Robot surface cleaning systems

Abstract

A robot surface cleaner comprising a reservoir for containing a liquid and a liquid outlet. The reservoir has, when the robot surface cleaner is located on the surface in a cleaning configuration, a length parallel to the surface and a height perpendicular to the surface. The length is measured in a direction between first and second lateral ends of the reservoir, and the height is measured in a direction between a base of the reservoir and an upper periphery of the reservoir. The liquid outlet is disposed less than halfway along the length of the reservoir from the first lateral end to the second lateral end, and less than halfway along the height of the reservoir from the base to the upper periphery. A system comprising a robot surface cleaner and a docking station is also described.

Description

1 P005527-W001ROBOT SURFACE CLEANING SYSTEMSBACKGROUND

[0001] Systems comprising a robot surface cleaner and a docking station for coupling to, recharging and servicing the robot surface cleaner are known. Such robot surface cleaners may include dry systems, for example, for vacuum cleaning floors, or wet systems, for example, for wet mopping floors. Some robot surface cleaners have both a dry system and a wet system. Docking stations therefore need to be capable of servicing dry, wet and in some cases dry and wet systems of respective robot surface cleaners. Servicing correspondingly may comprise emptying debris from a dry system and / or removing dirty water from and replenishing clean water in a wet system.SUMMARY

[0002] In a first aspect, there is provided a robot surface cleaner comprising: a roller for contacting a surface to be cleaned; a reservoir configured to receive liquid collected by the roller, the reservoir having, when the robot surface cleaner is located on the surface in a cleaning configuration, a length parallel to the surface and a height perpendicular to the surface, the length measured in a direction between first and second lateral ends of the reservoir, and the height measured in a direction between a base of the reservoir and an upper periphery of the reservoir; and a liquid extraction valve having a liquid inlet disposed less than halfway along the length of the reservoir from the first lateral end to the second lateral end, and less than halfway along the height of the reservoir from the base to the upper periphery, the liquid extraction valve configurable to permit liquid to be extracted from the reservoir, via the liquid inlet.

[0003] In use, the roller of the robot surface cleaner collects liquid from the surface to be cleaned. The liquid for example contains debris from the surface, which may be liquid or solid. The liquid collected by the roller (which may be referred to as dirty liquid) is received by the reservoir, and may be stored within the reservoir, at least temporarily, for example while cleaning of the surface continues. The liquid extraction valve is configurable to permit liquid to be extracted from the reservoir, for example to empty dirty liquid from the reservoir via the liquid inlet.2 P005527-W001

[0004] It may be desirable to service the robot service cleaner, e.g. to empty the dirty liquid from the reservoir, with the robot surface cleaner at an angle relative to the cleaning configuration. For example, the robot surface cleaner may be in a generally horizontal orientation in the cleaning configuration. The robot surface cleaner may be configured to engage with a docking station configured to move the robot surface cleaner to a servicing configuration, such as a generally vertical orientation, during servicing, such as during emptying of the dirty liquid from the reservoir.

[0005] The liquid inlet is disposed less than halfway along the length of the reservoir and less than halfway along the height of the reservoir. The length and height are both defined when the robot surface cleaner is located on the surface in the cleaning configuration, with the length being measured parallel to the surface and in the direction between the first and second lateral ends of the reservoir and the height being measured perpendicular to the surface and in the direction between the base and upper periphery of the reservoir (which is e.g. opposite to the base). For example, a position of the liquid inlet along the length of the reservoir may be displaced from a midpoint of the length of the reservoir, e.g. such that the liquid inlet is between the first lateral end and the midpoint of the length along the length of the reservoir, and a position of the liquid inlet along the height of the reservoir may be displaced from a midpoint of the height of the reservoir, e.g. such that the liquid inlet is between the base of the reservoir and the midpoint of the height along the height of the reservoir.

[0006] With this arrangement, the liquid inlet may be in a quadrant of the reservoir which is in a lower portion of the reservoir both when in the cleaning and servicing configurations. This may enable the liquid inlet to remain submerged within the liquid, such as below a liquid level, during both surface cleaning and servicing. This may facilitate ingress of the liquid into the liquid inlet, into the liquid extraction valve and out of the reservoir, which may enable liquid to be emptied more effectively from the reservoir. Conversely, if the liquid inlet is disposed in air, it may be more difficult to remove the liquid from the reservoir. For example, if the liquid inlet is in air, a greater suction power of a suction pump used to draw the liquid out of the reservoir may be needed.

[0007] A robot surface cleaner is a robot that can clean a surface, such as a surface over which the robot surface cleaner can navigate. The robot surface cleaner may alternatively be3 P005527-W001referred to as a surface treatment robot. The robot surface cleaner may be a robot vacuum cleaner and / or a robot wet floor cleaner.

[0008] In the cleaning configuration, the liquid may rest on the base of the reservoir, for example so that the liquid covers or otherwise overlaps at least part of the base. In the servicing configuration, the liquid may instead rest on the first lateral end of the reservoir. Hence, the height of the reservoir as defined in the cleaning configuration may correspond to a length of the reservoir as defined in the servicing configuration (measured parallel to the surface, in a direction between the base and upper periphery of the reservoir as defined in the cleaning configuration). The liquid inlet may be disposed closer to the first lateral end than the second lateral end and closer to the base than to the upper periphery. With this positioning of the liquid inlet, the liquid inlet may be submerged in the liquid during cleaning of the surface, e.g. with the robot surface cleaner in the cleaning configuration, and during servicing, e.g. to empty the liquid from the reservoir, for example with the robot surface cleaner in the servicing configuration. In the servicing configuration, the liquid may rest on the first lateral end and thus remain disposed within the liquid inlet (which may be closer to and, in some cases, at the first lateral end). This may facilitate the efficient removal of liquid from the reservoir, for example to empty dirty liquid from the reservoir.

[0009] The liquid inlet may be a separate component coupled to a body of the liquid extraction valve or the liquid inlet and the body of the liquid extraction valve may be formed integrally.

[0010] The liquid inlet may be disposed at least one of: less than 25% along the length of the reservoir and less than 25% along the height of the reservoir. This positioning of the air inlet may further facilitate entry of liquid into the liquid inlet, which may further improve the effectiveness of the liquid extraction valve at removing liquid from the reservoir.

[0011] The liquid inlet may be adjacent to a periphery of the reservoir, which may increase the distance between the liquid inlet and the liquid level, e.g. in the servicing configuration, compared to a liquid inlet that is non-adjacent to a periphery of the reservoir. This may enable a larger quantity of liquid to be removed from the reservoir than otherwise. The periphery of the reservoir for example defines an extent of the reservoir and may comprise a wall or side of the reservoir (or portion thereof), which may take various forms and shapes. The periphery for example comprises the base, upper periphery, first lateral end and second lateral end of the reservoir. The liquid inlet being adjacent to a particular component (such4 P005527-W001as the periphery of the reservoir) for example refers to the liquid inlet being close to, e.g. proximate to or neighbouring, the component, such as with a gap that is less than 10%, 5% or 1% of the length and / or height of the reservoir. The liquid inlet may not touch the component. For example, there may be a small gap between the liquid inlet and the component, e.g. with a size sufficient to enable the liquid to enter the liquid inlet. In other examples, though, an liquid inlet that is adjacent to a particular component (such as the periphery of the reservoir) may be immediately adjacent that component, for example without a gap between the liquid inlet and the component, for example if the component at least partly defines the liquid inlet or if there is a gap between the liquid inlet and another component to allow liquid to enter the liquid inlet.

[0012] When the robot surface cleaner is located in a servicing configuration different from the cleaning configuration, the first lateral end may be below the second lateral end. The first lateral end being below the second lateral end in the servicing configuration may reduce the footprint of the robot surface cleaner during servicing compared to servicing the robot surface cleaner in the cleaning configuration. For example, liquid may be removed from the reservoir during servicing, e.g. into a docking station engaged with the robot surface cleaner. This may allow the robot surface cleaner to be stored more compactly during servicing.

[0013] The servicing configuration of the robot surface cleaner may be substantially perpendicular to the cleaning configuration of the robot surface cleaner. This may further reduce the footprint of the robot surface cleaner in the servicing configuration, compared to the cleaning configuration. A component being substantially perpendicular to another component for example refers to a component that is perpendicular to the other component or perpendicular to the other component within manufacturing or measurement tolerances.

[0014] The liquid extraction valve may comprise a body, and a conduit coupled to the body and comprising the liquid inlet. The use of a conduit may provide a simple way to position the liquid inlet in a desired location without having to modify a structure of the body of the liquid extraction valve itself. For example, the conduit can be disposed within the reservoir so that the liquid inlet of the conduit remains in the liquid in the cleaning and servicing configurations, to enable the liquid to easily enter the liquid inlet.

[0015] The conduit may be elongate and extend in a direction along the length of the reservoir. This for example allows the liquid from the liquid inlet to be transported straightforwardly along at least part of the length of the reservoir, via the conduit, for5 P005527-W001example to convey liquid at least partly along the reservoir, e.g. from one end of the reservoir to another. This can allow a greater quantity of liquid to be removed from the reservoir than otherwise.

[0016] The conduit may extend parallel to the surface, e.g. along part of the length of the reservoir, for example so that the conduit is elongate parallel to the surface. The liquid extraction valve may be configurable to control extraction of the liquid from the reservoir through a liquid outlet of the reservoir. If the liquid outlet is disposed at the second lateral end, the conduit may extend from the body of the liquid extraction valve towards the first lateral end. For example, the conduit may extend, along the length of the reservoir towards a point between a midpoint of the length and the first lateral end. The conduit may be substantially parallel to (or with a component substantially parallel to) the surface. For example, the conduit may be substantially parallel to the base of the reservoir e.g. if the base is flat and lies parallel to the surface in the cleaning configuration. The term substantially parallel as described herein for example refers to an element which is parallel to another element or parallel to the other element within manufacturing or measurement tolerances. The conduit extending in this manner may enable the conduit to be formed more compactly to achieve a particular configuration of the conduit relative to the periphery of the reservoir.

[0017] The conduit may be in contact with the base of the reservoir. The conduit being in contact with the base of the reservoir may improve the stability of the conduit within the reservoir. This may make the conduit more robust and less likely to move from a desired position within the reservoir, for example when the robot surface cleaner is moved from the cleaning configuration to the servicing configuration. Contact between the conduit and the base may also limit the amount of liquid that is located between the conduit and the base, which may otherwise become trapped. This may allow more of the liquid (and more dirt, if the liquid is dirty) to be removed from the reservoir than otherwise.

[0018] The conduit and the base of the reservoir may be integrally formed. This may be more robust and / or efficient to manufacture than forming the conduit and the base of the reservoir separately and then connecting them.

[0019] The conduit may have a proximal end, proximal to the body of the liquid extraction valve, and a distal end opposite to the proximal end. The distal end of the conduit may comprise the liquid inlet. The liquid inlet being disposed at the distal end of the conduit may increase the reach of the conduit. This may allow the liquid inlet to remain submerged in a6 P005527-W001smaller quantity of liquid (with a lower liquid level) in the servicing configuration, compared to the liquid inlet being disposed at a different position along the conduit. This can facilitate the straightforward removal of a larger quantity of liquid from the reservoir. The distal end may form the liquid inlet. For example, if the conduit is a tube, the liquid inlet may correspond to the distal end of the tube.

[0020] The distal end may be in contact with a periphery of the reservoir. Contact between the distal end and the periphery of the reservoir may improve the stability of the conduit within the reservoir, and may improve robustness of the conduit. Contact between the distal end and the periphery may enable the distal end to be positioned to allow a greater quantity of liquid to be removed from the reservoir before the liquid inlet of the distal end is above the liquid level than otherwise. For example, the distal end may be in contact with the periphery if the distal end is located at a lower comer of the reservoir, which is in a lower quadrant of the reservoir in both the cleaning and servicing configurations. In this case, the distal end may be in contact with a portion of the periphery of the reservoir that corresponds to the first lateral end, which may correspond to a base of the reservoir when the robot surface cleaner is in the servicing configuration. With this arrangement, the liquid inlet of the distal end may remain in contact with the liquid during removal of substantially all of the liquid from the reservoir, in the servicing configuration, such as removal of all of the liquid within acceptable measurement or manufacturing tolerances.

[0021] The distal end may be obliquely angled relative to the surface. The oblique angle between the distal end and the surface may increase an open area of the distal end, to increase the size of the liquid inlet at the distal end. This may enable the liquid to enter the liquid inlet, and the conduit, more easily, which may enable to the liquid to be removed more effectively from the reservoir.

[0022] The distal end may be angled at around 45 degrees relative to the surface. This may allow the liquid to be removed more effectively than other oblique angles. The distal end may be obliquely angled relative to the base of the reservoir in the cleaning configuration. The base of the reservoir may be substantially parallel to the surface. For example, if the surface is horizontal, the base of the reservoir may also be horizontal or substantially horizontal. The distal end may thus be obliquely angled, such as angled at around 45 degrees, relative to a horizontal orientation.7 P005527-W001

[0023] The distal end may comprise: a first location, facing the base, and a second location, facing the upper periphery. The first location may be closer to a midpoint of the length of the reservoir than the second location, in the direction between the first and second lateral ends. This arrangement may provide an effective configuration for the distal end of the conduit, which allows the liquid to enter the liquid inlet straightforwardly.

[0024] The distal end may have various shapes. For example, the distal end may be obliquely angled relative to the base and with a straight or curved shape in a plane comprising the height of the reservoir, perpendicular to the length of the surface. The second location may be closer to the midpoint of the length of the reservoir than the first location in other examples.

[0025] The conduit and the liquid extraction valve may be integrally formed. This may be more robust and / or efficient to manufacture than forming the conduit and the liquid extraction valve separately and then connecting them.

[0026] The liquid extraction valve may be configured to engage with a valve opening component of a docking station to cause the liquid extraction valve to open to enable the liquid to be extracted from the reservoir to the docking station. This may provide a straightforward way of configuring the liquid extraction valve in an open configuration, to allow the liquid to be removed from the reservoir.

[0027] The robot surface cleaner may comprise: a further reservoir configured to receive the liquid collected by the roller, the reservoir configured to receive the liquid from the further reservoir; and a liquid control valve between the further reservoir and the reservoir to control flow of the liquid between the further reservoir and the reservoir. The liquid control valve may allow the reservoir to be fluidically sealed from the roller (and from the further reservoir, which is fluidly connected to the roller). This may enable to the reservoir to more effectively retain the dirty liquid therein during use of the robot surface cleaner. This may make the robot surface cleaner less messy to use.

[0028] The liquid control valve between the further reservoir and the reservoir may be a oneway valve. A one-way valve typically allows a fluid (in this case liquid, which may include dirt, dust or other debris) to flow in a single direction, without allowing the fluid to flow in another, e.g. opposite, direction. Such a valve may be controlled straightforwardly, which may avoid the need to have more complex control apparatus or systems that may otherwise be used.8 P005527-W001

[0029] The further reservoir may be configured to receive the liquid collected by the roller under gravity. This may simplify the collection of the liquid in the further reservoir. For example, the liquid may be collected in the further reservoir under gravity, without using a further pump or other apparatus (although in some cases a further pump or other apparatus may be used to assist the flow of the liquid due to gravity).

[0030] A reservoir liquid inlet to the reservoir may be at the first lateral end. The liquid inlet of the liquid extraction valve being closer to the first lateral end, at which the reservoir liquid inlet is arranged, than the second lateral end, may facilitate the entry of the liquid into the liquid inlet, which may allow the liquid to be removed from the reservoir through the liquid inlet more effectively.

[0031] The robot surface cleaner may comprise an air extraction valve having an air inlet. When the robot surface cleaner is located on the surface in the cleaning configuration, the air inlet may be disposed more than halfway along the length of the reservoir from the first lateral end to the second lateral end and more than halfway along the height of the reservoir from the base to the upper periphery, the air extraction valve configurable to permit air to be extracted from the reservoir, via the air inlet.

[0032] If the air inlet is submerged in the liquid during the extraction of air from the reservoir, the liquid may undesirably enter the air extraction valve. This may cause liquid to be extracted rather than air when operating the air extraction valve to extract air from the reservoir, which can adversely affect the performance of the air extraction valve. The extraction of liquid via the air extraction valve may be limited or avoided by disposing the air inlet of the air extraction valve more than halfway along the length of the reservoir and more than halfway along the height of the reservoir. For example, a position of the air inlet along the length of the reservoir may be displaced from a midpoint of the length of the reservoir, e.g. such that the air inlet is between the midpoint of the length and the second lateral end along the length of the reservoir, and a position of the air inlet along the height of the reservoir may be displaced from a midpoint of the height of the reservoir, e.g. such that the air inlet is between the midpoint of the height and the upper periphery along the height of the reservoir.

[0033] With this arrangement, the air inlet may be in a quadrant of the reservoir which is in an upper portion of the reservoir both in the cleaning configuration and the servicing configuration. This may enable the air inlet to remain above a level of the liquid during both9 P005527-W001surface cleaning and servicing, which may limit the ingress of liquid into the air extraction valve. This positioning of the air inlet may thus enable the air extraction valve to operate more effectively, allowing the liquid to be removed more efficiently from the reservoir. A greater quantity of liquid may be stored in the reservoir with this positioning of the air inlet than with other positionings, as a liquid level within the reservoir (during cleaning and / or servicing) may be further from the air inlet than with other positionings.

[0034] In a second aspect, there is provided a robot surface cleaner comprising: a reservoir for containing a liquid, the reservoir having, when the robot surface cleaner is located on the surface in a cleaning configuration, a length parallel to the surface and a height perpendicular to the surface, the length measured in a direction between first and second lateral ends of the reservoir, and the height measured in a direction between a base of the reservoir and an upper periphery of the reservoir; and a liquid outlet disposed less than halfway along the length of the reservoir from the first lateral end to the second lateral end, and less than halfway along the height of the reservoir from the base to the upper periphery.

[0035] The liquid outlet disposed in this position may be in a lower quadrant of the reservoir both when the reservoir is in the cleaning configuration and when the reservoir is in a servicing configuration, with the robot surface cleaner at an angle relative to the cleaning configuration. This may enable the liquid outlet to remain submerged within the liquid, such as below a liquid level, during both surface cleaning and servicing. This may facilitate ingress of the liquid into the liquid outlet, and out of the reservoir, which may enable liquid to be removed more effectively from the reservoir in the cleaning and servicing configurations. Conversely, if the liquid outlet is disposed in air, it may be more difficult to remove the liquid from the reservoir. For example, if the liquid outlet is in air, a greater suction power of a suction pump used to draw the liquid out of the reservoir may be needed.

[0036] The reservoir may be a clean liquid reservoir. The clean liquid reservoir may be used to supply a clean liquid (such as clean water) to a cleaning element of the robot surface cleaner. For example, the clean liquid reservoir may be a clean water reservoir. The clean liquid reservoir may enable clean liquid to be supplied to the cleaning element in various configurations, such as in the cleaning configuration and the servicing configuration. The robot surface cleaner may comprise a roller for contacting a surface to be cleaned, in which case clean liquid may be supplied to the roller from the clean liquid reservoir, and applied to the surface by the roller to clean the surface, when the robot surface cleaner is in the cleaning10 P005527-W001configuration. The clean liquid may be pumped from the liquid outlet of the clean liquid reservoir to the roller via a suction pump of the robot surface cleaner. When the robot surface cleaner is in the servicing configuration, clean liquid may be supplied from the clean liquid reservoir to the roller, to assist in cleaning debris from the roller.

[0037] The reservoir may be a dirty liquid reservoir. The dirty liquid reservoir may be used to contain dirty liquid (such as dirty water) removed from a cleaning element of the robot surface cleaner. For example, the dirty liquid reservoir may be a dirty water reservoir. This positioning of the liquid outlet in the dirty liquid reservoir may enable dirty liquid to be removed from the reservoir in various configurations, such as in the cleaning configuration and the servicing configuration.

[0038] If the robot surface cleaner comprises a roller for contacting a surface to be cleaned, dirty liquid may be removed from the roller and may pass into the dirty liquid reservoir. The dirty liquid within the dirty liquid reservoir may then be removed from the dirty liquid reservoir via the liquid outlet. For example, a suction pump of the dirty liquid reservoir or of a docking station (if the robot surface cleaner is engaged with the docking station) may be used to reduce a pressure within the dirty liquid reservoir so as to draw the dirty liquid out of the dirty liquid reservoir, through the liquid outlet.

[0039] The liquid outlet may correspond to liquid inlet of a liquid extraction valve of the dirty liquid reservoir, as liquid may enter the liquid inlet before flowing out of the dirty liquid reservoir, meaning that the liquid inlet may act as an inlet to the liquid extraction valve while also acting as an outlet of the dirty liquid reservoir itself.

[0040] In a third aspect, there is provided a system comprising the robot surface cleaner of the first aspect or the second aspect and a docking station.

[0041] The docking station may comprise a housing and a transporter that is movable relative to the housing from a first position towards a second position to move the robot surface cleaner to the servicing configuration. The transporter may provide a simple way to manoeuvre the robot surface cleaner to the servicing configuration. In some examples, the transporter is movable relative to the housing from the first position to the second position to transport the surface treatment robot to the servicing configuration, which may correspond to a storage position of the robot surface cleaner, so that the transporter reaching the second position corresponds to the robot surface cleaner reaching the servicing configuration. In other examples, this may not be the case. For instance, in some examples the transporter may11 P005527-W001reach the second position before the robot surface cleaner reaches the servicing configuration, such as by the transporter permitting movement of the robot surface cleaner to the servicing configuration when the transporter is at the second position. In some other examples, the transporter may deposit the robot surface cleaner at the servicing configuration part way between the first position and the second position.

[0042] The docking station may comprise a service interface for engaging with the robot surface cleaner. The docking station may be configured to pass at least one fluid between the docking station and the robot surface cleaner via the service interface when the service interface is engaged with the robot surface cleaner and the robot surface cleaner is in the servicing configuration. This for example enables the robot surface cleaner to be serviced in the servicing configuration, which may be a more compact configuration than the cleaning configuration. In the servicing configuration, the robot surface cleaner may be at least partially in the housing. This may mean that noise generated during servicing of the robot surface cleaner, in the servicing configuration, is less discernible than otherwise. This may be desirable when the docking station is to be used in a residential setting or another location where it is preferable to keep noise to a minimum.

[0043] The docking station may comprise a valve opening component configured to engage with the liquid extraction valve of the robot surface cleaner, with the robot surface cleaner in the servicing configuration, to cause the liquid extraction valve to open to enable the liquid to be extracted from the reservoir to the docking station. This may allow the liquid extraction valve to be opened straightforwardly by the valve opening component of the docking station, which may be more efficient than otherwise. This may reduce the risk of the liquid extraction valve being opened when the robot surface cleaner is disengaged from the docking station, which may cause spillage of the liquid from the reservoir and create more mess.BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure l is a first schematic illustration of a system comprising a docking station and a robot surface cleaner;

[0045] Figure 2 is a second schematic illustration of the system of Figure 1;

[0046] Figure 3 is an exploded view of a housing of the docking station;

[0047] Figure 4 is an enlarged view of a lower portion of the housing of Figure 3;

[0048] Figure 5 is a schematic view illustrating control components of the docking station;12 P005527-W001

[0049] Figure 6 is a schematic illustration of a door assembly of the docking station;

[0050] Figure 7 is a schematic illustration of a lift assembly of the docking station;

[0051] Figure 8 is a schematic illustration of a transporter of the docking station;

[0052] Figure 9 is a schematic illustration of the robot surface cleaner;

[0053] Figure 10 is a schematic illustration of a first further example of a docking station;

[0054] Figure 11 is a schematic illustration of a second further example of a docking station;

[0055] Figure 12 is a schematic illustration of a third further example of a docking station;

[0056] Figure 13 is a schematic illustration of a fourth further example of a docking station;

[0057] Figure 14 is a first schematic view of a mangle assembly of the robot surface cleaner;

[0058] Figure 15 is a second schematic view of a mangle assembly of the robot surface cleaner;

[0059] Figure 16 is a first schematic view of the mangle assembly in position relative to a dirty water tank of the robot surface cleaner;

[0060] Figure 17 is a second schematic view of the mangle assembly in position relative to a dirty water tank of the robot surface cleaner;

[0061] Figure 18 is a schematic view of an air extraction valve of the robot surface cleaner;

[0062] Figure 19 is a schematic view illustrating a position of the air extraction valve in a dirty water tank of the robot surface cleaner;

[0063] Figure 20 is a first schematic view illustrating a position of a dirty water extraction valve in the dirty water tank of the robot surface cleaner;

[0064] Figure 21 is a second schematic view illustrating a position of the dirty water extraction valve in the dirty water tank of the robot surface cleaner;

[0065] Figure 22 is a first schematic view illustrating a position of a clean water extraction port in the clean water tank of the robot surface cleaner;

[0066] Figure 23 is a second schematic view illustrating a position of the clean water extraction port in the clean water tank of the robot surface cleaner;

[0067] Figure 24 is a schematic illustration of a debris storage bin of the robot surface cleaner;

[0068] Figure 25 is a first schematic illustration of a fifth further example of a docking station;

[0069] Figure 26 is a second schematic illustration of the fifth further example of a docking station;13 P005527-W001

[0070] Figure 27 is a third schematic illustration of the fifth further example of a docking station;

[0071] Figure 28 is a first schematic illustration of an alternative door;

[0072] Figure 29 is a second schematic illustration of an alternative door; and

[0073] Figure 30 is a first schematic illustration of an alternative connection between the mangle assembly and the dirty water tank.DETAILED DESCRIPTION

[0074] A system 10 having a docking station 12 and a robot surface cleaner 14 is shown in Figures 1 and 2. The docking station 12 is for servicing and storing the robot surface cleaner 14.

[0075] The docking station 12 is illustrated in Figures 1 to 8, and has a housing 16, a tank arrangement comprising a clean water tank 18, a dirty water tank 20 and a debris tank 22, control components 23, a door assembly 24, a lift assembly 26, and a transporter 28.

[0076] The housing 16 is generally cuboidal in form, and has an upper housing portion 30, a lower housing portion 32, and a base 34. The upper housing portion 30 is split internally into first 36, second 38, and third 40 tank cavities. Each of the first 36, second 38, and third 40 tank cavities is shaped and sized to receive a respective one of the clean water tank 18, the dirty water tank 20, and the debris tank 22. Located within each of the first 36, second 38, and third 40 tank cavities are connection interfaces (not shown for sake of clarity) for fluidic connection to the respective tank received therein. Fluidic connections (also not shown for sake of clarity) extend from the connection interfaces into the lower housing portion 32, as will be discussed in further detail hereinafter. In some examples, the fluidic connections can extend into a compartment that is rearward of the first 36, second 38, and third 40 tank cavities.

[0077] The lower housing portion 32 sits vertically below the upper housing portion 30 when the docking station 12 is sat on a substantially horizontal surface, such as a floor in this example, with the base 34 located on the surface. The lower housing portion 32 has a closed compartment 42, and an interior, which is a robot receiving compartment 44. The closed compartment 42 is located at a rear of the lower housing portion 32, and houses the control components 23 of the docking station 12. The robot receiving compartment 44 is located forwardly of the closed compartment 42, and is defined by a front wall 46 of the closed14 P005527-W001compartment 42, a lower wall 48 of the upper housing portion 30, and first 50 and second 52 side walls. The robot receiving compartment 44 is open at the front side, with the robot receiving compartment 44 selectively closable by the door assembly 24, as will be discussed in further detail hereinafter. The robot receiving compartment 44 has a height of around 420mm, a width of 420mm, and a depth of 150mm, such that the robot surface cleaner 14 can be fully received within the robot receiving compartment 44.

[0078] The base 34 is generally flat and planar in form. The lower housing portion 32 is disposed asymmetrically on the base 34, such that the lower housing portion 32 is offset towards a rear edge of the base 34. The base 34 has a width of around 420mm, and a depth of around 280mm, with a front edge of the base protruding outwardly relative to the lower housing portion by a depth of around 70mm.

[0079] The clean water tank 18 is generally cuboidal and hollow in form, with a pivoting handle 53. The clean water tank 18 has an internal volume of around 3 litres. Each of the clean water tank 18, the dirty water tank 20, and the debris tank 22 is substantially similar in form, save for the respective connection interfaces, and so the dirty water tank 20 and the debris tank 22 will not be described in detail here for the sake of brevity.

[0080] The control components 23 of the docking station 12 are shown schematically in Figure 5, and include a power supply unit 54, controller 56, which in this example is a processor 56, a wireless communications interface 58, a roller dryer in the form of a heater arrangement comprising a heater 60 and an air mover in the form of a fan 61, first 62 and second 64 pumps, and an electric motor 66. The exact form of the power supply unit 54 will not be described here for sake of brevity, save to say that the power supply unit 54 is configured to take AC electrical power from a mains power supply, and to convert the AC electrical power into DC electrical power for use by others of the control components 23. The processor 56 is configured to control operations of the docking station 12, including to control others of the control components 23, as will be discussed in further detail hereinafter.

[0081] The wireless communications interface 58 is configured to enable wireless communications with the robot surface cleaner 14, and includes an appropriate transceiver. In some examples, the wireless communications interface 58 can be configured to operate using a communications protocol such as WiFi, Zigbee, Bluetooth etc. The wireless communications interface 58 may also enable wireless communications with a controller device, such as a mobile device or a handheld communication device, and / or with a WAN,15 P005527-W001such as the Internet. The heater 60 and the fan 61 of the roller dryer are in the housing 16 and are configured to generate a heated airflow that is directed towards a robot roller 206 of the robot surface cleaner 14 to heat the robot roller 206 and thereby reduce a moisture content of the robot roller 206 (in other words, to perform a drying operation), when the robot surface cleaner 14 is received within the robot receiving compartment 44. The heater 60 and the fan 61 are fixed in position relative to the housing 16 in order to provide this function. In use, the transporter 28 may move relative to the housing 16 between a first position and a second position, while holding the robot surface cleaner 14, so that the transporter 28 moves the robot surface cleaner 14 to be at an appropriate position within the robot receiving compartment 44 to receive the heat from the heater 60. As an end portion of this movement, the transporter 28 moves, relative to the housing 16, towards the heater arrangement to form a seal between the transporter 28 and the heater arrangement. In some examples, the transporter defines an aperture (not shown), the heater arrangement is configured to direct the heated airflow through the aperture towards the robot roller 206, and the seal is formed around the aperture. The second position of the transporter 28 is angularly offset from the first position of the transporter 28 by about eighty degrees, so that the robot surface cleaner 14 is rotated by at least eighty degrees during this movement of the transporter 28. The first pump 62 is configured to pump clean water from the clean water tank 18 to the robot surface cleaner 14. The second pump 64 is configured to pump dirty water from the robot surface cleaner 14 to the dirty water tank 20. The electric motor 66 is configured to generate a suction air flow to remove debris from the robot surface cleaner 14 to the debris tank 22.

[0082] The door assembly 24 is illustrated in Figure 6, and has a door 68, first 70 and second 72 door arms, and a counterweight 74. The counterweight 74 forms a connecting element that extends between the first 70 and second 72 door arms. The door 68 is shaped and dimensioned to define a closure of the robot receiving compartment 44 when the door 68 is in a closed position, and is such that the robot surface cleaner 14 can be completely housed within the robot receiving compartment 44. The door 68 is also shaped and dimensioned so as to be substantially flush with the lower wall 48 of the upper housing portion 30, and the first 50 and second 52 side walls of the lower housing portion 32, when the door 68 is in the closed position. The door 68 is therefore moveable relative to the housing 16 between an open and a closed position. The door 68 at least partially closes an opening into the housing 16. For example, the robot surface cleaner 14 may enter the housing 16 via the opening. In16 P005527-W001some examples, one or both of the first 70 and second 72 door arms comprise(s) a resilient portion, configured to flex under the application of a force.

[0083] The first 70 and second 72 door arms may be considered extension components in the context of the present application, or may together form an extension component. The first 70 and second 72 door arms are located at opposite ends of the door 68, towards an upper edge of the door 68. The first 70 and second 72 door arms each have respective first ends 76 connected to the door 68, and second ends 78 connected to the counterweight 74. The first 70 and second 72 door arms are pivotably connected to the lower housing portion 32 to enable the door to pivot between open and closed positions. The counterweight 74 extends between the first 70 and second 72 door arms, and has a weight such that the counterweight 74 causes the door 68 to be biased towards its open position. It will be appreciated that alternative forms of biasing mechanism may be utilised, for example with the counterweight 74 being replaced by a spring, or used in conjunction with a spring.

[0084] The lift assembly 26 is shown in Figure 7, and has first 80 and second 82 racks, first 84 and second 86 pinions, a drive motor 88, first 90 and second 92 guide elements, and first 94 and second 96 stopping elements. In examples, the first 90 and second 92 guide elements, and first 94 and second 96 stopping elements may not form part of the lift assembly 26.

[0085] The first 80 and second 82 racks are each elongate and substantially similar in form. In this example, the first 80 and second 82 racks extend parallel to one another. Each of the first 80 and second 82 racks is disposed along a respective one of the first 50 and second 52 side walls of the lower housing portion 32 of the housing 16. Thus, the first 80 and second 82 racks are located on opposing sides of the robot receiving compartment 44. The first 80 and second 82 racks are orientated such that the first 80 and second 82 racks are disposed substantially vertically when the docking station 12 is located with the base 34 on a substantially horizontal surface. In other examples, at least a part of the first 80 and second 82 racks are not vertical. For example, they may be angled with respect to a vertical axis defined by the housing 16 and / or docking station. In some examples, lower portions of the first 80 and second 82 racks are vertical, whilst upper portions of the first 80 and second 82 racks are obliquely angled relative to the vertical lower portions.

[0086] The first 84 and second 86 pinions are each shaped and dimensioned to engage with a corresponding one of the first 80 and second 82 racks. The first pinion 84 is rotatably mounted to an output shaft 98 of the drive motor 88, and the second pinion 86 is fixedly17 P005527-W001mounted to the first pinion 84 by an axle element, which in this example is a rod 87, with the drive motor 88 thereby capable of causing rotation of the first 84 and second 86 pinions.

[0087] The first 90 and second 92 guide elements extend outwardly relative to a respective one of the first 80 and second 82 racks, and are substantially triangular in form. The first 90 and second 92 guide elements extend along a depth of the corresponding first 50 and second 52 side walls of the lower housing portion 32, such that they each define an inclined surface, such as a slope from a relatively high portion at a frontward edge of a corresponding one of the first 80 and second 82 racks, to a relatively low portion at a frontward edge of the corresponding first 50 and second 52 side wall. The slopes are at an angle of around 45 degrees relative to a horizontal surface. An upper apex of the slope occurs at a height that is around 55% of a length of the corresponding one of the first 80 and second 82 racks from a lower limit of the corresponding one of the first 80 and second 82 racks. A lower apex of the slope occurs at a height that is around 40% of a length of the corresponding one of the first 80 and second 82 racks from a lower limit of the corresponding one of the first 80 and second 82 racks.

[0088] The first 94 and second 96 stopping elements are located towards a lower end of a corresponding one of the first 80 and second 82 racks, but are located higher than a lowermost extremity of the corresponding one of the first 80 and second 82 racks. The first 94 and second 96 stopping elements are at a height that is around 12% of a length of the corresponding one of the first 80 and second 82 racks from a lower limit of the corresponding one of the first 80 and second 82 racks. The first 94 and second 96 stopping elements protrude forwardly relative to the corresponding ones of the first 80 and second 82 racks. Each of the first 94 and second 96 stopping elements has a generally planer upper surface that is shaped and dimensioned to engage a lower surface of corresponding first 140 and second 142 stopping protrusions of the transporter 28, as will be discussed in further detail hereinafter. In other examples, a stopping function, as will be described, facilitated by the combination of the first 94 and second 96 stopping elements engaging with the first 140 and second 142 stopping protrusions, may instead be performed by appropriately placed limit switches. Such limit switches may generate signals, in a known way, which are communicated to the processor 56, to limit the movement of first 84 and second 86 pinions up and / or down the first 80 and second 82 racks. In other examples, limit switches may be18 P005527-W001used in this manner in addition to the combination of the first 94 and second 96 stopping elements engaging with the first 140 and second 142 stopping protrusions.

[0089] The transporter 28 is shown in Figure 8, and has a support element, which in this example is a platform 100, and a protrusion base 102. The protrusion base 102 may be alternatively referred to as a platform base, such as in examples where the platform base does not comprise any protrusions. The platform 100 has a front edge 104, a back edge 106, and first 108 and second 110 side edges extending between the front edge 104 and the back edge 106. A height of the platform 100 increases from the front edge 104 to the back edge 106, such that the platform 100 defines a ramped upper surface 112, angled at around 6 degrees when the platform is at a first orientation relative to the housing 16 and the transporter 28 is at its first position, at which the robot surface cleaner 14 is manoeuvrable onto the platform 100 from the floor. The upper surface 112 forms a first side of the platform. The robot surface cleaner may drive onto the first side of the platform.

[0090] The platform 100 has first 114 and second 116 rollers, a guiding channel 118, first through third wheel receiving recesses 120,122,124, a robot roller recess 125, first 126 and second 128 through-holes, first 130 and second 132 guide walls, a motor receiving recess 134, first 136 and second 138 tabs, and first 140 and second 142 stopping protrusions. Some of the features on the platform 100 may be referred to as positioning features. For example, one or more positioning features may position the robot surface cleaner 14 on the platform 100.

[0091] The first 114 and second 116 rollers have the same form, with each being cylindrical in form. The first 114 and second 116 rollers are each mounted to the front edge 104 of the platform 100 such that the first 114 and second 116 rollers are able to roll across a substantially horizontal surface upon which the docking station 12 is located when the platform 100 is moved relative to the surface. The first roller 114 and the second roller 116 are disposed on opposite sides of the guiding channel 118. The guiding channel 118 is defined by a recess formed in the ramped upper surface 112 of the platform 100, and has a depth that enables the guiding channel 118 to act as a guide for a wheel of the robot surface cleaner 14. The guiding channel 118 extends from the front edge 104 to the back edge 106 of the platform 100, and opens into the third wheel receiving recess 124 and the robot roller recess 125.19 P005527-W001

[0092] The first 120 and second 122 wheel receiving recesses are each located towards a respective one of the first 108 and second 110 side edges of the platform, such that the first 120 and second 122 wheel receiving recesses are located at opposing sides of the platform 100. The first 120 and second 122 wheel receiving recesses are shaped and dimensioned to receive corresponding lower portions of side wheels 222,224 of the robot surface cleaner 14 when the robot surface cleaner 14 is located upon the platform 100. The third wheel receiving recess 124 is located towards the back edge 106 of the platform, and is located substantially centrally between the first 108 and second 110 side edges of the platform 100. The third wheel receiving recess 124 is located between the first 126 and second 128 through-holes, and is shaped and dimensioned to receive a lower portion of a rear wheel 220 of the robot surface cleaner 14 when the robot surface cleaner 14 is located upon the platform 100. The robot roller recess 125 extends generally orthogonally to the first 108 and second 110 side edges of the platform 100, and is shaped and dimensioned to receive a lower portion of a robot roller 206 of the robot surface cleaner 14 when the robot surface cleaner 14 is located upon the platform 100.

[0093] The first 126 and second 128 through holes are each shaped and dimensioned to enable passage of a respective protrusion 148,150 of the protrusion base 102, as will be discussed in further detail hereinafter. In alternative examples, rather than having through holes for respective protrusions, one or more notches may be formed on the platform 100. The first 130 and second 132 guide walls are upstanding from the ramped upper surface 112 of the platform 100, and are disposed both towards the back edge 106, and towards respective ones of the first 108 and second side edges 108, of the platform 100. The first 130 and second 132 guide walls are each curved in form, with the curvature corresponding substantially to a curvature of a main body 200 of the robot surface cleaner 14.

[0094] The motor receiving recess 134 is disposed at the back edge 106 of the platform 100, and adjacent to the first side edge 108 of the platform 100. The motor receiving recess 134 is shaped and dimensioned to overlie an upper portion of the drive motor 88.

[0095] The first 136 and second 138 tabs have the same form, with each of the first 136 and second 138 tabs having an L-shaped profile including a vertical portion and a horizontal portion. The vertical portions of the first 136 and second 138 tabs protrude upwardly from a respective one of the first 108 and second 110 side edges of the platform 100, whilst the horizontal portions of the first 136 and second 138 tabs protrude outwardly relative to the20 P005527-W001respective one of the first 108 and second 110 side edges of the platform 100. The horizontal portions of the first 136 and second 138 tabs have generally planar lower surfaces that are shaped, dimensioned, and positioned to slide over the respective first 90 and second 92 guide elements, as will be discussed in further detail hereinafter. The first 136 and second 138 tabs are each located along the respective one of the first 108 and second 110 side edges of the platform 100 at a distance of around 30% of the first 108 and second 110 side edges from the back edge 106 of the platform 100.

[0096] The first 140 and second 142 stopping protrusions are located at respective corners of the platform 100 where the first 108 and second 110 side edges of the platform 100 meet the back edge 106 of the platform 100. The first 140 and second 142 stopping protrusions have the same form, with each of the first 140 and second 142 stopping protrusions defining a lower planar surface that is shaped, dimensioned and positioned so as to engage with a corresponding one of the first 94 and second 96 stopping elements of the lift assembly 26, as will be discussed in further detail hereinafter.

[0097] The protrusion base 102 is generally flat, and is pivotally mounted to a lower surface of the platform 100 at a distance of around 30% of the first 108 and second 110 side edges from the back edge 106 of the platform 100. The lower surface of the platform 100 forms a second side of the platform 100. The protrusion base 102 has first 148 and second 150 protrusions, a recess 149 between the first 148 and second 150 protrusions, the recess 149 below and aligned with the third wheel receiving recesses 124, and first 152 and second 154 closure elements.

[0098] The first 148 and second 150 protrusions are each hook shaped in form, and are shaped, dimensioned, and positioned to selectively protrude through a corresponding one of the first 126 and second 128 through-holes of the platform 100. The first 148 and second 150 protrusions are also shaped, dimensioned, and positioned to engage with corresponding hook receiving recesses on a lower surface of the robot surface cleaner 14, as will be discussed in further detail hereinafter. As shown, the first 148 and second 150 protrusions are arranged above the platform 100 at an acute angle relative to the upper surface 112 of the platform and orientated towards the back edge 106.

[0099] The first 152 and second 154 closure elements are projections that are upstanding from the protrusion base 102, and that extend generally orthogonally relative to a remainder of the protrusion base 102. The first 152 and second 154 closure elements are elongate in21 P005527-W001form, each with a curved end distal from the protrusion base 102. The first 152 and second 154 closure elements are located at respective corners of the protrusion base 102 that correspond to corners of the platform 100 where the first 108 and second 110 side edges of the platform 100 meet the back edge 106 of the platform 100. The protrusion base 102 is positioned so that the first 152 and second 154 closure elements protrude past the platform 100 irrespective of a position of the protrusion base 102 relative to the platform 100. The drive motor 88 is fixedly attached to the protrusion base 102 adjacent to the first closure element 152. The closure elements 152, 154 are moveable by the lift assembly, and are configured to urge the door towards the closed position when the lift assembly is in the raised position. For example, the closure elements 152, 154 contact the first 70 and second 72 door arms, and / or the counterweight 74. The closure elements 152, 154 therefore stop the door from moving towards the open position.

[0100] The robot surface cleaner 14 is illustrated schematically in Figures 9 and 24, and has a main body 200, a clean water reservoir 202, a clean water pump 203, a dirty water reservoir 204, an air extraction pump 205, a first surface treatment element in the form of a robot roller 206, a roller drive motor 208, a mangle assembly 210, a second surface treatment element in the form of a brushbar 209, a brushbar motor 211, a suction port 212, a suction motor 214, and a debris storage bin 216 that defines a debris collection chamber and an opening, in the form of a bin inlet 258 into the debris collection chamber. The robot surface cleaner 14 has a first passageway that fluidically connects the brushbar 209 to the bin inlet 258, so that the bin inlet 258 is downstream of the brushbar 209 in operational use of the robot surface cleaner 14.

[0101] The main body 200 is generally cylindrical in form, and houses the other components of the robot surface cleaner 14. The main body 200 has a base side, which defines a lower surface 218, a top side opposite the base side, and a lateral side connecting the base side to the top side, and an axis A that passes through the top side and the base side. The base side and top side are generally planar in form, whilst the lateral side is curved in nature, so that the robot surface cleaner is a generally flat slice of a cylinder. The lower surface 218 of the main body 200 has a rear wheel 220, and first 222 and second 224 side wheels rotatably mounted thereto. The lower surface 218 has first and second hook receiving recesses formed therein (not visible in Figure 9), with the first and second hook receiving recesses located either side of the rear wheel 220. The clean water reservoir 202 and the clean water pump22 P005527-W001203 are configured to cause dispensing of clean water from the clean water reservoir 202 to the robot roller 206. The robot roller 206 has a micro-fibre material disposed thereon, and is configured contact a surface to be cleaned in use. Rotation of the robot roller 206 is configured to be driven by the roller drive motor 208. Rotation of the brushbar 209 is configured to be driven by the brushbar motor 211.

[0102] The mangle assembly 210 is shaped and positioned to contact the robot roller 206 and to divert dirty water from the robot roller 206 to the dirty water reservoir 204. The suction port 212 is positioned on the lower surface 218 of the main body 200, and the suction motor 214 is configured to generate a suction flow from the suction port 212 to the debris storage bin 216. In this example, it can be seen that a dry cleaning portion (or ‘dry system’) of the robot surface cleaner 14, comprising the brushbar 209, the suction port 212, the debris storage bin 216 and associated components, are located towards a front of the robot surface cleaner 14, relative to a direction of travel thereof during a normal cleaning operation of the robot surface cleaner 14. Equally, in this example, it can be seen that a wet cleaning portion (or ‘wet system’) of the robot surface cleaner 14, comprising the clean water reservoir 202, the dirty water reservoir 204, the robot roller 206, the mangle assembly 210 and associated components, are located towards a rear of the robot surface cleaner 14. In this regard, note that the robot surface cleaner 14 in this example is controlled to reverse onto the platform 100, such that the wet system is closer to the docking station than the dry system, and whereby the wet system is above the dry system when the robot surface cleaner 14 is housed within the docking station 12 in a stored position.

[0103] In use of the system 10, the docking station 12 is positioned on a substantially horizontal surface, which in this example is a floor, with the base 34 of the housing 16 located upon the horizontal surface. Initially, the robot surface cleaner 14 is housed within the docking station 12 in a stored position. In the stored position, the robot surface cleaner 14 is held by the transporter 28, while the transporter 28 is at its second position and the platform 100 is at a second orientation relative to the housing 16 that is substantially orthogonal to the base, in a vertical orientation within the robot receiving compartment 44. The robot surface cleaner 14 is held in position relative to the platform 100 by the first 148 and second 150 protrusions, which protrude through the first 126 and second 128 through-holes of the platform and are engaged with the respective first and second hook receiving recesses. The first 152 and second 154 closure elements are in contact with the respective23 P005527-W001first 70 and second 72 door arms to act against the counterweight 74 and bias the door 68 to its closed position.

[0104] When the robot surface cleaner 14 is to be deployed for a surface cleaning operation, for example in response to a user command or when the robot surface cleaner 14 determines a surface cleaning operation is required according to a pre-determined schedule, the processor 56 of the docking station 12 causes the lift assembly 26 to lower the transporter 28, relative to the housing 16, from its second position to its first position by driving the drive motor 88. Driving of the drive motor 88 causes the first 84 and second 86 pinions to move vertically downwards along the respective first 80 and second 82 racks. This also causes the protrusion base 102, and hence the platform 100, to move vertically downwards. Movement of the protrusion base 102 results in movement of the first 152 and second 154 closure elements, and the counterweight 74 then in turn causes the door 68 to start to move towards its open position. It will be appreciated that after a certain degree of movement of the first 152 and second 154 closure elements, the first 152 and second 154 closure elements no longer contact the respective first 70 and second 72 door arms, such that the counterweight 74 can cause the door 68 to move fully towards its open position.

[0105] As the platform 100 moves vertically downwards, the first 136 and second 138 tabs contact the corresponding first 90 and second 92 guide elements. Due to the slope defined by the first 90 and second 92 guide elements, the platform 100 moves from a vertical orientation relative to the horizontal surface, to being at an angle of around 70 degrees relative to the horizontal surface. Such a pre-angle can facilitate interaction of the platform 100 with, and movement of the platform 100 along, the horizontal surface when contact is made with the horizontal surface. The guide elements 90, 92 therefore adjust an orientation of the platform 100 as the platform 100 is being lowered by the lift assembly.

[0106] The lift assembly 26 continues to move the transporter 28, and hence the robot surface cleaner 14, in a generally downwards direction, until the first 114 and second 116 rollers of the platform 100 contact the surface to be cleaned. Continued downwards motion of the lift assembly 26 then drives the platform 100 in a generally horizontal direction along the surface, as well as the lift assembly 26 continuing to move the transporter 28, and hence the platform 100, in a direction towards the bottom of the first 80 and second 82 racks. As the transporter 28 moves downwards, the first 140 and second 142 stopping protrusions of the platform 100 contact a corresponding one of the first 94 and second 96 stopping elements24 P005527-W001of the lift assembly 26. This causes the platform 100 to be unable to move further in the downwards direction. However, as the protrusion base 102 is pivotally connected to the lower surface of the platform 100, continued motion of the first 84 and second 86 pinions to move vertically downwards along the respective first 80 and second 82 racks causes pivoting motion of the protrusion base 102 relative to the platform 100. This pivoting motion causes the first 148 and second 150 protrusions to be retracted from the respective first and second hook receiving recesses, and retracted through the respective first 126 and second 128 through-holes of the platform 100. This continues until the first 84 and second 86 pinions bottom out on the respective first 80 and second 82 racks. When this occurs, the first 148 and second 150 protrusions are fully retracted from the respective first and second hook receiving recesses, and fully retracted through the respective first 126 and second 128 through-holes of the platform 100, and the transporter 28 is at its first position. With the first 148 and second 150 protrusions fully retracted, the robot surface cleaner 14 is able to move off the platform 100 to perform its surface cleaning operation. The first 148 and second 150 protrusions therefore move from a first position (in which the first 148 and second 150 protrusions are engaged with the robot surface cleaner 14) to a second position (in which the first 148 and second 150 protrusions are no longer engaged with the robot surface cleaner 14).

[0107] Once the surface cleaning operation has been performed, or indeed in some examples if the robot surface cleaner 14 requires performance of a service operation mid-clean, the robot surface cleaner 14 returns to the docking station 12. In some examples, the transporter 28 may be left in the lowered, first, position whilst the robot surface cleaner 14 is performing its surface cleaning operation. In other examples, the docking station 12 may be configured to retract the transporter 28 to its raised, second, position once the robot surface cleaner 14 has left the platform. In such examples, the docking station 12 and the robot surface cleaner 14 may communicate with one another, for example via the wireless communications interface 58 of the docking station 12, such that the transporter 28 is lowered when the robot surface cleaner 14 returns to the docking station 12.

[0108] In any event, when the robot surface cleaner 14 returns to the docking station 12, and the transporter 28 is in its lowered, first position, the robot surface cleaner 14 manoeuvres onto the platform 100, and is guided into position by the guiding channel 118. The robot surface cleaner 14 is guided into a position where the rear wheel 220 is located in the third25 P005527-W001wheel receiving recess 124, and the first 222 and second 224 side wheels are located in the respective first 120 and second 122 wheel receiving recesses. In such a position, the first and second hook receiving recesses overlie the respective first 126 and second 128 through-holes of the platform 100.

[0109] The processor 56 of the docking station 12 then causes the lift assembly 26 to raise the transporter 28 by driving the drive motor 88. Driving of the drive motor 88 causes the first 84 and second 86 pinions to move vertically upward along the respective first 80 and second 82 racks. This also causes the protrusion base 102 to move vertically upwards. Movement of the protrusion base 102 upwards results in movement of the first 148 and second 150 protrusions upwardly through the respective first 126 and second 128 through-holes of the platform 100, and into the respective first and second hook receiving recesses of the robot surface cleaner 14. As the protrusion base 102 continues to be moved upwards by the drive motor 88, both the platform 100 and the robot surface cleaner 14 are drawn upwardly, such that the transporter 28 and the robot surface cleaner 14 are moved into the robot receiving compartment 44 until the transporter 28 reaches its second position. During upward travel of the protrusion base 102, the first 152 and second 154 closure elements contact the respective first 70 and second 72 door arms to act against the counterweight 74 and urge the door 68 back to its closed position. The robot surface cleaner 14 is thereby fully housed within the docking station 12.

[0110] By storing the robot surface cleaner 14 vertically within the housing, a thinner profile of the docking station 12 in a front-to-back direction may be achieved in comparison to if the robot surface cleaner 14 were to be docked or stored horizontally. The system 10 may thereby be less obtrusive and this may also increase a usable floorspace of a user’s home.[OHl] Furthermore, given both the ability to vertically store the robot surface cleaner 14, and the presence of the clean water tank 18, the dirty water tank 20, the debris tank 22, and the heater 60 in the docking station 12, different possibilities for servicing of the robot surface cleaner 14 are enabled.

[0112] In some examples, at least one service interface is located upon the transporter 28. This is illustrated schematically in Figure 10, which shows a first further example of a docking station 300 having a transporter 302 and a service interface assembly 304 mounted on the transporter 302. The first further example of a docking station 300 has substantially the same features and operational modes as the docking station 12 described in relation to26 P005527-W001Figures 1 to 8, and like reference numerals are used for the sake of clarity. The transporter 302 has substantially the same features and operational modes as the transporter 28 described in relation to Figure 8, and like reference numerals are used for the sake of clarity. The service interface assembly 304 has a pair of ports, in the form of a clean water service interface 306 and a dirty water service interface 308. The service interface assembly 304 is fluidically connected to both the clean water tank 18 and the dirty water tank 20 by a connector arrangement in the form of flexible ducting 310, such that the clean water service interface 306 is fluidically connected to the clean water tank 18, and the dirty water service interface 308 is fluidically connected to the dirty water tank 20. More specifically, the flexible ducting 310 comprises first and second connectors, in the form of first and second flexible pipes, that fluidically connect the clean water tank 18 to the clean water service interface 306 and the dirty water tank 20 to the dirty water service interface 308, respectively. As the transporter 28 moves relative to the housing 16 between the first position and the second position, lengths of the first and second flexible pipes remain constant yet the first and second flexible pipes change shape to accommodate the changing distances between the clean 18 and dirty 20 water tanks and the clean 306 and dirty 308 service interfaces.

[0113] Such a configuration of the first further example of a docking station 300, and in particular the service interface assembly 304, enables fluid transfer between the docking station 300 and the robot surface cleaner 14 in several forms.

[0114] In some examples, the robot surface cleaner 14 can couple to the clean water service interface 306 and the dirty water service interface 308 when the robot surface cleaner 14 is located upon the transporter 302. When such connections are made, seals are formed between corresponding service ports on the robot surface cleaner 14 and the clean water service interface 306 and the dirty water service interface 308. Exchanges of clean water and dirty water can then be made between the first further example of a docking station 300 and the robot surface cleaner 14 when the robot surface cleaner 14 is located upon the transporter 302 and the transporter 302 is in its lowered position. Additionally, or alternatively, exchange of clean water and dirty water can take place when the transporter 302 is in its raised position and the robot surface cleaner 14 is stored within the first further example of a docking station 300. In some examples, exchange of clean water and dirty water may not take place until the robot surface cleaner 14 is housed within the first further example docking station 300. In some examples, exchange of clean water and dirty water27 P005527-W001can take place whilst the transporter 302 is in motion between its lowered and raised positions. In some examples, the service interface assembly 304 additionally or alternatively has a vacuum port that is fluidically coupled to the debris tank 22 by one or more conduits, and the electric motor 66 is configured to generate a suction flow to remove debris from the robot surface cleaner 14 to the debris tank 22 via the vacuum port.

[0115] A second further example of a docking station 350 is illustrated schematically in Figure 11. The second further example of a docking station 350 is substantially the same as the first further example of a docking station 300 of Figure 10, save for the form of the service interface assembly 352, and like reference numerals will be used for sake of clarity. The service interface assembly 352 here comprises a transporter heater 354, an air mover in the form of a fan 356, and a service interface aperture 358. The transporter heater 354 and the fan 356 are embedded within the transporter 302, and are together configured to generate a heated airflow that is directed through the service interface aperture 358. Thus, when the robot surface cleaner 14 is located upon the transporter 302, the heated airflow can be directed towards the robot surface cleaner 14, for example to perform a drying service operation. It will be appreciated that in such examples the transporter heater 354 is fixed to the transporter 28 and moves with the transporter 28, and provision of heat can therefore occur when the transporter is at any of its lowered position, at its raised position, or during transition between the lowered position and the raised position.

[0116] In the examples hereinbefore described, location of the service interface assemblies 304,352 upon the transporter 302 enables servicing of the robot surface cleaner 14 when the robot surface cleaner is located in both a generally horizontal position on the transporter 302 and a vertical position on the transporter 302. In some examples, the first and second further examples of docking stations 300,350 can determine whether to perform horizontal or vertical servicing of the robot surface cleaner 14 based on a surface cleaning operation of the robot surface cleaner 14. In other words, the docking stations 300,350 can selectively operate in one of several (such as three) servicing modes, based on the surface cleaning operation of the robot surface cleaner 14. To achieve this, the first and second further examples of docking stations 300,350 can obtain an indication of the surface cleaning operation of the robot surface cleaner 14, for example by communicating with the robot surface cleaner 14 using the wireless communications interface 58, and can then determine an appropriate service operation to be performed on the robot surface cleaner 14. The28 P005527-W001indication of the surface cleaning operation can be considered an indication of a need of the robot surface cleaner 14, since it may indicate a status of a component or consumable of the robot surface cleaner 14 that needs attention, such as cleaning or replenishing. In some examples, additionally or alternatively to obtaining the indication from the robot surface cleaner 14 itself, the first and second further examples of docking stations 300,350 can obtain the indication from a remote device, such as a mobile phone of a user. The surface cleaning operation can be any of a past, current, and future surface cleaning operation of the robot surface cleaner 14. In some examples, the first and second further examples of docking stations 300,350 operate to cause the transporter 28 to be at its first position, so that the robot surface cleaner 14 is able to be received on the platform 100.

[0117] In some examples, the service operation performed can be the same when the robot surface cleaner 14 is both in a horizontal position on the transporter 302 and in a vertical position on the transporter 302. For example, when the robot surface cleaner 14 has not yet finished its surface cleaning operation and requires a top-up of clean water and / or removal of dirty water, the first and second further examples of docking stations 300,350 can determine that a horizontal servicing operation is appropriate, as this may take less time than a vertical servicing operation. Accordingly, the first and second further examples of docking stations 300,350 operate in a first servicing mode to cause the transporter 28 to be at its first position, the clean water service interface 306 and the dirty water service interface 308 to be engaged with the robot surface cleaner 14, and the first and second pumps 62,64 to pump clean water from the clean water tank 18 to the robot surface cleaner 14 and dirty water from the robot surface cleaner 14 to the dirty water tank 20. When the robot surface cleaner 14 has finished its surface cleaning operation and requires a full refill of clean water and / or removal of dirty water, the first and second further examples of docking stations 300,350 can determine that a vertical servicing operation is appropriate, as more time may be available for the robot surface cleaner 14 to be retracted into its vertical storage position. Accordingly, the first and second further examples of docking stations 300,350 operate in a second servicing mode to cause the transporter 28 to be at its second position, the clean water service interface 306 and the dirty water service interface 308 to be engaged with the robot surface cleaner 14, and the first and second pumps 62,64 to pump clean water from the clean water tank 18 to the robot surface cleaner 14 and dirty water from the robot surface cleaner 14 to the dirty water tank 20.29 P005527-W001

[0118] In some examples, the service operation performed can be different when the robot surface cleaner 14 is both in a horizontal position on the transporter 302 and in a vertical position on the transporter 302. For example, when the robot roller 206 of the surface treatment robot 14 requires cleaning, the first and second further examples of docking stations 300,350 can determine that a horizontal servicing operation is appropriate, as cleaning of the robot roller 206, for example using clean water, can take a relatively short amount of time. Accordingly, the first and second further examples of docking stations 300,350 operate in a first servicing mode, which is a roller cleaning mode, to take the required steps to cause the robot roller 206 to be cleaned. This may involve coupling or engagement of the robot surface cleaner 14 to the clean water service interface 306 and the supply of a cleaning fluid, in the form of clean water, from the clean water tank 18 (acting as a roller cleaning fluid tank) to the robot surface cleaner 14 through the clean water service interface 306. During this supply, the robot surface cleaner 14 may cause the robot roller 206 to rotate by way of suitably controlling the roller drive motor 208. When the robot roller 206 of the surface treatment robot 14 requires drying, the first and second further examples of docking stations 300,350 can determine that a vertical servicing operation is appropriate, as drying of the robot roller 206, for example using the heater 60 or using the transporter heater 354 , can take a relatively long amount of time. Accordingly, the first and second further examples of docking stations 300,350 operate in a second servicing mode, which is a roller drying mode, to take the required steps to cause the robot roller 206 to be dried by the roller dryer. In some examples, the first and second further examples of docking stations 300,350 operate in a third servicing mode, which is a roller cleaning and drying mode, to take the required steps to cause the robot roller 206 to be cleaned and then to take the required steps to cause the robot roller 206 to be dried.

[0119] In some alternative examples, the docking station includes a roller cleaner that is fixed to the transporter, such as to the platform thereof, and that comprises an outlet for outputting a cleaning fluid, in the form of clean water, from the clean water tank 18 onto the robot roller 206, and an element, such as a scraper, a comb, a wire or a pad, for contacting a surface of the robot roller 206 to encourage dirt on the robot roller 206 to detach from the robot roller 206 as the robot roller 206 is rotated by the roller drive motor 208.

[0120] A third further example of a docking station 400 that enables vertical servicing of the robot surface cleaner 14 is illustrated schematically in Figure 12. The third further example30 P005527-W001of a docking station 400 is substantially the same as the first further example docking station 300, save for the location of its service interface assembly, and like reference numerals are used for sake of clarity. The third further example of a docking station 400 has a service interface assembly 402 that is located internally within the robot receiving compartment 44, at an upper end of the robot receiving compartment 44.

[0121] The service interface assembly 402 has a clean water service interface 404 and a dirty water service interface 406. The service interface assembly 402 is fluidically connected to both the clean water tank 18 and the dirty water tank 20 by rigid ducting, such that the clean water service interface 404 is fluidically connected to the clean water tank 18, and the dirty water service interface 406 is fluidically connected to the dirty water tank 20. The clean water service interface 404 and the dirty water service interface 406 are positioned so as to face in a downwards vertical direction within the robot receiving compartment 44, and are positioned such that they can engage with the robot surface cleaner 14 when the robot surface cleaner 14 is housed within the robot receiving compartment 44. In particular, when the transporter 28 raises the robot surface cleaner 14 from a horizontal position to a vertical position, the clean water service interface 404 and the dirty water service interface 406 come into sealing engagement with corresponding ports on the robot surface cleaner 14 to fluidically connect the clean water tank 18 and the dirty water tank 20 of the third further example of a docking station 400 to the robot surface cleaner 14. It will be appreciated that, in some examples, a fluidic connection between the debris tank 24 and the robot surface cleaner 14 can be established in a similar fashion using an appropriate service interface. Such a service interface may extend either vertically or horizontally within the robot receiving compartment 44.

[0122] A fourth further example of a docking station 500 that enables vertical servicing of the robot surface cleaner 14 is illustrated schematically in Figure 13. The fourth further example of a docking station 500 has a debris extraction tube 502 and a debris extraction aperture 504 formed in a transporter 506. The transporter 506 has substantially the same features and operational modes as the transporter 28 described in relation to Figure 8, and like reference numerals are used for the sake of clarity. The debris extraction tube is in fluid communication with the debris tank 22. The debris extraction aperture 504 is configured to interface with the robot surface cleaner 14 to enable extraction of debris therefrom. In use, the electric motor 66 of the fourth further example of a docking station 500 can be utilised31 P005527-W001to generate a suction airflow through the debris extraction aperture 504 and along the debris extraction tube 502, to enable extraction of debris from the robot surface cleaner 14.

[0123] In some of the examples described above, there is an option for the robot surface cleaner 14 to be serviced vertically, when it is held in a vertical orientation within the robot receiving compartment 44. In particular, there is an option for water exchange, whether clean or dirty, between the robot surface cleaner 14 and the various examples of docking stations 12,300,350,400 when the robot surface cleaner 14 is in a vertical orientation. There are several features of the robot surface cleaner 14 that assist with efficient water exchange.

[0124] As discussed hereinbefore, the robot surface cleaner 14 has the main body 200, the clean water reservoir 202, the clean water pump 203, the dirty water reservoir 204, the robot roller 206, the roller drive motor 208, the mangle assembly 210, the suction port 212, the suction motor 214, and the debris storage bin 216.

[0125] The mangle assembly 210 is illustrated in isolation in Figures 14 and 15, and has a curved wall 230, a mangle 232, and an enclosure 234. The curved wall 230 roughly defines a quarter circle, and has an inner side 236 and an outer side 238. The mangle 232 is located on the inner side 236 of the curved wall 230, whilst the enclosure 234 is located on the outer side 238 of the curved wall 230. A plurality of apertures 240 are formed in the curved wall 230 just above the mangle 232, and the plurality of apertures 240 open into the enclosure 234.

[0126] The mangle 232 is elongate in form, and extends across a length of the curved wall 230. The mangle 232 has a generally triangular cross-sectional shape, and is positioned on the curved wall 232 such that an apex of the mangle 232 protrudes outwardly from the inner side 236 of the curved wall 230. The mangle 232 is positioned less than halfway along a height of the curved wall 230 from a base of the curved wall 230.

[0127] The enclosure 234 protrudes outwardly from the outer side 238 of the curved wall 230, at a location opposite to the mangle 232 and the plurality of apertures 240. The enclosure 234 is defined by an upper wall, a lower wall, first and second side walls, an outer wall, and the curved wall 230. The enclosure 234 is generally cuboidal in form, albeit with a slight curvature at one end due to the curved wall 230. The lower wall has an orifice 252 formed centrally therein, and internal surfaces of the lower wall are sloped towards the orifice.32 P005527-W001

[0128] The mangle assembly 210 is illustrated schematically in position relative to the robot roller 206 and the dirty water reservoir 204 in Figures 16 and 17. The curved wall 230 is positioned about a periphery of the robot roller 206 such that the mangle 232 protrudes into the pile of the robot roller 206. The mangle 232 is angularly offset from a vertical axis V that intersects with the rotational axis R of the robot roller 206. The vertical axis V may be considered a reference axis in the context of the present application. The dirty water reservoir 204 has a ledge 254, and an inlet 256 of the dirty water reservoir 204 is formed in the ledge 254. An upper edge of the ledge 254 may be considered a rim in the context of the present application. The lower wall of the enclosure 234 is in sealing engagement with the ledge 254 to ensure fluid communication between the orifice 252 and the inlet 256, and it will be appreciated that at least one of the lower wall and the ledge 254 can be provided with a sealing member, such as a compressive seal. The lower wall of the enclosure 234 may be considered an end of the enclosure 234 facing the ledge 254 in the context of the present application. A length of the enclosure 234, in a direction between the first and second side walls, which may be considered first and second lateral ends of the enclosure 234, is greater than a length of the ledge 254 in this direction. Liquid removed from the robot roller 206 by the mangle 232 flows from the enclosure 234 into the ledge 254 under gravity, when the robot roller 206 is positioned substantially horizontally on a surface to be cleaned.

[0129] The robot roller 206 is moveable relative to the main body 200, for example by a suitable drive mechanism (not shown in the Figure, for clarity). When the robot surface cleaner 14 is disposed on a substantially horizontal surface, the robot roller 206 can be moved vertically relative to the surface. This allows the robot roller 206 to be moved towards and into contact with the surface, for cleaning of the surface, or away from the surface, to store the robot roller 206 within the main body 200. The mangle assembly 210 is fixed relative to the robot roller 206. Movement of the robot roller 206 relative to the main body 200 thus causes the mangle assembly 210 to move correspondingly, relative to the main body 200. This allows the enclosure 234 to be moved between a first position in which the lower wall of the enclosure 234 is disengaged from the ledge 254 and a second position (shown in Figure 16) in which the lower wall of the enclosure 234 is engaged with the ledge 254. The drive mechanism of the robot roller 206 biases the lower wall of the enclosure 234 towards the ledge 254, in the second position. The robot roller 206 and the mangle assembly 210 are also moveable laterally between a first lateral position in which a first portion of the enclosure33 P005527-W001234 is engaged with the ledge 254 and a second lateral position in which a second, different, portion of the enclosure 234 is engaged with the ledge 254.

[0130] The form and arrangement of the mangle assembly 210 can facilitate servicing of the robot surface cleaner 14 in a vertical orientation. In particular, the enclosure 234 and the sealing engagement of the enclosure 234 with the dirty water reservoir 204 can inhibit leakage of water during vertical servicing.

[0131] The form of the dirty water reservoir 204, and how water is removed from the dirty water reservoir 204 by a docking station, can also facilitate vertical servicing of the robot surface cleaner 14.

[0132] In some examples, the dirty water reservoir 204 has an air extraction valve 262, an air outlet port 264, and a water extraction valve 266, which may be considered a liquid extraction valve in the context of the present application. This arrangement is illustrated schematically in Figure 19, and the air extraction valve 262 is illustrated schematically in isolation in Figure 18. The air extraction valve 262 enables air to be drawn out from the dirty water reservoir 204 through the air inlet 268 to generate a vacuum within the dirty water reservoir 204. This aids with drawing water into the dirty water reservoir 204 in use. The air extraction valve 262 is in fluid communication with the air extraction pump 205 to draw air through the air inlet 268 and out of the dirty water reservoir 204. The air extraction valve 262 has a body 267, an air inlet 268 and a labyrinth seal 270. The air extraction valve 262 is mounted within the dirty water reservoir 204 so that the labyrinth seal 270 is located between the air inlet 268 and the air outlet port 264. At least part of the labyrinth seal 270 may be provided with a sealing member, such as a compressive seal, for sealing engagement with a wall of the dirty water reservoir 204. When positioned in the dirty water reservoir 204, and the robot surface cleaner 14 is disposed on a horizontal surface, as illustrated schematically in Figure 19, the air inlet 268 is located in an upper quadrant of the dirty water reservoir 204. In particular, the dirty water reservoir 204 has a first lateral end FL, a second lateral end SL, a base B, and an upper periphery UP. The air inlet 268 is positioned so that it is more than halfway along a length L between the first lateral end FL and the second lateral end SL, and so that it is more than halfway along a height H between the base B and the upper periphery UP, measured in a direction from the base B. It will be appreciated that when the robot surface cleaner 14 is then moved to a vertical configuration, in which the second lateral end SL is above the first lateral end FL, for servicing, the air inlet 268 remains34 P005527-W001in an upper quadrant of the dirty water reservoir 204. This can inhibit dirty water stored within the dirty water reservoir 204 from entering the air extraction valve 262.

[0133] The air extraction valve 262 has a protruding element 269 comprising the labyrinth seal 270. The protruding element 269 has an elongate, generally cuboidal form, with the labyrinth seal 270 formed in a side of the protruding element 269 facing the upper periphery UP of the dirty water reservoir 204. The protruding element 269 extends along and parallel to the upper periphery UP, towards the second lateral end SL. When the robot surface cleaner 14 is located on a substantially horizontal surface, the protruding element 269 protrudes from the body 267 parallel to the surface, away from a midpoint MP of the dirty water reservoir 204. The protruding element 269 has a proximal end 271 and a distal end 273. The air inlet 268 is formed in the distal end 273 of the protruding element 269, distal from the body 267. The air outlet port 264, which may be referred to as an air outlet in the context of the present application, is disposed in the upper periphery UP.

[0134] The protruding element 269 extends along a longitudinal axis. The labyrinth seal 270 comprises a plurality of elongate channels 275. The elongate channels are elongate substantially perpendicular to the longitudinal axis. Each channel runs in an opposite direction to its neighbouring channels so as to form a winding path through the labyrinth seal 270. In other examples, the labyrinth seal may comprise elongate channel(s) that are elongate substantially parallel to the longitudinal axis, in addition to or instead of the elongate channels shown in Figure 18. A liquid control valve, which in this case is a duckbill valve 277, is disposed on the base B of the dirty water reservoir 204. The duckbill valve 277 permits flow of liquid from the ledge 254 into the dirty water reservoir 204 and inhibits flow of the liquid in the opposite direction, to reduce leakage of liquid back into the ledge 254. The duckbill valve 277 is positioned at a reservoir liquid inlet to the dirty water reservoir 204, which is at the first lateral end FL.

[0135] As illustrated in Figures 20 and 21, the water extraction valve 266 is disposed on the second lateral wall SL of the dirty water reservoir 204, and has a body 281 and an inlet conduit 272 that extends from the body 281 along the base B of the dirty water reservoir 204 from the second lateral wall SL towards the first lateral wall FL. The inlet conduit 272 extends to the first lateral wall FL. A distal end 274 of the inlet conduit 272, that is distal from the body 281 and, in this case, from the second lateral wall SL, is angled at around forty-five degrees relative to the base B. The distal end 274 of the inlet conduit 272 forms a35 P005527-W001liquid inlet to the inlet conduit 272 and is positioned so that it is less than halfway along the length L between the first lateral end FL and the second lateral end SL, and so that it is less than halfway along the height H between the base B and the upper periphery UP, measured in the direction from the base B. It will be appreciated that the distal end 274 of the inlet conduit 272 is located in a lower quadrant of the dirty water reservoir 204 when the robot surface cleaner 14 is located on a horizontal surface in a cleaning configuration, and also that the inlet conduit 272 is located in a lower quadrant of the dirty water reservoir 204 when the robot surface cleaner 14 is located in a vertical orientation in a servicing configuration. A tip of the distal end 274 facing the first lateral wall FL contacts the first lateral wall FL so that the distal end 274 has a first location, facing the base B, and a second location, facing the upper periphery UP and corresponding to the tip of the distal end 274 which is further from a midpoint of the length of the dirty water reservoir 204 than the first location. The inlet conduit 272 also has a proximal end 287, proximal to the body 281. In use, the water extraction valve 266 is not utilised during cleaning, but instead is opened via engagement with a docking station to enable extraction of dirty water to the docking station 12 when the robot surface cleaner 14 is in a vertical orientation. For example, the water extraction valve 266 may comprise a spring-loaded valve configured to engage with a valve opening component of the docking station 12 to cause the water extraction valve 266 to open, to enable the dirty water to be extracted.

[0136] In a similar manner to the dirty water reservoir 204, the clean water reservoir 202 has a water extraction port 290 located in a lower quadrant of the clean water reservoir 202. This enables the water extraction port 290 to be submerged by clean water within the clean water reservoir 202 when the clean water reservoir is in both horizontal and vertical positions, as illustrated schematically in Figures 22 and 23. The water extraction port 290 is in fluid communication with the clean water pump 203 to enable extraction of clean water to the robot roller 206.

[0137] Vertical servicing of the debris storage bin 216 can also occur. The debris storage bin 216 is illustrated schematically in Figure 24. The debris storage bin 216 defines an internal volume in the form of the debris collection chamber, and has the bin inlet 258. The bin inlet 258 faces in a direction that is oblique to the axis A that passes through the top side and the base side of the robot surface cleaner 14. The robot surface cleaner 14 has a barrier in the form of a bin flap 260, which is in the debris collection chamber and pivotally mounted36 P005527-W001to an interior surface of the debris storage bin 216, and is positioned so as to selectively block the bin inlet 260. The bin flap 260 is mounted such that the bin flap 260 moves to a closed position, at which the bin flap 260 blocks the bin inlet 258, under the influence of gravity, when the robot surface cleaner 14 is held with the opening facing downwards, and such that the bin flap 260 can be moved to an open position under the action of an airflow generated by the suction motor 214 in use, at which open position the bin flap 260 blocks the bin inlet 258 to a lesser extent than when the bin flap 260 is at the closed position. In other examples, the bin flap 260 may be biased towards the closed position by a biasing apparatus, such as a torsion spring or a different resilient member.

[0138] When the transporter 28 is at the second position and holding the robot surface cleaner 14, the bin inlet 258 faces obliquely downwards towards the base 34 of the housing 16. Accordingly, the bin flap 260 can inhibit debris from leaking from the debris collection chamber to an exterior of the robot surface cleaner 14 and onto the brushbar 209 via the bin inlet 258 during vertical servicing of the robot surface cleaner 14, or at other times when the robot surface cleaner 14 is held with the bin inlet 258 is facing directly or obliquely downwards.

[0139] In other examples of the robot surface cleaner 14, the opening to the debris collection chamber that is closable by the bin flap 260 may be other than a bin inlet 258. In some examples, the robot surface cleaner 14 comprises a suction generator for generating an airflow through the debris collection chamber and a second passageway that fluidically connects the opening to the suction generator, whereby the opening is an outlet from the debris collection chamber that is upstream of the suction generator in operational use of the robot surface cleaner. In some other examples, the opening is an evacuation port that is for enabling evacuation of debris from the debris collection chamber along an evacuation path that passes through the evacuation port to an exterior of the robot surface cleaner 14 and bypasses the first passageway and the second passageway. In still further examples, the opening is an air inlet port that is for allowing air to enter the debris collection chamber from the exterior of the robot surface cleaner 14 along an air inlet path while the debris is evacuated along the evacuation path, wherein the air inlet path bypasses the first passageway, the second passageway and the evacuation path. In each of these alternative examples, the bin flap 260 is at the closed position when the robot surface cleaner 14 is held with the37 P005527-W001opening facing directly or obliquely downwards, to inhibit debris from leaking from the debris collection chamber to an exterior of the robot surface cleaner 14.

[0140] In some alternative examples to that illustrated in the Figures, the docking station 12 interacts with the robot surface cleaner 14 to cause the bin flap 260 to move from the closed position to the open position, when the robot surface cleaner 14 is held by the transporter 28 and the transporter 28 is at the second position, to facilitate evacuation of debris from the debris collection chamber. For example, the robot surface cleaner 14 may include an actuator that is actuatable to move the bin flap 260 from the closed position to the open position, and the docking station 12 may include a control device that actuates the actuator. This may be the case where the docking station 12 has a debris evacuation system for causing evacuation of the debris from the debris collection chamber via the opening (such as the evacuation port mentioned above) when the transporter 28 is at the second position and thus the robot surface cleaner 14 is held with the opening facing downwards or substantially downwards. The debris evacuation system may comprise a mouth that is moved to overlap the opening, the control device that actuates the actuator to move the bin flap 260 from the closed position to the open position, and a suction creator that creates suction to draw the debris from the debris collection chamber via the opening and into a debris reservoir of the docking station 12, such as the debris tank 22.

[0141] By providing vertical servicing, increased flexibility for servicing of the robot surface cleaner 14 can be provided. Furthermore, by providing the door assembly 24, the robot surface cleaner 14 can be hidden away whilst a servicing operation is being performed. To aid with opening and closing of the door assembly 24, there are modifications that can be made.

[0142] A schematic illustration of a fifth example of a docking station 550 is shown in Figures 25 to 27. The fifth example of a docking station 550 is substantially the same as the docking station 12 of Figures 1 to 8, and like reference numerals are used for sake of clarity. The fifth example of a docking station 550 further comprises a sensor, which in this example is a contact switch 552, and a door stop 554. The contact switch 552 is disposed at an end of the first door arm 70, and is configured to provide a signal to the processor 56 of the fifth example of a docking station 550. It will be appreciated that in some examples the contact switch 552 may be disposed at an end of the second door arm 72, and that in some examples there may be a contact switch disposed at the end of each of the first 70 and second 72 door38 P005527-W001arms alongside corresponding first and second door stops. The door stop 554 is fixedly mounted inside the robot receiving compartment 44, and is positioned to contact the contact switch 552 when the door 68 is in its open position. It will be appreciated than in other examples, two or more sensors may be used to achieve the same result as discussed in more detail below.

[0143] Operation of the contact switch 552 is illustrated schematically in Figures 25 to 27. When the door 68 is in its closed position, the door 68 is urged closed by the first 152 and second 154 closure elements which are in contact with the respective first 70 and second 72 door arms to act against the counterweight 74. In this initial configuration, the contact switch 552 is held closed by the first closure element 152. The contact switch 552 can therefore be used to detect when the door is being restricted from moving to the open position due to the position of the lift assembly (i.e., in this example, it is held closed). As the first 152 and second 154 closure elements move downwardly with the transporter 28, the contact switch 552 remains in contact with the first closure element 152 until the door 68 reaches its open position. At this point, the contact switch 552 contacts the door stop 554 and hence remains closed while the first closure element 152 continues its downwards travel in the manner described previously herein. This is considered normal operation, where the door 68 is able to fully open while the contact switch 552 remains closed.

[0144] However, where an object 556 blocks the door from fully opening, as illustrated in Figure 27, the contact switch 552 disengages from the first closure element 152 before it can contact the door stop 554. In this case, the contact switch 552 opens. In that case, the door is neither being restricted from opening by position of the lift assembly (since the first closure element 152 has disengaged from the contact switch 552), nor is it in the open position. When neither condition is detected, it may be inferred that the door is blocked. In an example, the contact switch 552 sends a corresponding signal to the processor 56 of the fifth example docking station 550 when the contact switch 552 is open. In another example, the opening of the contact switch 552 results in an absence of a signal being sent to the processor 56. In either case, the processor 56 can take appropriate remedial action. In some examples, the processor 56 can cause operation of the lift assembly 26 to stop and / or to reverse, to inhibit further attempts at the door 68 opening. In some examples, the processor 56 can cause a signal to be communicated to a user, for example by causing an indication to be given by the fifth example of a docking station 550, or by sending a signal to a remote39 P005527-W001device utilising the wireless communications interface 58. This can avoid damage to the door 68 in use.

[0145] An alternative form of a door 600 is illustrated schematically in Figures 28 and 29. The door 600 has a main door panel 601 and a door arm 602. The door arm 602 has a first arm portion 604, a second arm portion 606, a resilient member, such as a spring 608, a ball 610, and a pivot pin 612. Together, the second arm portion 606, spring 608 and ball 610 may form a door retention component, to retain or urge the door towards the closed position. In more general terms, the second arm portion 606 may be known as a door closing arm, and the first arm portion 604 may be known as a second component. In an example, the door arm 602 may form an extension component, which was discussed above. The spring 608 and ball 610 may form at least part of a force element. The first arm portion 602 is elongate in form, and is integrally formed with the main door panel 601. The first arm portion 602 has a first through-hole 614 and a first recess 616. The first through-hole 614 is disposed at a distal end of the first arm portion 602 from the main door panel 601, and is located further along the first arm portion 602 from the main door panel 601 than the first recess 616. The first recess 616 is formed on an inward facing surface of the first arm portion 602, and is shaped and dimensioned to receive the spring 608 and in some cases at least part of the ball 610.

[0146] The second arm portion 606 is elongate in form, and has a second through-hole 618 and a second recess 620. The second through-hole 618 and the second recess 620 are arranged in a similar manner to the first through-hole 614 and the first recess 616 of the first arm portion 604, so that, when assembled, the second through-hole 618 is aligned with the first through-hole 614, and the second recess 620. The second arm portion 606 has a length that is greater than a length of the first arm portion 604, such that the second arm portion 606 extends outwardly from the main door panel 601 to a greater extent that the first arm portion 604 when assembled.

[0147] The spring 608 is a coil spring in this example, and a first end of the spring 608 is fixedly mounted within the first recess 616 so that the spring 608 can expand and contract relative to the first recess 616. The ball 610 is attached to a second end of the spring 608, and is dimensioned to fit in the second recess 620. The pivot pin 612 extends through the first 614 and second 618 through-holes, and enables selective pivoting motion of the first arm portion 604 relative to the second arm portion 606. In an example, the pivot pin 612 also enables pivoting motion of the door relative to the housing.40 P005527-W001

[0148] In a normal configuration, when the door 600 is being closed, the ball 610 is received within the second recess 620, so that the first arm portion 604 and the second arm portion 606 are able to move together. When a closure element of a lift assembly of a docking station contacts the second arm portion 606 with a force below a threshold value, to close the door 600, the ball 610 remains within the second recess 620 and the first 604 and second 606 arm portions move together (for example, they remain parallel to each other). If, however, the force applied to the second arm portion 606 is above the threshold value, then the ball 610 pops out of (i.e., is dislodged from) the second recess 620, and the second arm portion 606 is able to pivot relative to the first arm portion 604, and the door is unable to continue to be moved towards the closed position. Accordingly, when the force applied to the second arm portion 606 is above the threshold force the second arm portion 606 is pivotable relative to the first arm portion 604 to a greater extent than when the force is below the threshold force. For example, if the force is below the threshold, the first 604 and second 606 arm portions may not be pivotable with respect to each other. This can ensure that an object that inadvertently becomes located between the door 600 and a housing of the docking station when the door is closing does not experience an excessive force.

[0149] Similarly, when the door 600 is in a closed position, if a force is applied to the door 600 to move the door 600 to an open position, for example by a user gripping the door 600 or the like, then when the force is below a threshold value the ball 610 remains within the second recess 620, the first 604 and second 606 arm portions are held in position by the closure element, and the door 600 cannot open. When the force is above the threshold value, the ball 610 pops out of the second recess 620, and the second arm portion 606 is able to pivot relative to the first arm portion 604, enabling the door 600 to open. This can avoid damage to the door 600 in the event of application of an unintended high force when the door 600 is closed.

[0150] The examples described above are illustrative of the present disclosure, and further examples are envisaged. For example, while in some examples the robot surface cleaner 14 is arranged to reverse onto the docking station 12, in other examples a robot surface cleaner may be arranged to drive forwards onto a docking station that has been appropriately adapted to receive the robot surface cleaner in that manner. In this way, the dry system may be above the wet system when the robot surface cleaner is housed within the docking station in a stored, vertical position. Such an alternative might offer ancillary benefits. For example, a41 P005527-W001barrier in the form of a bin flap may not be needed to prevent debris from falling out of a debris storage bin, when the robot surface cleaner is stored, because an entrance to the debris storage bin could be arranged to be at or towards the top (relative to the stored, vertical position) of debris storage bin. In addition, or alternatively, a mangle could be arranged to be generally below a robot roller (relative to the stored, vertical position), such that gravity assists in removing water from the robot roller. It will be appreciated that other, similar ancillary benefits may be afforded by arranging the dry system to be above the wet system when the robot surface cleaner is housed within the docking station in a stored position.

[0151] In other examples, in Figure 16, fluid communication between the enclosure 234 and the dirty water reservoir 204 is achieved by sealing engagement between the lower wall 244 of the enclosure 234 and the ledge 254 of the dirty water reservoir 204. Figure 30 shows a further example of a mangle assembly 710 for use with the robot surface cleaner 14 described hereinbefore instead of the mangle assembly 210 of Figures 14 and 15. The mangle assembly 710 of Figure 29 has a curved wall 730, a mangle 732 and an enclosure 734. The enclosure 734 is in fluid communication with the dirty water reservoir 204 of the robot surface cleaner 14 via an enclosure conduit 735, which fluidically connects the enclosure 734 to the dirty water reservoir 204. The enclosure conduit 735 may be considered an enclosure connector arrangement in the context of the present application. The mangle 732 and curved wall 730 have the same form as the mangle 232 and curved wall 230 of the mangle assembly 210 of Figures 14 and 15. The enclosure 734 is defined by an upper wall, a lower wall, first and second side walls, an outer wall, and the curved wall 730. The shape and position of the enclosure 734 is the same as the enclosure 234 of Figures 14 and 15. The enclosure conduit 735 is a flexible tube with a first end disposed in the enclosure 734 and a second end disposed in the dirty water reservoir 204. The flexibility of the enclosure conduit 735 permits movement of the enclosure 734 relative to the dirty water reservoir 204. This enables the robot roller 206 to be positioned in various different lateral or vertical positions without disrupting fluid communication between the enclosure 734 and the dirty water reservoir 204.

[0152] It is to be understood that any feature described in relation to any one example may be used alone or in combination with other features of the example, and may also be used in combination with one or more features of any other of the examples, or any combination of any other of the examples. Furthermore, equivalents and modifications not described above42 P005527-W001may also be employed without departing from the scope of the disclosure, which is defined in the accompanying claims.

Claims

43 P005527-W001CLAIMS1. A robot surface cleaner comprising:a roller for contacting a surface to be cleaned;a reservoir configured to receive liquid collected by the roller, the reservoir having, when the robot surface cleaner is located on the surface in a cleaning configuration, a length parallel to the surface and a height perpendicular to the surface, the length measured in a direction between first and second lateral ends of the reservoir, and the height measured in a direction between a base of the reservoir and an upper periphery of the reservoir; and a liquid extraction valve having a liquid inlet disposed less than halfway along the length of the reservoir from the first lateral end to the second lateral end, and less than halfway along the height of the reservoir from the base to the upper periphery, the liquid extraction valve configurable to permit liquid to be extracted from the reservoir, via the liquid inlet.

2. The robot surface cleaner of claim 1, wherein the liquid inlet is disposed at least one of: less than 25% along the length of the reservoir and less than 25% along the height of the reservoir.

3. The robot surface cleaner of claim 1 or claim 2, wherein, when the robot surface cleaner is located in a servicing configuration different from the cleaning configuration, the first lateral end is below the second lateral end.

4. The robot surface cleaner of claim 3, wherein the servicing configuration of the robot surface cleaner is substantially perpendicular to the cleaning configuration of the robot surface cleaner.

5. The robot surface cleaner of any one of claims 1 to 4, wherein the liquid extraction valve comprises:a body; anda conduit coupled to the body and comprising the liquid inlet.44 P005527-W0016. The robot surface cleaner of claim 5, wherein the conduit is elongate and extends in a direction along the length of the reservoir.

7. The robot surface cleaner of claim 5 or claim 6, wherein the conduit is in contact with the base of the reservoir.

8. The robot surface cleaner of claim 7, wherein the conduit and the base of the reservoir are integrally formed.

9. The robot surface cleaner of any one of claims 5 to 8, wherein the conduit has a proximal end, proximal to the body of the liquid extraction valve, and a distal end opposite to the proximal end, and the distal end of the conduit comprises the liquid inlet.

10. The robot surface cleaner of claim 9, wherein the distal end is in contact with a periphery of the reservoir.

11. The robot surface cleaner of claim 9 or claim 10, wherein the distal end is obliquely angled relative to the surface.

12. The robot surface cleaner of any one of claims 9 to 11, wherein the distal end comprises: a first location, facing the base, and a second location, facing the upper periphery, and the first location is closer to a midpoint of the length of the reservoir than the second location, in the direction between the first and second lateral ends.

13. The robot surface cleaner of any one of claims 5 to 12, wherein the conduit and the liquid extraction valve are integrally formed.

14. The robot surface cleaner of any one of claims 1 to 13, wherein the liquid extraction valve is configured to engage with a valve opening component of a docking station to cause the liquid extraction valve to open to enable the liquid to be extracted from the reservoir to the docking station.45 P005527-W00115. The robot surface cleaner of any one of claims 1 to 14, comprising:a further reservoir configured to receive the liquid collected by the roller, the reservoir configured to receive the liquid from the further reservoir; anda liquid control valve between the further reservoir and the reservoir to control flow of the liquid between the further reservoir and the reservoir.

16. The robot surface cleaner of claim 15, wherein the liquid control valve between the further reservoir and the reservoir is a one-way valve.

17. The robot surface cleaner of claim 15 or claim 16, wherein the further reservoir is configured to receive the liquid collected by the roller under gravity.

18. The robot surface cleaner of any one of claims 1 to 17, wherein a reservoir liquid inlet to the reservoir is at the first lateral end.

19. The robot surface cleaner of any one of claims 1 to 18, comprising an air extraction valve having an air inlet, wherein when the robot surface cleaner is located on the surface in the cleaning configuration, the air inlet is disposed more than halfway along the length of the reservoir from the first lateral end to the second lateral end and more than halfway along the height of the reservoir from the base to the upper periphery, the air extraction valve configurable to permit air to be extracted from the reservoir, via the air inlet.

20. A robot surface cleaner comprising:a reservoir for containing a liquid, the reservoir having, when the robot surface cleaner is located on the surface in a cleaning configuration, a length parallel to the surface and a height perpendicular to the surface, the length measured in a direction between first and second lateral ends of the reservoir, and the height measured in a direction between a base of the reservoir and an upper periphery of the reservoir; anda liquid outlet disposed less than halfway along the length of the reservoir from the first lateral end to the second lateral end, and less than halfway along the height of the reservoir from the base to the upper periphery.46 P005527-W00121. The robot surface cleaner of claim 20, wherein the reservoir is a clean liquid reservoir.

22. The robot surface cleaner of claim 20, wherein the reservoir is a dirty liquid reservoir.

23. A system comprising the robot surface cleaner of any one of claims 1 to 22 and a docking station.

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