Robot surface cleaning systems

Abstract

A docking station for storing a robot surface cleaner is provided. The docking station comprises a housing defining an opening, a door moveable between an open position and a closed position and being biased towards the open position. When the door is in the closed position, the door at least partially closes the opening. The docking station further comprises a support element that is moveable relative to the housing to move the robot surface cleaner towards a storage position in which the robot surface cleaner is located at least partially in the housing, and a lift assembly moveable between a lowered position and a raised position and configured to raise and lower the support element. The docking station is configured to urge the door towards the closed position when the lift assembly is in the raised position.

Description

1 P005519-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] According to a first aspect, a docking station for storing a robot surface cleaner is provided. The docking station comprises: (i) a housing defining an opening; (ii) a door moveable between an open position and a closed position and being biased towards the open position, wherein when the door is in the closed position, the door at least partially closes the opening; (iii) a support element that is moveable relative to the housing to move the robot surface cleaner towards a storage position in which the robot surface cleaner is located at least partially in the housing; and (iv) a lift assembly moveable between a lowered position and a raised position and configured to raise and lower the support element, wherein the docking station is configured to urge the door towards the closed position when the lift assembly is in the raised position.

[0003] Biasing the door towards the open position, rather than the closed position for example, can improve safety. For example, biasing the door open can avoid trapping an object, such as an operator’s fingers, in the door. Biasing the door towards the open position can also speed up deployment, since the door can be opened quickly as the lift assembly is lowered. Furthermore, using the movement of the lift assembly itself to close the door can simplify operation of the docking station by removing the need for a separate door closure mechanism.

[0004] The docking station may be for vertically storing the robot surface cleaner relative to a surface on which the docking station is arranged. The docking station may be configured2 P005519-W001to store the robot surface cleaner in a vertical position. The robot surface cleaner may be substantially vertical during storage. 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 be a robot vacuum cleaner and / or a robot wet floor cleaner. The lift assembly may directly cause the support element to be raised and lowered. In other examples, the lift assembly may indirectly raise and lower the support element by raising and lowering another element that is connected to the support element, such as a platform base (also known as a protrusion base). The lift assembly may be configured to move the support element along a lift path thereby to raise and lower the support element. The lift path may be defined by one or more tracks of the lift assembly. The support element may contact, such as engage, the robot surface cleaner to carry the robot surface cleaner as it moved by the lift assembly. When the lift assembly is in the raised position, the robot surface cleaner is in the storage position. The door is moveable relative to the housing. Urging the door, means that movement of the lift assembly transfers movement (either directly or indirectly) to the door to move the door from the open position to the closed position. The door may fully close the opening to the housing. The robot surface cleaner may enter and exit the housing via the opening. The door may be pivotable between the open position and the closed position. The docking station may comprise an extension component connected to the door, wherein movement of the lift assembly may be transferred to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position. The door and extension component may be integrally formed. The docking station may further comprise a door assembly, the door assembly comprising the door and at least one further component, such as the extension component. The support element may comprise a platform for receiving the robot surface cleaner thereon. The support element / platform may be moveable from a raised position to a lowered position, wherein in the lowered position, the support element / platform may at least partially extend out of the housing via the opening. The door may also be urged towards the closed position when the lift assembly is arranged between an intermediate position and the raised position, the intermediate position being between the lowered position and the raised position. The docking station may further comprise a biasing element configured to bias the door towards the open position. The biasing element may be located within the housing. The biasing3 P005519-W001element may form part of the door assembly. The biasing element may be a counterweight or a spring.

[0005] In examples, the docking station further comprises a closure element moveable by the lift assembly, and configured to urge the door towards the closed position when the lift assembly is in the raised position.

[0006] Use of the closure element can mean that the door (or any other component that transfers movement to the door) does not need to directly contact components of the lift assembly. The closure element may, for example, extend away from any gears or other lift mechanisms, and urge the door towards the closed position at a position spaced away from a path that the lift assembly follows as it is being raised.

[0007] The closure element may be connected to the lift assembly, hence the closure element is moveable by the lift assembly. The closure element is therefore raised and lowered by the lift assembly. The closure element may also urge the door towards the closed position when the lift assembly is arranged between an intermediate position and the raised position, the intermediate position being between the lowered position and the raised position. The closure element may be connected to an axle element that forms at least part of the lift assembly. The axle element may be moveable along one or more tracks / racks of the lift assembly.

[0008] In examples, the docking station further comprises an extension component connected to the door, wherein the closure element is configured to transfer movement to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position.

[0009] Movement can therefore be transferred to the door via the extension component, meaning that direct interaction with the door and closure element is not required. The extension component can also act as a lever, thereby allowing the movement to be controlled as desired.

[0010] The extension component may be directly or indirectly connected to the door. The extension component and door may be integrally formed. In examples, the extension component is directly connected to the door. The extension component may comprise two arms connected to the door. The extension component may comprise a connecting element that extends between the two arms. The extension component may form a counterweight or a counterweight may be connected to the extension component. The extension component4 P005519-W001(and in particular the arm(s)) may form a lever. The closure element may directly contact the extension component. In another example, the closure element directly contacts another component that is connected to the extension component. The extension component may be pivotably connected to the housing and the door may be pivotably connected to the housing. The extension component and door may be pivotably connected to the housing about a same rotation axis. For example, applying a force to the extension component may cause the door and extension component to pivotably rotate about the rotation axis. The door and biasing element may be on opposite sides of the rotation axis / pivot point. The extension component may form part of the door assembly.

[0011] In examples, the docking station further comprises a biasing element configured to bias the door towards the open position, wherein the biasing element comprises a counterweight, wherein the counterweight is connected to the extension component or the extension component forms the counterweight, thereby to bias the door towards the open position.

[0012] Use of a counterweight is a simple method to bias the door toward the open position, and by positioning the counterweight away from the door (such as on the extension component), the displaced center of mass enables the door to be biased open. The extension component can therefore act as a lever, thereby allowing the movement to be controlled as desired.

[0013] The counterweight may be directly or indirectly connected to the extension component.

[0014] In examples, the docking station further comprises a biasing element configured to bias the door towards the open position, wherein the biasing element comprises a spring, the spring being connected to the extension component, thereby to bias the door towards the open position.

[0015] Use of a spring, rather than a counterweight for example, can reduce the overall weight and cost of the docking station. By having the spring act on extension component, the door can be levered open via the extension component. This can allow the movement to be controlled as desired.

[0016] The spring may be directly or indirectly connected to the extension component. The spring may be a torsion spring, a compression spring, extension spring, etc. There may be a spring and a counterweight.5 P005519-W001

[0017] In examples, at least one of the extension component and the closure element comprise a resilient portion configured to flex under the application of a force.

[0018] The flexible portion can allow for different manufacturing tolerances and can also improve safety by allowing a certain degree of flex if an object is trapped in the door.

[0019] In an example, the extension component comprises the resilient portion, the resilient portion configured to flex under the application of a force by the closure element.

[0020] In examples, the closure element is pivotably connected to the lift assembly.

[0021] The pivotable connection can allow the closure element to move relative to the lift assembly as the lift assembly is being raised. This can also allow the closure element to act as a lever, such as during contact with an extension component that may be connected to the door.

[0022] The lift assembly may comprise a first track and a second track spaced apart from the first track. The lift assembly may further comprise an axle element, such as a rod, moveable along the first and second tracks. The closure element may be pivotably connected to the axle element. Movement along a track means that the axle element moves relative to the track, such as in a direction defined by the track. The axle element may comprise one or more components. The first and / or second tracks may be racks, along which a respective pinion is moveable.

[0023] In examples, the closure element comprises an arm extending away from the lift assembly.

[0024] This can ensure that the closure element can urge the door towards the closed position at a point away from the lift assembly, thereby avoiding needing the door to be too close to the lift assembly.

[0025] In examples, the support element comprises a platform having a side for receiving the robot surface cleaner thereon, wherein the arm extends away from the lift assembly in a direction that is parallel to a surface normal of the side of the platform.

[0026] The arm extension can therefore urge the door closed as the platform is raised.

[0027] The docking station may be configured to store the robot surface cleaner in a vertical position on the platform. The platform may be configured to be raised by the lift assembly into a vertical position. The platform may be a ramp. The platform may have a front edge and a back edge opposite to the front edge. The robot surface cleaner may drive onto the platform at the front edge and move towards the back edge. The back edge may be closer to6 P005519-W001the lift assembly than the front edge is. When the lift assembly is raised, the back edge may be arranged in a higher position relative to the surface than the front edge. The platform may have a side for receiving the robot surface cleaner thereon, and a second side opposite the first side. The platform may comprise one or more platform parts, which may be separable. For example, a platform part may be disconnected from at least one other part of the platform for cleaning or replacement. There may be a protrusion base (also known as a platform base) arranged under the platform, for example arranged adjacent to a second side of the platform (the second side being opposite to the (first) side). The closure element may extend from the protrusion base. For example, the closure element may form a part of the protrusion base or may be connected to the protrusion base. The protrusion base may be coupled directly to the lift assembly such that movement of the protrusion base by the lift assembly causes the closure element to be moved by the lift assembly.

[0028] In examples, the support element comprises a platform for receiving the robot surface cleaner thereon, wherein the platform has a front edge and a back edge opposite to the front edge, the robot surface cleaner being moveable between the platform and a surface on which the docking station is arranged via the front edge. When the lift assembly is arranged in the raised position, the back edge is arranged in a higher position relative to the surface than the front edge and the closure element is arranged closer to the back edge than the front edge.

[0029] The closure element being arranged closer to the back edge than the front edge means the door can be closed sooner as the back edge is raised first.

[0030] A higher position means further from the surface on which the docking station is arranged. The front edge may be referred to as a first edge, and the back edge may be referred to as a second edge.

[0031] In examples, the back edge is spaced apart from the front edge by a first distance, and the closure element is spaced apart from the front edge by a second distance, the second distance being greater than the first distance.

[0032] In other words, the closure element is positioned beyond the back edge. This can avoid the robot surface cleaner from colliding with the closure element.

[0033] In examples, the closure element is a first closure element and the docking station further comprises a second closure element spaced apart from the first closure element, wherein: the first and second closure elements are moveable by the lift assembly and7 P005519-W001configured to urge the door towards the closed position when the lift assembly is in the raised position.

[0034] The use of two closure elements can apply a more evenly distributed force to the door during closing.

[0035] The second closure element may operate in the same way as the first closure element, and so any of the discussion relating to the first closure element may apply equally to the second closure element.

[0036] In examples, the door is pivotably connected to the housing.

[0037] Optionally, the door is removably connected to the housing. For example, the door is removably connected to the housing via a quick release mechanism configured to release the door from the door arms. By enabling the door to be removably connected to the housing, the door can be removed easily to expose interior components of the dock (i.e. portions of the dock which are otherwise enclosed within the dock behind the door under normal operations) for ease of maintenance.

[0038] Pivotable movement relative to the housing can provide a space efficient way to open the door. The pivoting motion can also be controlled via one or more components acting as a lever, thereby allowing the force for opening the door to be more precisely controlled compared to linear door opening mechanisms.

[0039] The pivotable connection may be direct or indirect. The door and extension component may be pivotably connected to the housing.

[0040] In examples, the door comprises an upper edge and a lower edge, the upper edge being arranged in a higher position, relative to a surface on which the docking station is arranged, than the lower edge and the door is pivotably connected to the housing at a point closer to the upper edge than the lower edge.

[0041] The door therefore pivots closer to the upper edge of door, so that opening is underneath the door. This can mean the door doesn’t need to open as far as it might otherwise need to if it was pivotably coupled at the lower edge (as in a castle drawbridge, for example). This can also mean the opening is harder for a person to reach into or tamper with, thereby improving safety.

[0042] A higher position means further from the surface on which the docking station is arranged. When the door is in the open position, the lower edge is further from the housing than the upper edge is from the housing. Movement of the door from the closed position to8 P005519-W001the open position causes the lower edge to move further away from the housing. The upper edge is positioned further from a surface on which the docking station is arranged than the lower edge. The upper edge may be referred to as a first edge, and the lower edge may be referred to as a second edge.

[0043] In examples, when the lift assembly is in the raised position, the door is restricted from moving to the open position, and the docking station further comprises one or more sensors configured to detect: when the door is restricted from moving to the open position due to the position of the lift assembly; and when the door is in the open position. The docking station is configured to cause the lift assembly to stop movement towards the lowered position when the one or more sensors detect neither: the door being restricted from moving to the open position due to the position of the lift assembly nor the door being in the open position.

[0044] If the one or more sensors detect neither of these conditions, it may be inferred that the door is unable to move to the open position. For example, an object may be blocking or restricting the opening of the door. Accordingly, for safety, the lift mechanism may be paused or returned to the raised position. The use of one or more sensors to detect both of these conditions can simplify operation of the docking station compared to other methods for detecting whether the door is unable to open. For example, a camera system or use of proximity or lidar sensors can add significant expense to a docking station, whereas the use of one or more sensors, such as pressure or force sensors, can reduce manufacturing costs.

[0045] If both conditions are not detected by the one or more sensors, it may be assumed / inferred that the door cannot open. A sensor may be a pressure sensor or force sensor (such as a Force Sensitive Resistor (FSR) sensor) or a switch. The one or more sensors may be arranged on the same component. In other examples, the sensors may be distributed across different components. The one or more sensors may be contained within the housing, rather than being external to the housing. “When the door is restricted from moving to the open position due to the position of the lift assembly” means that the position of the lift assembly is restricting / blocking movement of the door. For example, a component that is moveable by the lift assembly may restrict movement of the door to the open position. When the lift assembly is arranged in at the least the lowered position, the door may not be restricted from moving to the open position due to the position of the lift assembly. Movement of the lift assembly from the raised position to the lowered position may9 P005519-W001cause / allow the door to move from the closed position to the open position. For example, movement to the open position is enabled by release of the door by the lift assembly (i.e., due to the biased nature of the door). The open position is a fully open position, in that the door cannot open any further. The closed position is a fully closed position, in that the door cannot close the opening to any greater extent. The docking station may further comprise a closure element moveable by the lift assembly, and configured to urge the door towards the closed position when the lift assembly is in the raised position. Accordingly, movement of the lift assembly from the lowered position to the raised position causes the door to move from the open position to the closed position. The docking station may comprise an extension component connected to the door, wherein movement of the lift assembly is transferred to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position. The docking station may also be configured to generate a notification indicating that the door is unable to open. The notification may be a visual, haptic and / or audible notification. A display of the docking station may display a visual notification, or a speaker transducer of the docking station may output an audible notification, or a haptic component of the docking station may generate a haptic notification. Generating a notification may comprise transmitting a signal to a control device, where the control device is configured to output the notification. For example, a display of the control device may display a visual notification, or a speaker transducer of the control device may output an audible notification, or a haptic component of the control device may generate a haptic notification. The door might be unable to move because of an object restricting / obstructing movement, or there may be a fault with the biasing element, or other mechanism used to move the door from the closed position to the open position. The one or more sensors may form part of the door assembly. A controller for controlling the lift assembly may be configured to cause the lift assembly to stop movement towards the lowered position. The controller may be communicatively coupled to the one or more sensors. The docking station, such as the controller, may be configured to cause the lift assembly to return to the raised position. In examples comprising a closure element, the one or more sensors may detect contact with the closure element, and infer that the closure element is restricting movement of the door to the open position. When the closure element is urging the door towards the closed position, the closure element may be restricting10 P005519-W001movement of the door to the open position. The one or more sensors may comprise a single sensor.

[0046] In examples, the docking station comprises a closure element moveable by the lift assembly and configured to urge the door towards the closed position when the lift assembly is in the raised position, wherein at least one sensor of the one or more sensors is configured to contact the closure element when the closure element is restricting movement of the door to the open position.

[0047] A sensor is therefore directly contacted by the closure element, ensuring that the presence of the closure element is detected. This then allows the at least one sensor to detect when the door is restricted from moving to the open position due to the position of the lift assembly, and in particular the position of the closure element.

[0048] The at least one sensor that is configured to contact the closure element may be arranged on an extension component that is connected to the door or a door stop.

[0049] In examples, the docking station comprises a closure element moveable by the lift assembly and an extension component connected to the door. The closure element is configured to transfer movement to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position and at least one sensor of the one or more sensors is connected to the extension component.

[0050] A sensor is therefore moveable with the door, rather than the closure element or lift assembly. This avoids having to extend one or more wires from the sensor on the lift assembly, which might become tangled or snagged as the sensor moves with the lift assembly. Furthermore, having the at least one sensor connected to the extension component allows the at least one sensor to determine when the door is restricted from moving to the open position due to the position of the lift assembly and / or when the door is in the open position.

[0051] In other words, the sensor is arranged on the extension component. A sensor connected to the extension component may be arranged to contact the closure element and / or a door stop.

[0052] In examples, the docking station comprises a door stop connected to the housing, the door stop configured to limit movement of the door and contact a sensor of the at least one sensor connected to the extension component when the door is arranged in the open position.11 P005519-W001

[0053] The presence of the door stop on the housing can mean that a sensor can detect when the door is in the open position.

[0054] The closure element does not contact the sensor connected to the extension component when the door is not urging the door towards the closed position (such as when the lift assembly is in the lowered position). The door stop is configured to restrict or stop movement of the door. For example, the position of the door stop dictates the open position of the door. The door stop may not contact the sensor connected to the extension component when the door is in the closed position. The closure element may be arranged between the door stop and the extension component when the door is in the closed position (and when the lift assembly is in the raised position).

[0055] In examples, the docking station comprises a closure element moveable by the lift assembly and an extension component connected to the door. The closure element is configured to transfer movement to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position. The docking station further comprises a door stop connected to the housing, the door stop configured to limit movement of the door; and at least one sensor of the one or more sensors is connected to the door stop and configured to contact the extension component when the door is arranged in the open position.

[0056] A sensor is therefore connected to the door stop, which is in a fixed position relative to the housing. The sensor is therefore fixed, so is not moveable with the door, the closure element or the lift assembly. This avoids having to extend one or more wires from the sensor, which might become tangled or snagged as the sensor moves.

[0057] In other words, at least one sensor is arranged on the door stop. In this alternative arrangement, at least one sensor of the one or more sensors is connected to the door stop, and the extension component is configured to contact the sensor when the door is arranged in the open position. For example, the closure element may contact the one or more sensors on the door stop when the closure element is urging the door towards the closed position. The sensor does not contact the extension component when the door is in the closed position. The closure element may be arranged between the door stop and the extension component when the door is in the closed position (and when the lift assembly is in the raised position).

[0058] According to a second aspect there is provided a system comprising the docking station and a robot surface cleaner.12 P005519-W001

[0059] In another aspect there is provided a docking station for storing a robot surface cleaner, and comprising: a housing defining an opening; a door moveable between an open position and a closed position and being biased towards the open position, wherein when the door is arranged in the closed position, the door at least partially closes the opening; a support element that is moveable relative to the housing to move the robot surface cleaner towards a storage position in which the robot surface cleaner is located at least partially in the housing; and a lift assembly moveable between a lowered position and a raised position and configured to raise and lower the support element, wherein movement of the lift assembly from the lowered position to the raised position causes the door to move from the open position to the closed position.

[0060] According to a third aspect there is provided a system, comprising: (A) a docking station for storing a robot surface cleaner, the docking station comprising: (i) a housing; (ii) a support element that is moveable relative to the housing to move the robot surface cleaner towards a storage position in which the robot surface cleaner is located at least partially in the housing; (iii) a lift assembly moveable between a lowered position and a raised position and configured to raise and lower the support element; and (iv) a control system, configured to at least one of: receive a first signal from the robot surface cleaner, and responsively cause the lift assembly to move from the raised position to the lowered position; and send a second signal to the robot surface cleaner to cause the robot surface cleaner to navigate to the docking station, and cause the lift assembly to move from the raised position to the lowered position; and (B) a robot surface cleaner, configured to at least one of: send the first signal to the docking station, and navigate towards the docking station while the lift assembly is being moved from the raised position to the lowered position; and receive the second signal from the docking station, and responsively navigate towards the docking station while the lift assembly is being moved from the raised position to the lowered position.

[0061] Beginning to lower the lift assembly while the robot surface cleaner is navigating back to the docking station avoids the robot surface cleaner having to wait the full length of time for the lift assembly to move from the raised position to the lowered position. This can therefore reduce the length of time it takes to store the robot surface cleaner in the docking station or reduce the length of time it takes to service the robot vacuum cleaner, both of which may require the lift assembly to be in the lowered position, at least initially.13 P005519-W001

[0062] The docking station and / or robot surface cleaner may comprise any or all of the features described herein. The first and / or second signals may be sent via a communication protocol, such as WiFi, Zigbee, Bluetooth etc.. The robot vacuum cleaner may already be navigating towards the docking station before sending the first signal or before receiving the second signal. The control system may comprise a controller, such as one or more processors, and a communications unit, such as a receiver and / or a transmitter. The controller may cause the lift assembly to move. The docking station may be configured to: after the lift assembly has begun to move from the raised position and before the lift assembly has reached the lowered position, communicate with the robot surface cleaner, to determine a location of the robot, while the robot surface cleaner is navigating towards the docking station. The communication may be one way or two way. The lowered position may be a fully lowered position, in that the lift assembly cannot move any lower. The raised position may be a fully raised position, in that the lift assembly cannot move any higher.

[0063] In examples, the docking station comprises one or more features of the docking station described in the first aspect.

[0064] According to a fourth aspect there is provided a method, comprising: (i) sending, from a robot surface cleaner to a docking station, a signal; (ii) receiving, by the docking station, the signal and responsively causing a lift assembly of the docking station to move from a raised position to a lowered position; and (iii) navigating, by the robot surface cleaner, towards the docking station while the lift assembly is being moved from the raised position to the lowered position.

[0065] The method may further comprise moving the lift assembly from the lowered position towards the raised position, to store the robot surface cleaner at least partially in a housing of the docking station. The method may further comprise arriving, by the robot surface cleaner, at the docking station after the lift assembly is arranged in the lowered position.

[0066] According to a fifth aspect there is provided a method, comprising: sending, from a docking station to a robot surface cleaner, a signal; causing a lift assembly of the docking station to move from a raised position to a lowered position; and receiving, by the robot surface cleaner, the signal and responsively navigating, by the robot surface cleaner, towards the docking station while the lift assembly is being moved from the raised position to the lowered position.14 P005519-W001

[0067] The method may further comprise moving the lift assembly from the lowered position towards the raised position, to store the robot surface cleaner at least partially in a housing of the docking station. The method may further comprise arriving, by the robot surface cleaner, at the docking station after the lift assembly is arranged in the lowered position.BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure l is a first schematic illustration of a system comprising a docking station and a robot surface cleaner;

[0069] Figure 2 is a second schematic illustration of the system of Figure 1;

[0070] Figure 3 is an exploded view of a housing of the docking station;

[0071] Figure 4 is an enlarged view of a lower portion of the housing of Figure 3;

[0072] Figure 5 is a schematic view illustrating control components of the docking station;

[0073] Figure 6 is a schematic illustration of a door assembly of the docking station;

[0074] Figure 7 is a schematic illustration of a lift assembly of the docking station;

[0075] Figure 8 is a schematic illustration of a transporter of the docking station;

[0076] Figure 9 is a schematic illustration of the robot surface cleaner;

[0077] Figure 10 is a schematic illustration of a first further example of a docking station;

[0078] Figure 11 is a schematic illustration of a second further example of a docking station;

[0079] Figure 12 is a schematic illustration of a third further example of a docking station;

[0080] Figure 13 is a schematic illustration of a fourth further example of a docking station;

[0081] Figure 14 is a first schematic view of a mangle assembly of the robot surface cleaner;

[0082] Figure 15 is a second schematic view of a mangle assembly of the robot surface cleaner;

[0083] Figure 16 is a first schematic view of the mangle assembly in position relative to a dirty water tank of the robot surface cleaner;

[0084] Figure 17 is a second schematic view of the mangle assembly in position relative to a dirty water tank of the robot surface cleaner;

[0085] Figure 18 is a schematic view of an air extraction valve of the robot surface cleaner;

[0086] Figure 19 is a schematic view illustrating a position of the air extraction valve in a dirty water tank of the robot surface cleaner;15 P005519-W001

[0087] 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;

[0088] 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;

[0089] 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;

[0090] 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;

[0091] Figure 24 is a schematic illustration of a debris storage bin of the robot surface cleaner;

[0092] Figure 25 is a first schematic illustration of a fifth further example of a docking station;

[0093] Figure 26 is a second schematic illustration of the fifth further example of a docking station;

[0094] Figure 27 is a third schematic illustration of the fifth further example of a docking station;

[0095] Figure 28 is a first schematic illustration of an alternative door;

[0096] Figure 29 is a second schematic illustration of an alternative door;

[0097] Figure 30 is a first schematic illustration of an alternative connection between the mangle assembly and the dirty water tank;

[0098] Figure 31 is a first schematic illustration of a side view of an alternative door assembly of the docking station;

[0099] Figure 32 is a schematic front planar view of the alternative door assembly of Figure 31;

[0100] Figure 33 is a blown-up schematic side view of the alternative door assembly of Figure 31;

[0101] Figure 34 is a schematic cross-sectional view of the alternative door assembly of Figure 31;

[0102] Figure 35 is a schematic view illustrating a released door of the alternative door assembly of Figure 31;

[0103] Figure 36 is a schematic side view of a door arm of the alternative door assembly of Figure 31;16 P005519-W001

[0104] Figure 37 is a schematic side view of a door of the alternative door assembly of Figure 31;

[0105] Figure 38 is a schematic perspective view illustrating a released door of the alternative door assembly of Figure 31; and

[0106] Figure 39 is a schematic disassembled view of the alternative door assembly of Figure 31.DETAILED DESCRIPTION

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 located17 P005519-W001forwardly of the closed compartment 42, and is defined by a front wall 46 of the closed compartment 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.[OHl] 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.

[0112] 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.

[0113] 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.

[0114] 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 controller18 P005519-W001device, such as a mobile device or a handheld communication device, and / or with a WAN, such 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.

[0115] 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 flushed 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 housing19 P005519-W00116. For example, the robot surface cleaner 14 may enter the housing 16 via the opening. In some 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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 rotatably20 P005519-W001mounted to an output shaft 98 of the drive motor 88, and the second pinion 86 is fixedly mounted 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.

[0120] 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.

[0121] 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 be21 P005519-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.

[0122] 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.

[0123] 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.

[0124] 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 125.22 P005519-W001

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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 the23 P005519-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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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 in24 P005519-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.

[0133] 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.

[0134] 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 pump25 P005519-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.

[0135] 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.

[0136] 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 respective26 P005519-W001first 70 and second 72 door arms to act against the counterweight 74 and bias the door 68 to its closed position.

[0137] 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.

[0138] 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.

[0139] 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 elements27 P005519-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).

[0140] 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.

[0141] 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 third28 P005519-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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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 to29 P005519-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.

[0146] 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.

[0147] 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 water30 P005519-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.

[0148] 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.

[0149] 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. The31 P005519-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.

[0150] 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 20.32 P005519-W001

[0151] 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.

[0152] 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.

[0153] 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 example33 P005519-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.

[0154] 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.

[0155] 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 utilised34 P005519-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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.35 P005519-W001

[0161] 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.

[0162] 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 enclosure36 P005519-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.

[0163] 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.

[0164] 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.

[0165] 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 remains37 P005519-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.

[0166] 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.

[0167] 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.

[0168] 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 a38 P005519-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.

[0169] 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.

[0170] 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 mounted39 P005519-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.

[0171] 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.

[0172] 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 the40 P005519-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.

[0173] 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.

[0174] 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.

[0175] 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 door41 P005519-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.

[0176] 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.

[0177] 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 remote42 P005519-W001device utilising the wireless communications interface 58. This can avoid damage to the door 68 in use.

[0178] 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.

[0179] 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.

[0180] 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.43 P005519-W001

[0181] 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.

[0182] 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.

[0183] 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, a44 P005519-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.

[0184] 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.

[0185] Another embodiment of a door assembly 800 is illustrated schematically in Figures 31 and 32. The present embodiment provides an embodiment for which a spring (in this case, a torsion spring) is used as a biasing mechanism. Figure 31 shows a side view of the door assembly 800, while Figure 32 shows a front view of the door assembly 800. In this embodiment, a torsion spring 802 (as shown in Figure 32 for clarity but it should be45 P005519-W001appreciated the torsion spring 802 would otherwise be enclosed and not visible under normal operations of the door assembly 800) is used as a biasing element configured to bias the door 804 towards the open position.

[0186] The door 804, similar to the embodiment as shown in relation to Figure 6, is shaped and dimensioned to define a closure of the robot receiving compartment 44 when the door 804 is in a closed position, and is such that the robot surface cleaner 14 can be completely housed within the robot receiving compartment 44. Other features of the door 804 and its interaction with the docking station 12 are similar to that for the door 68 as described in relation to Figure 6 and are not described herein for brevity.

[0187] The first 806 and second 808 door arms are located at opposite ends of the door 804, towards an upper edge of the door 804. The first 806 and second 808 door arms each have respective first ends connected to the door 804, and second ends 810, 812 respectively which form extension components for biasing the door towards the open position. The first 806 and second 808 door arms are pivotably connected to a lower housing portion 32 to enable the door to pivot between open and closed positions. In the present embodiment, the first 806 and second 808 door arms are pivotably connected to a door hinge bar 814 which is adapted to be fixedly connected to the lower housing portion 32.

[0188] The torsion spring 802 is connected to first 806 and second 808 door arms for use as the biasing element. In the present context, the first 806 and second 808 door arms having the first 810 and second 812 extension components integrated or being part of the first 806 and second 808 door arms, respectively, may be considered extension components or may together form an extension component. The first 810 and second 812 extension components are adapted to engage with the first 152 and second 154 closure elements of the transporter 28. In this way, the first 152 and second 154 closure elements are adapted, via the first 810 and second 812 extension components, to urge the door 804 towards the closed position when the lift assembly is in the raised position. The torsion spring 802 is directly connected to the extension components 810, 812 in the present embodiment but it should be appreciated that in another embodiment, the torsion spring 802 can be indirectly connected to the extension components. In some examples, one or both of the first 806 and second 808 door arms comprise(s) a resilient portion, configured to flex under the application of a force.

[0189] A quick release mechanism 816 is also shown in relation to Figures 31 and 32 in the present embodiment. The quick release mechanism 816 is adapted to release the door 80446 P005519-W001from the first 806 and second 808 door arms. The door 804 is thereby removably connected to a housing 16 of a docking station 12. In the present embodiment, a push-to-release spring mechanism for latching the door 804 to the first 806 and second 808 door arms is used but it should be appreciated that other door release mechanisms may be applicable. It should also be noted that although the quick release mechanism 816 is shown in conjunction with the torsion spring 802 biasing element in the present embodiment, these two features may be used separately or individually in other embodiments. For example, the quick release mechanism 816 may be used in conjunction with the counterweight biasing element. Further details of the torsion spring 802 biasing element and the quick release mechanism 816 are described in relation to Figures 33 to 39.

[0190] Figure 33 shows a blown-up version of the side view of the door assembly 800, while Figure 34 shows a frontal cross-sectional view of the door assembly 800 along the line A-A 902. Figure 33 is similar to Figure 31 and so it will not be further described for succinctness.

[0191] Referring to the frontal cross-sectional view of Figure 34, the quick release mechanism 816 includes a button 904 operationally connected to a male protrusion portion 906 of the quick release mechanism 816. In the present embodiment, the button 904 includes a first portion 914 and a second portion 924. The first portion 914 and the second portion 924 of the button 904 are adapted to be connected through a door joint 905. The second portion 924 has a protrusion portion (not shown) which, together with the first portion 914 of the button 904, are adapted to hold the button 904 in place with respect to the door 804. In other words, the assembly of the first portion 914 and the second portion 924 through the door joint 905 enables the button 904 to stay in place without detaching from the door joint 905.

[0192] In the present embodiment, there is another door joint 907 provided. The door joints 905, 907 are adapted to slide along the respective door hinge rails 916. Although two door joints 905, 907 are provided in the present embodiment, it should be appreciated that a single joint may be sufficient in other embodiments.

[0193] As shown in Figure 34, part of the button 904 extends into a through-hole of the door joint 905 where an end portion of the second portion 924 of the button 904 is adapted to engage the male protrusion portion 906. The male protrusion portion 906 is attached to the door arm 808.47 P005519-W001

[0194] In an engaged state, the male protrusion portion 906 is normally in a protruded state and fits into a female cavity portion 908 of the door joint 905, as actuated by a spring 910, so that the door 804 is latched or connected to the door arm 808 normally when the button 904 is not depressed. The spring 910 is in contact with a hinge portion 912 of the door arm 808 in the present embodiment, thereby providing a force actuating on the male protrusion portion 906 for fitting into the female cavity portion 908 to lock the door 804 in place with respect to the door arm 808.

[0195] To release the door 804 from the door arm 808, the button 904 is depressed. In this released state, the male protrusion portion 906 is depressed by the action of the button 904 which disengages the male protrusion portion 906 from the female cavity portion 908. This unlocks the door 804 from the door arm 808, thereby allowing the door 804 to be removed from the door arm 808. In the released state, the spring 910 is compressed. The door 804 in the present embodiment can be slid out from the door arm 808 along door hinge rails 916.

[0196] To fit the door 804 to the door arm 808, the door 804 is adapted to slide along the door hinge rails 916. As the door 804 is placed in the right position where the male protrusion 906 is over the female cavity portion 908, the male protrusion 908 is actuated by the spring 910 to engage or fit into the female cavity portion 908. This enables the door 804 to be attached to the door arm 808.

[0197] Although the above is described in relation to only one of the door arms 808, it should be appreciated that similar features apply to the other of the door arms 806. Therefore, in the present embodiment, the quick release mechanism 816 includes two buttons, one for each side of the door 804, which are adapted to be depressed or released simultaneously to release or fix the door 804 to the door arms 806, 808. This is shown in relation to Figure 35.

[0198] Figure 36 shows a side view of the door arm 808 when the door 804 is disengaged or released from the door arms 806, 808. This side view of the door arm 808 illustrates the two door hinge rails 916 which are adapted to engage with the door joints 905, 907 of the door 804.

[0199] Figure 37 shows a side view of the door 804, illustrating a detached or released door.

[0200] Figure 38 shows a perspective view of the door 804 which is released from the door arm 808. The torsion spring 802 is shown for clarity although it should be appreciated that the torsion spring 802 is not normally visible in this view as it will be enclosed under normal operations. In this perspective view, the female cavity portion 908 of the door joint 905 is48 P005519-W001clearly illustrated. The male protrusion portion 906 (not shown), which is attached to the door arm 808, can fit or engage with the female cavity portion 908 for attaching the door 804 to the door arm 808.

[0201] Figure 39 shows a disassembled view of the door assembly 800 in accordance with the present embodiment. Like parts of the door assembly 800 have been described in relation to Figures 31 to 38 above and so these are not repeated for succinctness. In the present embodiment, the door hinge bar 814 includes a flat portion 1000, a first hinge joint portion 1002 and a second hinge joint portion 1004. The first and second hinge joint portions 1002, 1004 are adapted to be fixedly connected to the flat portion 1000 to form the door hinge bar 814 which can be fixedly attached to the lower housing portion 32. Each of the first hinge joint portions 1002, 1004 are adapted to be connected to the door arms 808, 806 respectively, via corresponding revolute joints or hinge joints 1006, 1008. One or more torsion springs 802 can be installed at the hinge joints 1006, 1008 as the bias element for biasing the door 804 towards the open position.

[0202] In the present embodiment, all parts of the door assembly 800 can be formed by hard plastic, but it should be appreciated that other suitable materials may also be used.

[0203] 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 above may also be employed without departing from the scope of the disclosure, which is defined in the accompanying claims.

Claims

49 P005519-W001CLAIMS1. A docking station for storing a robot surface cleaner, the docking station comprising:a housing defining an opening;a door moveable between an open position and a closed position and being biased towards the open position, wherein when the door is in the closed position, the door at least partially closes the opening;a support element that is moveable relative to the housing to move the robot surface cleaner towards a storage position in which the robot surface cleaner is located at least partially in the housing; anda lift assembly moveable between a lowered position and a raised position and configured to raise and lower the support element;wherein the docking station is configured to urge the door towards the closed position when the lift assembly is in the raised position.

2. The docking station of claim 1, comprising:a closure element moveable by the lift assembly, and configured to urge the door towards the closed position when the lift assembly is in the raised position.

3. The docking station of claim 2, comprising an extension component connected to the door, wherein the closure element is configured to transfer movement to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position.

4. The docking station of claim 3, comprising a biasing element configured to bias the door towards the open position, wherein the biasing element comprises a counterweight, wherein the counterweight is connected to the extension component or the extension component forms the counterweight, thereby to bias the door towards the open position.

5. The docking station of claim 3 or 4, comprising a biasing element configured to bias the door towards the open position, wherein the biasing element comprises a spring, the50 P005519-W001spring being connected to the extension component, thereby to bias the door towards the open position.

6. The docking station of any of claims 3 to 5, wherein at least one of the extension component and the closure element comprise a resilient portion configured to flex under the application of a force.

7. The docking station of any of claims 2 to 6, wherein the closure element is pivotably connected to the lift assembly.

8. The docking station of any of claims 2 to 7, wherein the closure element comprises an arm extending away from the lift assembly.

9. The docking station of claim 8, wherein the support element comprises a platform having a side for receiving the robot surface cleaner thereon, wherein the arm extends away from the lift assembly in a direction that is parallel to a surface normal of the side of the platform.

10. The docking station of any of claims 2 to 9, wherein:the support element comprises a platform for receiving the robot surface cleaner thereon, wherein the platform has a front edge and a back edge opposite to the front edge, the robot surface cleaner being moveable between the platform and a surface on which the docking station is arranged via the front edge;when the lift assembly is arranged in the raised position, the back edge is arranged in a higher position relative to the surface than the front edge; andthe closure element is arranged closer to the back edge than the front edge.

11. The docking station of claim 10, wherein the back edge is spaced apart from the front edge by a first distance, and the closure element is spaced apart from the front edge by a second distance, the second distance being greater than the first distance.51 P005519-W00112. The docking station of any of claims 2 to 11, wherein the closure element is a first closure element and the docking station further comprises a second closure element spaced apart from the first closure element, wherein:the first and second closure elements are moveable by the lift assembly and configured to urge the door towards the closed position when the lift assembly is in the raised position.

13. The docking station of any preceding claim, wherein the door is pivotably connected to the housing.

14. The docking station of any preceding claim, wherein the door is removably connected to the housing.

15. The docking station of claim 13 or claim 14, wherein:the door comprises an upper edge and a lower edge, the upper edge being arranged in a higher position, relative to a surface on which the docking station is arranged, than the lower edge; andthe door is pivotably connected to the housing at a point closer to the upper edge than the lower edge.

16. The docking station of any preceding claim, wherein when the lift assembly is in the raised position, the door is restricted from moving to the open position, and the docking station further comprises one or more sensors configured to detect:when the door is restricted from moving to the open position due to the position of the lift assembly; andwhen the door is in the open position;wherein the docking station is configured to cause the lift assembly to stop movement towards the lowered position when the one or more sensors detect neither:the door being restricted from moving to the open position due to the position of the lift assembly; northe door being in the open position.52 P005519-W00117. The docking station of claim 16, comprising a closure element moveable by the lift assembly and configured to urge the door towards the closed position when the lift assembly is in the raised position, wherein at least one sensor of the one or more sensors is configured to contact the closure element when the closure element is restricting movement of the door to the open position.

18. The docking station of claim 16, comprising:a closure element moveable by the lift assembly; andan extension component connected to the door;wherein:the closure element is configured to transfer movement to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position; andat least one sensor of the one or more sensors is connected to the extension component.

19. The docking station of claim 18, further comprising a door stop connected to the housing, the door stop configured to limit movement of the door and contact a sensor of the at least one sensor connected to the extension component when the door is arranged in the open position.

20. The docking station of any of claims 16, comprising:a closure element moveable by the lift assembly; andan extension component connected to the door;wherein:the closure element is configured to transfer movement to the door via the extension component, thereby to urge the door towards the closed position when the lift assembly is in the raised position;the docking station further comprises a door stop connected to the housing, the door stop configured to limit movement of the door; and53 P005519-W001at least one sensor of the one or more sensors is connected to the door stop and configured to contact the extension component when the door is arranged in the open position.

21. A system comprising the docking station of any preceding claim and a robot surface cleaner.

22. A system, comprising:a docking station for storing a robot surface cleaner, the docking station comprising:a housing;a support element that is moveable relative to the housing to move the robot surface cleaner towards a storage position in which the robot surface cleaner is located at least partially in the housing;a lift assembly moveable between a lowered position and a raised position and configured to raise and lower the support element; anda control system, configured to at least one of:receive a first signal from the robot surface cleaner, and responsively cause the lift assembly to move from the raised position to the lowered position; andsend a second signal to the robot surface cleaner to cause the robot surface cleaner to navigate to the docking station, and cause the lift assembly to move from the raised position to the lowered position; and a robot surface cleaner, configured to at least one of:send the first signal to the docking station, and navigate towards the docking station while the lift assembly is being moved from the raised position to the lowered position; andreceive the second signal from the docking station, and responsively navigate towards the docking station while the lift assembly is being moved from the raised position to the lowered position.

23. The system of claim 22, wherein the docking station comprises the features of any of claims 1 to 20.54 P005519-W00124. A method, comprising:sending, from a robot surface cleaner to a docking station, a signal;receiving, by the docking station, the signal and responsively causing a lift assembly of the docking station to move from a raised position to a lowered position; and navigating, by the robot surface cleaner, towards the docking station while the lift assembly is being moved from the raised position to the lowered position.

25. A method, comprising:sending, from a docking station to a robot surface cleaner, a signal;causing a lift assembly of the docking station to move from a raised position to a lowered position; andreceiving, by the robot surface cleaner, the signal and responsively navigating, by the robot surface cleaner, towards the docking station while the lift assembly is being moved from the raised position to the lowered position.

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