Ethernet, coaxial, or phonejacks) or one or more antennas to connect to the communications network 2926. In an example, the network interface device 2920 may include a plurality of antennas to wirelessly communicate using at least one of single- input multiple-output (SIMO), multiple- input multiple-output (MIMO), or multiple-input single-output (MISO) techniques. The term “transmission medium” shall be taken to include any intangible medium that is capable of storing, encoding or carrying instructions for execution by the machine 2900, and includes digital or analog communications signals or other intangible medium to facilitate communication of such software. A transmission medium is a machine readable medium.NOTES AND EXAMPLES

[0143] The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others.

[0144] Example 1 is a mobile cleaning robot comprising: a body; one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment; a debris bin connected to the body; an extractor connected to the body and operable to extract debris from the environment; a vacuum system connected to the body and configured to generate a flow stream through the extractor; and a compaction system connected to the body and a discharge of the extractor, the compaction system including: a plenum configured to receive debris and the flow stream from the discharge; and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.

[0145] In Example 2, the subject matter of Example 1 optionally includes a filter screen connected to the plenum downstream of the compactor, the filter screen configured to separate debris from the flow stream based on size for compaction by the compactor.31

[0146] In Example 3, the subject matter of Example 2 optionally includes an impactor operable to impact the filter screen to clear debris buildup from an upstream side of the filter screen.

[0147] In Example 4, the subject matter of Example 3 optionally includes wherein the impactor includes a rotating cam configured to cause the filter screen to cyclically flex and unflex.

[0148] In Example 5, the subject matter of any one or more of Examples 3-4 optionally include wherein the impactor includes a reciprocating piston configured to cause the filter screen to cyclically flex and unflex.

[0149] In Example 6, the subject matter of any one or more of Examples 2-5 optionally include a filter clearing device operable to cause the flow stream to reverse through the filter screen to clear debris buildup from an upstream side of the filter screen.

[0150] In Example 7, the subject matter of any one or more of Examples 1-6 optionally include wherein the compactor is an auger or rotary screw.

[0151] In Example 8, the subject matter of Example 7 optionally includes wherein the plenum includes a radiused portion configured to direct the debris toward the compactor.

[0152] In Example 9, the subject matter of any one or more of Examples 1-8 optionally include a motor connected to the compactor, the motor operable to drive the compactor to move to compact the debris.

[0153] In Example 10, the subject matter of any one or more of Examples 2-9 optionally include a final filter downstream of the filter screen, the final filter configured to filter particulate from the flow stream.

[0154] Example 11 is a docking station configured to receive a mobile cleaning robot at least partially thereon, the docking station comprising: a base configured to receive the mobile cleaning robot at least partially thereon; and a canister connected to the base, the canister comprising: plenum including an inlet configured to receive a flow stream from the mobile cleaning robot; a debris bin connected to the plenum; and a compactor located downstream of the inlet of the plenum and upstream or in the debris bin, the compactor operable to compact debris carried by the flow stream from the plenum into the debris bin.

[0155] In Example 12, the subject matter of Example 11 optionally includes a filter screen connected to the plenum downstream of the inlet of the plenum and upstream of an outlet of the plenum, the filter screen configured to separate debris from the flow stream for compaction by the compactor.

[0156] In Example 13, the subject matter of Example 12 optionally includes an elbow connected to a discharge of the compactor and to the debris bin, the elbow configured to direct compacted debris from the compactor to the debris bin.

[0157] In Example 14, the subject matter of Example 13 optionally includes a plunger located at least partially between the compactor and the debris bin, the plunger movable between a retracted position and an extended position to move debris from the elbow toward the debris bin.

[0158] In Example 15, the subject matter of Example 14 optionally includes wherein the plunger is shaped to conform to the elbow in the retracted position.

[0159] In Example 16, the subject matter of any one or more of Examples 14-15 optionally include wherein the plunger is biased to the retracted position.

[0160] In Example 17, the subject matter of any one or more of Examples 14-16 optionally include wherein includes one or more guides located at least partially within one or more slots of the elbow to guide movement of the plunger between the retracted position and the extended position.

[0161] In Example 18, the subject matter of any one or more of Examples 14-17 optionally include wherein the compactor is configured to move debris toward the elbow and the plunger and away from the plenum.

[0162] In Example 19, the subject matter of any one or more of Examples 11-18 optionally include wherein the compactor is an auger or rotary screw.

[0163] In Example 20, the subject matter of Example 19 optionally includes wherein the auger or rotary screw includes a variable pitch decreasing in pitch as a blade of the auger or rotary screw extends toward an end of the auger or rotary screw.

[0164] Example 21 is a docking station configured to receive a mobile cleaning robot at least partially thereon, the docking station comprising: a base configured to receive the mobile cleaning robot at least partially thereon; and a canister connected to the base, thecanister comprising: plenum including an inlet configured to receive a flow stream from the mobile cleaning robot; a debris bin connected to the plenum; and a compactor located downstream of the inlet of the plenum and upstream or in the debris bin, the compactor operable to compact debris carried by the flow stream from the plenum into the debris bin.

[0165] In Example 22, the subject matter of Example 21 optionally includes a debris bag releasably securable to the debris bin and configured to receive compacted debris from the compactor.

[0166] In Example 23, the subject matter of Example 22 optionally includes an extractor connected to the debris bin and operable to extract the debris and the debris bag from the debris bin.

[0167] In Example 24, the subject matter of Example 23 optionally includes wherein the extractor is movable between a retracted position and an extended position to move debris bag out of the debris bin.

[0168] In Example 25, the subject matter of Example 24 optionally includes wherein the extractor is biased toward the retracted position.

[0169] In Example 26, the subject matter of Example 25 optionally includes wherein the extractor includes a handle that is user operable to move the extractor toward the extended position.

[0170] In Example 27, the subject matter of Example 26 optionally includes wherein the extractor includes one or more ejectors engageable with the debris bag to move the debris bag out of the debris bin when the handle is operated to move the extractor toward the extended position.

[0171] In Example 28, the subject matter of any one or more of Examples 26-27 optionally include a door pivotably connected to the debris bin and movable between a closed position wherein the door supports the debris bag, and between an open position wherein the debris bag is removable through an opening of the debris bin.

[0172] In Example 29, the subject matter of Example 28 optionally includes wherein the handle includes a latch engageable with a catch of the door to secure the door in the closed position when the extractor is in the retracted position.

[0173] In Example 30, the subject matter of Example 29 optionally includes wherein movement of the extractor via the handle toward the extended position disengages the latch from the catch to allow the door to move the open position.

[0174] In Example 31, the apparatuses or method of any one or any combination of Examples 1 - 30 can optionally be configured such that all elements or options recited are available to use or select from.

[0175] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0176] In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.

[0177] In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0178] The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) can be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features can be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter can lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

CLAIMS:

1. A mobile cleaning robot comprising: a body; one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment; a debris bin connected to the body; an extractor connected to the body and operable to extract debris from the environment; a vacuum system connected to the body and configured to generate a flow stream through the extractor; and a compaction system connected to the body and a discharge of the extractor, the compaction system including: a plenum configured to receive debris and the flow stream from the discharge; and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.

2. The mobile cleaning robot of claim 1, comprising: a filter screen connected to the plenum downstream of the compactor, the filter screen configured to separate debris from the flow stream based on size for compaction by the compactor.

3. The mobile cleaning robot of claim 2, comprising: an impactor operable to impact the filter screen to clear debris buildup from an upstream side of the filter screen.

4. The mobile cleaning robot of claim 3, wherein the impactor includes a rotating cam configured to cause the filter screen to cyclically flex and unflex.

5. The mobile cleaning robot of claim 3, wherein the impactor includes a reciprocating piston configured to cause the filter screen to cyclically flex and unflex.

6. The mobile cleaning robot of claim 2, comprising: a filter clearing device operable to cause the flow stream to reverse through the filter screen to clear debris buildup from an upstream side of the filter screen.

7. The mobile cleaning robot of claim 1, wherein the compactor is an auger or rotary screw.

8. The mobile cleaning robot of claim 7, wherein the plenum includes a radiused portion configured to direct the debris toward the compactor.

9. The mobile cleaning robot of claim 1, comprising: a motor connected to the compactor, the motor operable to drive the compactor to move to compact the debris.

10. The mobile cleaning robot of claim 2, comprising: a final filter downstream of the filter screen, the final filter configured to filter particulate from the flow stream.

11. A docking station configured to receive a mobile cleaning robot at least partially thereon, the docking station comprising: a base configured to receive the mobile cleaning robot at least partially thereon; and a canister connected to the base, the canister comprising: plenum including an inlet configured to receive a flow stream from the mobile cleaning robot; a debris bin connected to the plenum; anda compactor located downstream of the inlet of the plenum and upstream or in the debris bin, the compactor operable to compact debris carried by the flow stream from the plenum into the debris bin.

12. The docking station of claim 11, comprising: a filter screen connected to the plenum downstream of the inlet of the plenum and upstream of an outlet of the plenum, the filter screen configured to separate debris from the flow stream for compaction by the compactor.

13. The docking station of claim 12, comprising: an elbow connected to a discharge of the compactor and to the debris bin, the elbow configured to direct compacted debris from the compactor to the debris bin.

14. The docking station of claim 13, comprising: a plunger located at least partially between the compactor and the debris bin, the plunger movable between a retracted position and an extended position to move debris from the elbow toward the debris bin.

15. The docking station of claim 14, wherein the plunger is shaped to conform to the elbow in the retracted position.

16. The docking station of claim 14, wherein the plunger is biased to the retracted position.

17. The docking station of claim 14, wherein includes one or more guides located at least partially within one or more slots of the elbow to guide movement of the plunger between the retracted position and the extended position.

18. The docking station of claim 14, wherein the compactor is configured to move debris toward the elbow and the plunger and away from the plenum.

19. The docking station of claim 11, wherein the compactor is an auger or rotary screw.

20. The docking station of claim 19, wherein the auger or rotary screw includes a variable pitch decreasing in pitch as a blade of the auger or rotary screw extends toward an end of the auger or rotary screw.

21. A docking station configured to receive a mobile cleaning robot at least partially thereon, the docking station comprising: a base configured to receive the mobile cleaning robot at least partially thereon; and a canister connected to the base, the canister comprising: plenum including an inlet configured to receive a flow stream from the mobile cleaning robot; a debris bin connected to the plenum; and a compactor located downstream of the inlet of the plenum and upstream or in the debris bin, the compactor operable to compact debris carried by the flow stream from the plenum into the debris bin.

22. The docking station of claim 21, comprising: a debris bag releasably securable to the debris bin and configured to receive compacted debris from the compactor.

23. The docking station of claim 22, comprising: an extractor connected to the debris bin and operable to extract the debris and the debris bag from the debris bin.

24. The docking station of claim 23, wherein the extractor is movable between a retracted position and an extended position to move debris bag out of the debris bin.

25. The docking station of claim 24, wherein the extractor is biased toward the retracted position.

26. The docking station of claim 25, wherein the extractor includes a handle that is user operable to move the extractor toward the extended position.

27. The docking station of claim 26, wherein the extractor includes one or more ejectors engageable with the debris bag to move the debris bag out of the debris bin when the handle is operated to move the extractor toward the extended position.

28. The docking station of claim 26, comprising: a door pivotably connected to the debris bin and movable between a closed position wherein the door supports the debris bag, and between an open position wherein the debris bag is removable through an opening of the debris bin.

29. The docking station of claim 28, wherein the handle includes a latch engageable with a catch of the door to secure the door in the closed position when the extractor is in the retracted position.

30. The docking station of claim 29, wherein movement of the extractor via the handle toward the extended position disengages the latch from the catch to allow the door to move the open position.

Images