CN216569815U

CN216569815U - Docking station for robot cleaner, robot cleaner and system

Info

Publication number: CN216569815U
Application number: CN202122093370.2U
Authority: CN
Inventors: 游弘晟; 约翰·刘易斯; 丹尼尔·哈里斯
Original assignee: Sharkninja Operating LLC
Current assignee: Sharkninja Operating LLC
Priority date: 2020-09-02
Filing date: 2021-09-01
Publication date: 2022-05-24
Anticipated expiration: 2031-09-01
Also published as: WO2022051473A1; US20220061614A1

Abstract

A docking station for a robot cleaner, a robot cleaner and a system. The docking station can include a base including a support and a suction housing; a docking station suction inlet defined in the suction housing, the docking station suction inlet configured to be fluidly coupled to the robotic cleaner; and a docking station suction motor, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event.

Description

Docking station for robot cleaner, robot cleaner and system

Cross Reference to Related Applications

The benefit of U.S. provisional application serial No. 63/073,687 entitled Docking station for robotic cleaner filed on 2/9/2020, which is hereby incorporated by reference in its entirety, is claimed in the present application.

Technical Field

The present invention relates generally to automated cleaning equipment, and more particularly to docking stations for robotic cleaners, and systems.

Background

Automated surface treatment devices are configured to traverse a surface (e.g., a floor) while removing debris from the surface with little human involvement. For example, the robotic cleaner may include a controller, a plurality of driven wheels, a suction motor, a brush roller, and a dirt cup for storing debris. The controller causes the robotic cleaner to travel according to one or more patterns (e.g., random bounce pattern, pointing pattern, along wall/obstacle pattern, etc.). The robot cleaner collects debris in the dirt cup while traveling according to one or more modes. When the dust cup collects debris, the performance of the robot cleaner may be degraded. Therefore, it may be necessary to empty the dirt cup periodically to maintain consistent cleaning performance.

SUMMERY OF THE UTILITY MODEL

The present invention provides a docking station for a robot cleaner, comprising: a base comprising a support and a suction housing; a docking station suction inlet defined in the suction housing, the docking station suction inlet configured to be fluidly coupled to the robotic cleaner; and a docking station suction motor, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event, the triggering event comprising generation of a synchronization signal.

In some embodiments, the docking station suction motor is started within a predetermined time.

In some embodiments, the docking station suction motor is deactivated prior to expiration of a predetermined time in response to determining that a drain pivot door of the robotic cleaner dirt cup is in a closed position.

In some embodiments, the docking station is configured to generate the synchronization signal in response to determining that the robotic cleaner is docked with the docking station.

In some embodiments, the docking station is configured to generate a function signal in response to determining that a drain pivot door of the robotic cleaner dirt cup is in an open position.

The present invention also provides a robot cleaner configured to dock with a docking station, comprising: a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station; a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and an agitator configured to rotate in an agitator forward direction and an agitator reverse direction, wherein at least one of the suction motor or the agitator is caused to operate in the suction motor reverse direction or the agitator reverse direction, respectively, in response to receiving a function signal from the docking station.

In some embodiments, the robotic cleaner suction motor is operated in the suction motor reverse direction in response to docking with the docking station.

In some embodiments, the agitator is rotated in the agitator reverse direction in response to docking with the docking station.

In some embodiments, the agitator is rotated in the agitator reverse direction and the agitator forward direction in response to docking with the docking station.

In some embodiments, the robotic cleaner dirt cup further comprises a rib having a plurality of teeth configured to engage the agitator.

In some embodiments, the robotic cleaner suction motor is operated in the suction motor reverse direction in response to receiving the function signal from the docking station.

In some embodiments, the agitator is rotated in the agitator reverse direction in response to receiving the function signal from the docking station.

The present invention also provides a robot cleaning system comprising: a docking station configured to generate a synchronization signal and a functional signal, the docking station comprising: a base comprising a support and a suction housing; a docking station suction inlet defined in the suction housing; and a docking station suction motor; and a robotic cleaner, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event, the triggering event including generation of the synchronization signal, the robotic cleaner comprising: a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station; a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and an agitator configured to rotate in an agitator forward direction and an agitator reverse direction.

In some embodiments, the docking station is configured to generate the function signal in response to determining that a drain pivot door of the robotic cleaner dirt cup is in an open position.

In order to make the aforementioned and other features and advantages of the utility model more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

These and other features and advantages will be better understood from a reading of the following detailed description taken in conjunction with the drawings in which:

fig. 1 shows a schematic perspective view of a docking station configured to engage a robotic vacuum cleaner, consistent with an embodiment of the present invention.

Fig. 2 shows a perspective view of a docking station and a robotic vacuum cleaner configured to dock with the docking station, consistent with an embodiment of the present invention.

FIG. 2A illustrates a schematic perspective view of a dust cap configured to receive a stiffener, consistent with an embodiment of the present invention.

Fig. 2B shows a perspective view of a portion of an example of a docking station consistent with an embodiment of the present invention.

FIG. 3 illustrates a top view of the docking station of FIG. 2 consistent with an embodiment of the present invention.

Fig. 4 illustrates a bottom view of the robot cleaner of fig. 2, consistent with an embodiment of the present invention.

Figure 4A illustrates a perspective bottom view of a portion of an example of a robotic cleaner dirt cup consistent with an embodiment of the present invention.

Fig. 4B shows a perspective view of a portion of a docking station consistent with an embodiment of the present invention.

Fig. 5 illustrates a top view of an example of an adjustable dust cap that can be used with the docking station of fig. 2, consistent with an embodiment of the present invention.

Fig. 6 illustrates a perspective view of another example of an adjustable dust cap that can be used with the docking station of fig. 2, consistent with an embodiment of the present invention.

Fig. 7 illustrates a front view of the docking station of fig. 2 with the docking station dirt cup in a removed position, consistent with an embodiment of the present invention.

Fig. 8 illustrates a front view of the docking station of fig. 2 with the docking station dirt cup removed in response to a pivoting motion, consistent with an embodiment of the present invention.

Fig. 9 illustrates a cross-sectional view of the docking station of fig. 2 taken along line IX-IX of fig. 2, consistent with an embodiment of the present invention.

Fig. 9A shows an enlarged view of the docking station of fig. 9 corresponding to area 9A consistent with an embodiment of the present invention.

Fig. 9B shows an enlarged view of the docking station of fig. 9 corresponding to area 9B consistent with an embodiment of the present invention.

FIG. 10 shows a cross-sectional view of a docking station consistent with an embodiment of the present invention.

Fig. 10A shows an enlarged view of region 10A corresponding to fig. 10, consistent with an embodiment of the present invention.

Fig. 10B shows an enlarged view corresponding to region 10B of fig. 10, consistent with an embodiment of the present invention.

Fig. 11 illustrates a perspective cross-sectional view of the example of the docking station of fig. 2 having a filter therein, taken along line IX-IX of fig. 2, wherein the filter is a filter media, consistent with an embodiment of the present invention.

Fig. 11A shows another perspective cross-sectional view of another example of the docking station of fig. 2 with a filter therein, taken along line IX-IX, consistent with an embodiment of the present invention, wherein the filter is a cyclonic separator.

FIG. 12 illustrates a bottom view of the docking station of FIG. 2 consistent with an embodiment of the present invention.

Fig. 13 shows a perspective cut-away view of a docking station consistent with an embodiment of the present invention.

FIG. 14 shows another cross-sectional view of the docking station of FIG. 13, consistent with an embodiment of the present invention.

FIG. 15 shows a perspective view of a docking station consistent with an embodiment of the present invention.

FIG. 16 illustrates another perspective view of the docking station of FIG. 15 consistent with an embodiment of the present invention.

Figure 17 shows a perspective view of a docking station with a dust cup configured to pivot between a use position and a removal position, consistent with an embodiment of the present invention.

Figure 18 shows a perspective view of the docking station of figure 17 with the dirt cup in a removed position, consistent with an embodiment of the present invention.

Figure 19 shows a perspective view of the docking station of figure 17 with the dirt cup removed, consistent with an embodiment of the present invention.

Figure 20 shows a cross-sectional view of the docking station with the dirt cup in the use position, consistent with an embodiment of the present invention.

Figure 21 shows a cross-sectional view of the docking station of figure 20 with the dust cup removed from its base in response to a pivoting movement, consistent with an embodiment of the present invention.

Fig. 22 shows a cross-sectional view of a pivot buckle of the docking station of fig. 20, consistent with an embodiment of the present invention.

Fig. 23 shows a perspective view of an example of the pintle hook of fig. 22, consistent with an embodiment of the present invention.

FIG. 24 illustrates a cross-sectional view of a portion of a docking station consistent with an embodiment of the present invention.

Fig. 25 illustrates another cross-sectional view of a portion of the docking station of fig. 24 consistent with an embodiment of the present invention.

Fig. 26 illustrates another cross-sectional view of a portion of the docking station of fig. 24 consistent with an embodiment of the present invention.

Figure 27 shows a perspective view of a docking station dirt cup consistent with an embodiment of the present invention.

Figure 28 shows a perspective view of a docking station dirt cup defining an interior volume within which a filter extends, in accordance with an embodiment of the present invention.

Fig. 29 illustrates an example of the filter of fig. 28 consistent with an embodiment of the present invention.

Figure 30 shows a schematic view of an example of a docking station dirt cup having a filter extending therein, in which the filter is cleaned by actuating the agitator, consistent with an embodiment of the present invention.

Figure 31 illustrates another schematic view of the docking station dirt cup of figure 30, consistent with an embodiment of the present invention.

Figure 32 shows a schematic view of an example of a docking station dirt cup having a filter extending therein, in which the filter is cleaned by actuating the agitator, consistent with an embodiment of the present invention.

Figure 33 shows another schematic view of the docking station dirt cup of figure 32, consistent with an embodiment of the present invention.

Figure 34 shows a schematic view of an example of a docking station dirt cup having a filter extending therein, in which the filter is cleaned by actuating the agitator, consistent with an embodiment of the present invention.

Figure 35 shows another schematic view of the docking station dirt cup of figure 34 in accordance with an embodiment of the present invention.

Figure 36 shows a schematic view of an example of a docking station dirt cup having a filter extending therein, in which the filter is cleaned by actuating the agitator, consistent with an embodiment of the present invention.

Figure 37 shows another schematic view of the docking station dirt cup of figure 36 in accordance with an embodiment of the present invention.

Fig. 38 shows a perspective view of a docking station consistent with an embodiment of the present invention.

Fig. 39 shows a cutaway perspective view of the docking station of fig. 38 taken along line XXXIX-XXXIX, consistent with an embodiment of the present invention.

Fig. 40 shows another cross-sectional view of the docking station of fig. 38 taken along line XXXIX-XXXIX, consistent with an embodiment of the present invention.

Fig. 41 shows a perspective view of the agitator of the docking station of fig. 38, consistent with an embodiment of the present invention.

FIG. 42 shows an enlarged cross-sectional perspective view of a portion of the blender of FIG. 41 consistent with an embodiment of the present invention.

Fig. 43 shows a perspective view of a docking station and a robotic vacuum cleaner consistent with an embodiment of the present invention.

Fig. 44 shows a perspective view of the docking station and robotic vacuum cleaner of fig. 43, consistent with an embodiment of the present invention, wherein the robotic vacuum cleaner is docked with the docking station.

FIG. 45 shows a schematic view of a docking station with an adjustable dust cover consistent with an embodiment of the present invention.

Fig. 46 shows a schematic view of another docking station with an adjustable dust cover, consistent with an embodiment of the present invention.

FIG. 47 illustrates a perspective view of a docking station consistent with an embodiment of the present invention.

FIG. 48 illustrates another perspective view of the docking station of FIG. 47, consistent with an embodiment of the present invention.

Fig. 49 illustrates a perspective view of a docking station configured to receive a removable bag, consistent with an embodiment of the present invention.

FIG. 50 illustrates another perspective view of the docking station of FIG. 49, consistent with an embodiment of the present invention.

FIG. 51 illustrates another perspective view of the docking station of FIG. 49, consistent with an embodiment of the present invention.

FIG. 52 illustrates a perspective view of a docking station consistent with an embodiment of the present invention.

Figure 53 illustrates another perspective view of the docking station of figure 52 with the dirt cup removed therefrom, consistent with an embodiment of the present invention.

Fig. 54 shows a perspective view of a robotic vacuum cleaner consistent with an embodiment of the present invention.

Fig. 55 shows a cutaway perspective view of the robotic vacuum cleaner of fig. 54 taken along line LV-LV, consistent with an embodiment of the present invention.

Fig. 56 shows a cutaway perspective view of the robotic vacuum cleaner of fig. 54 taken along line LVI-LVI, consistent with an embodiment of the present invention.

Fig. 57 shows a cross-sectional view of a robotic vacuum cleaner consistent with an embodiment of the present invention.

Fig. 58 illustrates another cross-sectional view of the robotic vacuum cleaner of fig. 57, consistent with an embodiment of the present invention.

Figure 59 shows a schematic perspective view of a robotic vacuum cleaner dust cup consistent with an embodiment of the present invention.

Fig. 60 shows another schematic perspective view of the robotic vacuum cleaner dirt cup of fig. 59, in accordance with an embodiment of the present invention.

Figure 61 illustrates a perspective view of a portion of a robotic vacuum cleaner dust cup and docking station consistent with an embodiment of the present invention.

Fig. 62 shows a perspective view of a robotic vacuum cleaner dust cup engaging a portion of the docking station of fig. 61, consistent with an embodiment of the present invention.

Fig. 63 shows a schematic example of a latch that can be used to engage a drain pivot door of the robotic vacuum cleaner dirt cup of fig. 62, consistent with an embodiment of the present invention.

Fig. 64 shows a flow chart of an exemplary method of operation for a docking station and a robotic cleaner consistent with an embodiment of the present invention.

Fig. 65 shows a flow diagram of another exemplary method of operation for a docking station and a robotic cleaner, consistent with an embodiment of the present invention.

Detailed Description

The present invention generally relates to docking stations configured to remove debris from a dirt cup of a robotic cleaner. The docking station includes a base having a suction motor, a docking station dirt cup and a fluid inlet. When the suction motor is activated, fluid is caused to flow along a flow path extending from the fluid inlet through the docking station dirt cup into the suction motor so that it can be discharged from the docking station. The docking station and the robot cleaner may be configured to cooperate to empty the dust cup of the robot cleaner.

In some cases, the docking station dirt cup may be configured to pivot relative to the base such that the docking station dirt cup may be transitioned between the use position and the removal position in response to the pivoting motion. When in the use position, the docking station dirt cup is in fluid communication with the suction motor and the fluid inlet, and when in the removal position, the docking station dirt cup is configured to be removed from the base (e.g., in response to further pivotal movement) such that the docking station dirt cup may be emptied.

Additionally or alternatively, the docking station dirt cup may be configured to include a filter (e.g., filter media and/or cyclonic separator) that extends within the interior volume of the dirt cup such that the first debris collection chamber and the second debris collection chamber are defined therein. The first debris collecting chamber may be configured to collect debris having a relatively larger particle size when compared to debris collected in the second debris collecting chamber. Thus, the first debris collection chamber may be generally described as being configured to receive large debris, while the second debris collection chamber may be generally described as being configured to receive small debris.

Additionally or alternatively, the docking station may be configured to urge the robotic cleaner toward the aligned orientation such that the robotic cleaner may be fluidly coupled to the docking station. For example, the docking station may include an alignment protrusion configured to engage at least a portion of the robotic cleaner. The alignment protrusion urges the robotic cleaner toward the aligned orientation due to the interengagement between the alignment protrusion and the robotic cleaner.

As generally referred to herein, the term elastically deformable may refer to the ability of a mechanical component to repeatedly transition between an undeformed state and a deformed state (e.g., transition between the undeformed state and the deformed state at least 100 times, 1000 times, 100,000 times, 1,000,000 times, 10,000,000 times, or any other suitable number of times) without the component experiencing a mechanical failure (e.g., the component is no longer able to perform as intended).

Fig. 1 shows a schematic view of a docking station 100. The docking station 100 includes a base 102 and a docking station dirt cup 104 configured to pivot with respect to the base 102. The base 102 includes a suction motor 106 (shown in phantom) fluidly coupled to an inlet 108 and the docking station dirt cup 104. When the suction motor 106 is activated, fluid is caused to flow through the docking station dirt cup 104 into the inlet 108 and exit the base 102 after passing through the suction motor 106.

The inlet 108 is configured to be fluidly coupled to the robotic cleaner 101 (e.g., a robotic vacuum cleaner, a robotic mop, and/or other robotic cleaner). For example, the inlet 108 may be configured to fluidly couple to a port disposed in a dirt cup of the robotic cleaner 101 such that debris stored in the dirt cup of the robotic cleaner 101 may be transferred into the docking station dirt cup 104. When the suction motor 106 is activated, the suction motor 106 causes debris stored in the dirt cup of the robotic cleaner 101 to be pushed into the docking station dirt cup 104. Debris can then be collected in the docking station dirt cup 104 for later disposal. The docking station dust cup 104 may be configured such that the docking station dust cup 104 may receive debris from the dust cup of the robot cleaner 101 a plurality of times (e.g., at least twice) before the docking station dust cup 104 becomes full (e.g., performance of the docking station 100 is significantly reduced). In other words, the docking station dust cup 104 may be configured such that the dust cup of the robotic cleaner 101 may be emptied several times before the docking station dust cup 104 becomes full.

In some cases, suction motor 106 is activated before robotic cleaner 101 engages docking station 100. In these cases, suction generated by suction motor 106 at inlet 108 may urge robotic cleaner 101 into engagement with docking station 100. Thus, the suction motor 106 may help facilitate alignment of the robotic cleaner 101 with the inlet 108.

The docking station dust cup 104 is configured to pivot between a use position and a removal position. The suction motor 106 is fluidly coupled to the docking station dirt cup 104 and the inlet 108 when the docking station dirt cup 104 is in the use position. When the docking station dust cup 104 is in the removed position, the docking station dust cup 104 is configured to be removed from the base 102. For example, the suction motor 106 may be fluidly decoupled from the docking station dust cup 104 when the docking station dust cup 104 is in the removed position.

In some cases, the robotic cleaner 101 may be configured to perform one or more wet cleaning operations (e.g., using a mop pad and/or a fluid dispensing pump). Additionally or alternatively, the robotic cleaner 101 may be configured to perform one or more vacuum cleaning operations.

Fig. 2 shows examples of a docking station 200 and a robotic vacuum cleaner 202, which may be examples of docking station 100 and robotic cleaner 101, respectively, of fig. 1. As shown, the docking station 200 includes a docking station dirt cup 204 and a base 206, the docking station dirt cup 204 being removably coupled to the base 206. The docking station 200 may be configured to be fluidly coupled to the robotic vacuum cleaner dirt cup 208 such that at least a portion of any debris stored in the robotic vacuum cleaner dirt cup 208 may be pushed into the docking station dirt cup 204.

The base 206 may define a support 210 and a suction housing 212 extending from the support 210. The support 210 is configured to improve the stability of the docking station 100 on a surface to be cleaned (e.g., a floor). The support 210 may further comprise charging contacts 214 configured to be electrically coupled to the robotic vacuum cleaner 202 such that one or more batteries powering the robotic vacuum cleaner 202 may be recharged. The suction housing 212 may define a docking station suction inlet 216. The docking station suction inlet 216 is configured to be fluidly coupled to at least a portion of the robotic vacuum cleaner 202 such that at least a portion of any debris stored within the robotic vacuum cleaner dust cup 208 can be pushed through the docking station suction inlet 216 and into the docking station dust cup 204. For example, and as shown, the robotic vacuum cleaner dirt cup 208 can include an outlet port 218 configured to be fluidly coupled to the docking station suction inlet 216.

The robotic vacuum cleaner 202 may enter a docked mode when the robotic vacuum cleaner 202 attempts to recharge one or more batteries and/or empty the robotic vacuum cleaner dust cup 208. When in the docking mode, the robotic vacuum cleaner 202 approaches the docking station 200 in a manner that allows the robotic vacuum cleaner 202 to electrically couple to the charging contacts 214 and to fluidly couple the outlet port 218 to the docking station suction inlet 216. In other words, when in the docking mode, the robotic vacuum cleaner 202 may generally be described as moving relative to the docking station 200 to align itself such that the robotic vacuum cleaner 202 may become docked with the docking station 200. For example, when in the docking mode, the robotic vacuum cleaner 202 may approach the docking station 200 in a forward direction of travel until a predetermined distance from the docking station 200 is reached, stop at the predetermined distance and rotate approximately 180 °, and continue to advance in a rearward direction of travel until the robotic vacuum cleaner 202 is docked with the docking station 200.

When proximate to the docking station 200, the robotic vacuum cleaner 202 may be configured to detect the proximity of the docking station 200 using one or more proximity sensors. For example, the docking station 200 may be configured to generate a magnetic field (e.g., using one or more magnets 211 embedded in the support 210, schematically shown in hidden lines), and the robotic vacuum cleaner 202 may include, for example, a hall effect sensor 213 (schematically shown in hidden lines) to detect the magnetic field. After detecting the magnetic field, the robotic vacuum cleaner 202 may be rotated to reverse into the docking station 200 (or reversed a predetermined distance from the docking station 200 before rotating so that the robotic vacuum cleaner 202 may reverse into the docking station 200). Additionally or alternatively, for example, the docking station 200 may include a Radio Frequency Identification (RFID) tag and the robotic vacuum cleaner 202 may include an RFID tag reader to determine proximity to the docking station 200. Additionally or alternatively, the robotic vacuum cleaner 202 may be configured to be wirelessly charged by the docking station 200, and the proximity to the docking station 200 may be determined based on detection of the wireless charging.

For example, when the outlet port central axis 220 of the outlet port 218 is collinear with the suction inlet central axis 222 of the docking station suction inlet 216, the robotic vacuum cleaner 202 may generally be described as being aligned with the docking station 200. In some cases, the docking station 200 may be configured such that the robotic vacuum cleaner 202 may dock with the docking station 200 while misaligned. When the outlet port central axis 220 and the suction inlet central axis 222 are not collinear, the misalignment may be measured as an angle extending between the outlet port central axis 220 and the suction inlet central axis 222. Acceptable misalignment may be measured in the range of, for example, 0 ° to 10 °. By way of further example, acceptable misalignment may be measured in the range of 1 ° to 3 °.

As shown, the docking station 200 may include a dust cover 224 that extends around the docking station suction inlet 216. The dust cover 224 may be configured to engage the robotic vacuum cleaner dirt cup 208 such that the dust cover 224 extends around the outlet port 218. The dust cap 224 may be elastically deformable such that the dust cap 224 substantially conforms to the shape of the robotic vacuum cleaner dirt cup 208. Accordingly, the dust cap 224 may be configured to sealingly engage the robotic vacuum cleaner dust cup 208. For example, the dust cap 224 may be made of natural or synthetic rubber, foam, and/or any other resiliently deformable material.

In some cases, the resiliently deformable dust cover 224 may allow the robotic vacuum cleaner 202 to be fluidly coupled to the docking station suction inlet 216 when the robotic vacuum cleaner 202 is misaligned with the docking station 200 within an acceptable misalignment range. In other words, the dust cover 224 is configured to move in response to the robotic vacuum cleaner 202 engaging the docking station 200 (e.g., the base 206) in a misaligned orientation.

As also shown, the dust cap 224 may define one or more ribs 226. The ribs 226 are configured to expand and/or compress in response to the robotic vacuum cleaner 202 engaging the dust cover 224. For example, when the robotic vacuum cleaner 202 engages the dust cover 224 in a misaligned orientation, a portion of the rib 226 may expand while another portion of the rib 226 may compress. The expansion and compression of the ribs 226 may allow the dust cover 224 to sealingly engage the robotic vacuum cleaner dust cup 208 when the robotic vacuum cleaner 202 is docked with the docking station 200 in a misaligned orientation.

Fig. 2A shows a schematic illustration (shown schematically for clarity) of a stiffener 227 configured to be received within a dust cap 224. As shown, the stiffener 227 is a continuous body having a shape generally corresponding to the shape of the cross-section of the dust cap 224. For example, the stiffener 227 may be configured to extend along an inner surface of the dust cap 224 that corresponds to a respective one of the ribs 226. By extending along one of the ribs 226, the stiffener 227 may increase the stiffness of the dust cap 224 along the corresponding rib 226. For example, the stiffener 227 may extend from the suction housing 212 along the distal-most rib 226. This may improve the fluid coupling between the robotic vacuum cleaner dust cup 208 and the dust cap 224. The stiffener 227 may be one or more of metal, plastic, ceramic, and/or any other material. The stiffener 227 may be coupled to the dust cap 224 using, for example, a press fit, an adhesive, overmolding, and/or any other form of coupling. In some cases, the rigidity of the dust cap 224 may be increased by a stiffener that extends along the outer and/or inner surface of the dust cap 224 in a direction transverse to the one or more ribs 226. In these instances, at least a portion of the stiffener may be configured to collapse such that the dust cover 224 may deform in response to engaging the robotic vacuum cleaner 202.

In some cases, when the robotic vacuum cleaner 202 engages the docking station 200 in a misaligned orientation, the robotic vacuum cleaner 202 may be configured to pivot into position according to an oscillation pattern. By pivoting into place, the robotic vacuum cleaner 202 may align the outlet port 218 with the dust cover 224 such that the outlet port 218 is fluidly coupled to the docking station suction inlet 216.

In some cases, and as shown, for example in fig. 2B, the support 210 can define one or more stops 228. The one or more stops 228 may be configured to engage a portion of the robotic vacuum cleaner 202 when the robotic vacuum cleaner 202 is being docked with the docking station 200. Thus, the one or more stops 228 may generally be described as being configured to prevent further movement of the robotic vacuum cleaner 202 toward the docking station 200 when the robotic vacuum cleaner 202 is being docked with the docking station 200. In some cases, one or more stops 228 may define a guide surface 230 having a tapered shape. For example, a plurality of stops 228 may be provided, each having a tapered guide surface 230, such that engagement of the robotic vacuum cleaner 202 with the guide surface 230 urges the robotic vacuum cleaner 202 towards an aligned orientation. In these cases, the stop 228 may be generally referred to as a guide.

Fig. 3 shows a top view of the docking station 200 and fig. 4 shows a bottom view of the robotic vacuum cleaner 202. As shown, the support 210 may define a docking station alignment feature 300 configured to engage a corresponding robotic vacuum cleaner alignment feature 400. The docking station alignment feature 300 may include an alignment protrusion 302, and the robotic vacuum cleaner alignment feature 400 defines an alignment receptacle 402 configured to receive the alignment protrusion 302. For example, and as shown, the alignment receptacle 402 is defined in the robotic vacuum cleaner dirt cup 208.

The alignment protrusion 302 may include a first protrusion sidewall 304 and a second protrusion sidewall 306. The first and second raised

sidewalls

304, 306 may be configured to converge as the distance from the docking station suction inlet 216 toward the suction inlet central axis 222 increases. In other words, the alignment protrusion 302 may generally be described as having a tapered profile that tapers in a direction away from the docking station suction inlet 216. For example, and as shown, the first and second projecting

sidewalls

304, 306 can include arcuate portions having opposing concave surfaces proximate the suction inlet central axis 222.

The alignment receptacle 402 may include a first receptacle sidewall 404 and a second receptacle sidewall 406. The first and

second socket sidewalls

404, 406 may be configured to diverge in a direction away from the outlet port central axis 220 as the distance from the central portion of the robotic vacuum cleaner 202 increases. In other words, the first receptacle sidewall 404 and the second receptacle sidewall 406 may generally be described as being offset from the outlet port central axis 220 when the first sidewall 404 and the second sidewall 406 are proximate to the outlet port 218. Accordingly, the alignment receptacle 402 may generally be described as having a tapered profile that tapers in a direction away from the outlet port 218 and toward a central portion of the robotic vacuum cleaner 202. For example, and as shown, the first and second receptacle sidewalls 404, 406 may include arcuate portions that extend away from the outlet port central axis 220.

In operation, the first receptacle sidewall 404 and the second receptacle sidewall 406 may engage the first protrusion sidewall 304 and the second protrusion sidewall 306 when the alignment receptacle 402 receives at least a portion of the alignment protrusion 302. For example, if the robotic vacuum cleaner 202 is misaligned with the docking station 200, the engagement between the first and second receptacle sidewalls 404, 406 and the first and second protrusion sidewalls 304, 306 may urge the robotic vacuum cleaner 202 toward alignment (e.g., toward an orientation having a misalignment within an acceptable range of misalignments). In other words, the alignment protrusion 302 is configured to urge the robotic vacuum cleaner 202 towards a direction in which the robotic vacuum cleaner 202 is fluidly coupled with the docking station suction inlet 216. Thus, the mutual engagement between the alignment receptacle 402 and the alignment protrusion 302 urges the robotic vacuum cleaner 202 towards the direction in which the robotic vacuum cleaner 202 is fluidly coupled to the docking station 200.

As shown, the first and second raised

sidewalls

304, 306 may define first and second recessed

regions

308, 310 within a portion of the support 210. The first recessed area 308 and the second recessed area 310 may be configured to receive at least a portion of the robotic vacuum cleaner dirt cup 208. When received in the first and second recessed

areas

308, 310, a dust cup bottom surface 408 of the robotic vacuum cleaner dust cup 208 may be vertically spaced apart from a support top surface 312 of the support 210. Thus, the dirt cup bottom surface 408 does not slidably engage the support top surface 312. Such a configuration may allow for improved maneuverability of the robotic vacuum cleaner 202 when docked with the docking station 200.

In some cases, and as shown, for example in fig. 4A, the robotic vacuum cleaner dirt cup 208 can include one or more socket fins 410 that extend over at least a portion of the alignment socket 402 and/or at least partially within the alignment socket 402. One or more socket fins 410 may be configured to engage a portion of the alignment protrusion 302 such that the robotic vacuum cleaner 202 is prevented from further movement when docked. Thus, the interengagement between the one or more socket fins 410 and the alignment protrusion 302 may generally be described as positioning the robotic vacuum cleaner 202 at a predetermined docking distance from the docking station 200. Additionally or alternatively, in some cases, and as shown, for example in fig. 4B, the alignment protrusion 302 may include a protrusion fin 412 extending therefrom that is configured to engage at least a portion of the alignment receptacle 402. The interengagement between the protruding fins 412 and the alignment receptacle 402 may generally be described as positioning the robotic vacuum cleaner 202 at a predetermined docking distance from the docking station 200.

Figure 5 illustrates a top view of the dust cap 500. The dust cover 500 may be used in the docking station 200 (e.g., in addition to or instead of the dust cover 224). As shown, the dust cover 500 can include a contoured surface 502 that generally corresponds in shape to a portion of, for example, the robotic vacuum cleaner 202 with which the dust cover 500 is configured to engage (e.g., contact). For example, and as shown, the contoured surface 502 may have an arcuate shape. The seal 504 may be configured to extend along the contoured surface 502 such that the seal 504 is configured to engage (e.g., contact) at least a portion of the robotic vacuum cleaner 202.

As shown, the dust cap 500 may be configured to pivot about a pivot point 506. The pivot point 506 may be centered between the distal ends 508 and 510 of the dust cover 500. Thus, when the robotic vacuum cleaner 202 engages the adjustable dust cover 500 in a misaligned orientation, the dust cover 500 is pivoted about the pivot point 506 in a direction that causes the dust cover 500 to engage the robotic vacuum cleaner 202.

As also shown, the dust cap 500 may include an exhaust tube 512 extending from the dust cap 500 and within the docking station 200. An exhaust conduit 514 extending within the docking station 200 fluidly couples the exhaust tube 512 to the docking station dirt cup 204. The discharge conduit 514 defines the docking station suction inlet 216. Exhaust tube 512 may be configured to slidably engage exhaust conduit 514. Thus, as the dust cap 500 pivots, the exhaust tube 512 slides relative to (e.g., within) the exhaust conduit 514.

The dust cap 500 may be biased toward the neutral position by one or more biasing mechanisms 516 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism). The neutral position may correspond to a position of the dust cap 500 in which the pivot angle of the dust cap 500 is measured substantially the same as measured from each of the distal ends 508 and 510. The biasing mechanism 516 may also be configured to limit the pivotal rotation of the dust cap 500. For example, the biasing mechanism 516 may limit the pivotal movement of the dust cap 500 to about 10 ° in at least one rotational direction.

Fig. 6 shows a perspective view of a dust cap 600. The dust cover 600 may be used in the docking station 200 (e.g., in addition to or instead of the dust cover 224). As shown, the dust cap 600 includes a seal 602 extending around a peripheral edge 604 of a shroud 606 and an elastically deformable sleeve 608 extending from the shroud 606. The seal 602 is configured to engage (e.g., contact) the robotic vacuum cleaner 202. The resiliently deformable sleeve 608 is configured to fluidly couple the shroud 606 to a drain conduit 610 of the docking station 200, the drain conduit 610 defining the docking station suction inlet 216.

As shown, the elastically deformable sleeve 608 defines a plurality of ribs 612. The ribs 612 are configured to compress and/or expand in response to the robotic cleaner engaging the seal 602. Accordingly, the shroud 606 may be configured to move such that the robotic vacuum cleaner 202 may be fluidly coupled to the docking station suction inlet 216. For example, when the robotic vacuum cleaner 202 engages the dust cover 600 in a misaligned orientation, a portion of the rib 612 may compress and a portion of the rib 612 may expand such that the shroud 606 moves, thereby allowing the seal 602 to engage at least a portion of the robotic vacuum cleaner 202.

Figures 7 and 8 show the docking station 200 with the docking station dirt cup 204 removed from the base 206 so that, for example, debris collected in the docking station dirt cup 204 may be emptied therefrom. As shown, when the docking station dirt cup 204 is removed from the base 206, the docking station dirt cup 204 is configured to pivot relative to the base 206. In other words, the docking station dirt cup 204 is configured to be removed from the base 206 in response to pivotal movement of the docking station dirt cup 204 relative to the base 206.

The docking station dirt cup 204 includes a latch 702 that is configured to releasably engage a portion of the base 206 such that the latch 702 substantially prevents pivotal movement of the docking station dirt cup 204. As shown, the latch 702 is horizontally spaced from the dirt cup pivot point 704 of the docking station dirt cup 204. For example, the latch 702 and dirt cup pivot point 704 may be disposed on opposite sides of the docking station suction inlet 216.

At least a portion of the docking station dust cup 204 may be urged in a direction away from the base 206 in response to the latch 702 being actuated. For example, the base 206 may include a plunger 706 configured to be pushed into engagement with the docking station dirt cup 204. When the latch 702 is actuated to disengage the latch 702 from the base 206, the plunger 706 urges the docking station dirt cup 204 to pivot about the dirt cup pivot point 704 in a direction away from the base 206. Thus, when the latch 702 is disengaged from the base 206, the plunger 706 transitions the docking station dirt cup 204 from the use position (e.g., as shown in FIG. 2) to the removal position (e.g., as shown in FIG. 7). When in the removed position, the docking station dirt cup 204 may be removed from the base 206 (e.g., as shown in fig. 8).

As shown in fig. 8, when the docking station dirt cup 204 is removed from the base 206, the pre-motor filter 802 is exposed. Thus, the pre-motor filter 802 may be replaced and/or cleaned when the docking station dirt cup 204 is removed from the base 206. In some cases, the base 206 may include a sensor configured to detect the presence of the pre-motor filter 802 and prevent the use of the docking station without the pre-motor filter 802. Additionally or alternatively, when the pre-motor filter 802 is received within the base 206, the pre-motor filter 802 may actuate a coupling feature that allows the docking station dust cup 204 to be re-coupled to the base 206. Thus, in some cases, the docking station 200 may generally be described as being configured to prevent use without the pre-motor filter 802 installed.

Fig. 9 illustrates a cross-sectional view of the docking station 200 taken along line IX-IX of fig. 2, where fig. 9A and 9B are enlarged views corresponding to

areas

9A and 9B, respectively, of fig. 9. As shown, the docking station dirt cup 204 includes a release system 900 configured to actuate the latch 702. The release system 900 includes an actuator 902 (e.g., a depressible button) configured to push a push rod 904 between a first push rod position and a second push rod position. When the push rod 904 is pushed between the first push rod position and the second push rod position, the latch 702 is pushed between the engaged (or hold) position and the disengaged (or release) position. When the latch 702 is in the retaining position, pivotal movement of the docking station dust cup 204 is substantially prevented, and when the latch 702 is in the releasing position, pivotal movement of the docking station dust cup 204 is enabled.

As shown, the latch 702 is pivotably coupled to the docking station dust cup 204 at a latch pivot point 906 such that a latch holding end 908 and an actuating end 910 of the latch 702 are disposed on opposite sides of the latch pivot point 906. The latch holding end 908 of the latch 702 is configured to releasably engage the base 206 of the docking station 200. For example, and as shown, at least a portion of the latch retaining end 908 can be received within a retaining cavity 909 defined in the base 206. In some cases, a latch biasing mechanism 911 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may urge the latch holding end 908 toward the holding cavity 909. As shown, the latch biasing mechanism 911 engages the latch 702 near the actuation end 910 such that the latch biasing mechanism 911 exerts a force on the latch 702 that causes the latch holding end 908 to be pushed toward the holding cavity 909. Thus, the latch 702 may generally be described as being configured to be urged toward the holding position.

The actuating end 910 is configured to engage the push rod 904 such that the latch 702 is pivoted about the latch pivot point 906 as the push rod 904 transitions between the first push rod position and the second push rod position. The pivoting motion of the latch 702 moves the latch holding end 908 into and out of engagement with the base 206. The actuation end 910 of the latch 702 may include an actuation taper 912. The actuation taper 912 may be configured to cause the latch 702 to pivot in response to movement of the push rod 904. In some cases, the push rod 904 can include a corresponding push rod taper 914 configured to engage the actuation taper 912 of the latch 702.

The latch retaining end 908 of the latch 702 may include a coupling taper 916. The coupling taper 916 may be configured to engage the base 206 of the docking station 200 when the docking station dirt cup 204 is re-coupled to the base 206. In other words, the coupling taper 916 may be configured to cause the latch 702 to pivot when the docking station dirt cup 204 is re-coupled to the base 206 such that at least a portion of the latch retaining end 908 may be received within the retaining cavity 909.

When the latch holding end 908 of the push latch 702 is disengaged from the holding cavity 909, the plunger 706 can push the docking station dirt cup 204 in a direction away from the base 206. As shown, the plunger 706 is slidably disposed within a plunger cavity 918 defined in the base 206. A plunger biasing mechanism 920 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may be disposed within the plunger cavity 918 and configured to urge the plunger 706 in the direction of the docking station dirt cup 204. For example, and as shown, the plunger biasing mechanism 920 may be a compression spring that extends around at least a portion of the plunger 706 at a location between a flange 922 of the plunger 706 and a distal end 924 of the plunger cavity 918. The flange 922 may also be configured to engage a portion of the base 206 to retain at least a portion of the plunger 706 within the plunger cavity 918.

A portion of the plunger 706 may extend from the plunger cavity 918 and engage the docking station dirt cup 204 when the docking station dirt cup 204 is coupled to the base 206. For example, the plunger 706 may engage a portion of the openable door 926 of the docking station dirt cup 204. The openable door 926 may define a plunger receptacle 928 for receiving at least a portion of the plunger 706 extending from the plunger cavity 918 when the docking station dirt cup 204 is coupled to the base 206.

The docking station dirt cup 204 may include a pivot catch 930 configured to engage a corresponding pivot lever 932 of the base 206. The pivot catch 930 defines the position of the dirt cup pivot point 704 of the docking station dirt cup 204 relative to the base 206. Thus, the pivot catch 930 and latch 702 may generally be described as being located near opposite sides of the base 206.

As shown, the pivot clasp 930 defines a snap-fit cavity 934 that extends at least partially through the sidewall of the docking station dirt cup 204. The snap cavity 934 is configured to engage at least a portion of the pivot lever 932. For example, and as shown, the pivot lever 932 includes a lever retention end 936, wherein at least a portion of the lever retention end 936 extends into the snap cavity 934. When the latch 702 is in the retaining position, the engagement between the lever retaining end 936 of the pivot lever 932 and the snap-fit cavity 934 of the pivot clasp 930 causes the docking station dust cup 204 to be coupled to the base 206. In other words, the latch 702 and the pivot catch 930 may generally be described as cooperating to couple the docking station dirt cup 204 to the base 206.

When the latch 702 is pushed to the release position, at least a portion of the lever retaining end 936 of the pivot lever 932 may remain engaged with the snap cavity 934. After the plunger 706 pushes the docking station dirt cup 204 to the removed position, the engagement between the lever retaining end 936 and the snap cavity 934 causes further pivoting of the docking station dirt cup 204. In other words, when the docking station dirt cup 204 is removed from the base 206, the engagement between at least a portion of the lever retaining end 936 and the snap cavity 934 may cause further pivotal movement of the docking station dirt cup 204 about the dirt cup pivot point 704, which in turn removes the docking station dirt cup 204 from the base 206.

The lever retaining end 936 of the pivot lever 932 may define a recoupling taper 938. The recoupling cone 938 is configured to engage a portion of the docking station dirt cup 204 when the docking station dirt cup 204 is recoupled to the base 206. The engagement between the docking station dirt cup 204 and the recoupling cone 938 pushes the pivot lever 932 in a direction away from the snap cavity 934. When the snap cavity 934 is aligned with at least a portion of the lever retaining end 936, at least a portion of the lever retaining end 936 is pushed into the snap cavity 934. The lever biasing mechanism 940 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may be configured to urge the lever retaining end 936 in the direction of the snap cavity 934 such that at least a portion of the lever retaining end 936 is received within the snap cavity 934. For example, the pivot lever 932 may be pivotally coupled to the base 206 such that the biasing mechanism 940 urges the pivot lever 932 toward the snap cavity 934.

Fig. 10 shows a cross-sectional view of a docking station 1000, which may be an example of the docking station 100 of fig. 1, where fig. 10A and 10B are enlarged views corresponding to areas 10A and 10B, respectively, of fig. 10. As shown, the docking station 1000 includes a base 1002 and a docking station dirt cup 1004 that is pivotably coupled to the base 1002. The base includes a latch 1006 and a pivot lever 1008 that is configured to releasably engage the docking station dust cup 1004 such that the docking station dust cup 1004 may generally be described as being configured to at least partially decouple from the base 1002 in response to pivotal movement of the docking station dust cup 1004 and to re-couple to the base 1002 in response to substantially vertical movement. Additionally or alternatively, the docking station dust cup 1004 may be at least partially recoupled to the base 1002 in response to the pivoting motion.

The latch 1006 is slidably coupled to the base 1002 such that the latch 1006 can transition between the hold position and the release position in response to actuation of the release system 1010. When in the retaining position, the latch 1006 substantially prevents pivotal movement of the docking station dust cup 1004. For example, the latch 1006 may be configured to engage (e.g., contact) the docking station dust cup 1004 such that pivotal movement of the docking station dust cup 1004 is substantially prevented. When the latch 1006 is in the released position, the docking station dust cup 1004 may pivot. For example, the latch 1006 may be configured to disengage the docking station dust cup 1004 so that the docking station dust cup 1004 may pivot.

As shown, the release system 1010 includes an actuator 1012 (e.g., a depressible button) and a push rod 1014. The actuator 1012 may be biased toward the unactuated state by an actuator biasing mechanism 1016 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism). The push rod 1014 is configured to engage the latch 1006. The latch 1006 is configured to transition between a hold position and a release position in response to movement of the push rod 1014. The latch 1006 may be urged toward the retention position using a latch biasing mechanism 1018 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism).

The push rod 1014 includes a latch engagement surface 1020 configured to engage (e.g., contact) a release surface 1022 of the latch 1006 such that movement of the push rod 1014 urges the latch 1006 toward the release position. For example, and as shown, the release surface 1022 may extend in a direction transverse to the longitudinal axis of the push rod 1014. In other words, the release surface 1022 may define a taper.

As shown, the pivot lever 1008 is coupled to the base 1002 at a location near the pivot point 1009 of the docking station dust cup 1004. The docking station dirt cup 1004 may include a snap-fit cavity 1024 that extends at least partially through a portion of the docking station dirt cup 1004. The snap-fit cavity 1024 is configured to receive at least a portion of the pivot lever 1008 when the docking station dust cup 1004 is coupled to the base 1002.

When the latch 1006 is in the released position, the docking station dust cup 1004 may be rotated until the docking station dust cup 1004 is disengaged from the pivot lever 1008. For example, pivotal movement of the docking station dirt cup 1004 may cause the pivot lever 1008 to move out of the snap-fit cavity 1024, thereby allowing the docking station dirt cup 1004 to be removed from the base 1002. Thus, the docking station dust cup 1004 may generally be described as being at least partially decoupled from the base 1002 in response to pivotal movement of the docking station dust cup 1004.

As shown, the pivot lever 1008 is movably coupled (e.g., pivotably coupled) to the base 1002 such that when the docking station dust cup 1004 is re-coupled to the base 1002, the pivot lever 1008 is urged toward the center of the base 1002. The pivot lever 1008 includes a dirt cup engagement surface 1026. The engagement between the dust cup engagement surface 1026 and the docking station dust cup 1004 urges the pivot lever 1008 towards the center of the base 1002. When the pivot lever 1008 is aligned with the snap cavity 1024, the pivot lever biasing mechanism 1028 (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) urges the pivot lever 1008 in a direction away from the center of the base 1002 and into the snap cavity 1024.

When the docking station dust cup 1004 is re-coupled to the base 1002, the docking station dust cup 1004 also urges the latch 1006 towards the released position in response to engaging the release surface 1022 of the latch 1006. The latch biasing mechanism 1018 urges the latch 1006 towards the retaining position such that when the docking station dust cup 1004 is in the coupled position, the latch 1006 is urged into the retaining position.

In some cases, the docking station dust cup 1004 and/or the base 1002 may include a relief area 1032 proximate the pivot point 1009. The release area 1032 may be configured such that when the docking station dust cup 1004 is pivoted, the base 1002 and docking station dust cup 1004 are prevented from engaging each other in such a way: preventing pivotal movement about pivot point 1009. The relief area 1032 may comprise, for example, a chamfered portion, rounded portion, or the like formed in one or more of the base 1002 and/or docking station dust cup 1004 at a location proximate the pivot point 1009. Additionally or alternatively, one or more biasing mechanisms (e.g., compression springs, torsion springs, elastomeric materials, and/or any other biasing mechanism) may be disposed between at least a portion of the base 1002 and the docking station dust cup 1004 such that the docking station dust cup 1004 is biased in a direction away from the base 1002. Thus, when the actuator 1012 is actuated, the docking station dust cup 1004 is pushed in a direction away from the base 1002 such that the docking station dust cup 1004 is separated from the base 1002 by a predetermined distance. Such a configuration may prevent the docking station dust cup 1004 and the base 1002 from engaging (e.g., contacting) one another in a manner that substantially prevents pivotal movement. In some cases, multiple biasing mechanisms may be used, wherein one of the biasing mechanisms is configured to push the docking station dirt cup 1004 a greater distance away from the base 1002 than the other.

Additionally or alternatively, the docking station dust cup 1004 may be configured to decouple and/or recouple with the base 1002 in response to pivoting about a vertical axis extending through a midpoint of the suction motor 1034. In some cases, the docking station dust cup 1004 may be configured to decouple and/or recouple with the base 1002 in response to pivoting about an axis extending substantially parallel to the horizontal longitudinal axis of the docking station 1000. Additionally or alternatively, the docking station dust cup 1004 may be configured to decouple and/or recouple from the base 1002 in response to sliding movement of the docking station dust cup 1004 in a direction substantially parallel to the horizontal longitudinal axis of the docking station 1000.

Fig. 11 illustrates a cutaway perspective view of docking station 200 taken along line IX-IX of fig. 2. As shown, the docking station dirt cup 204 includes a first debris collection chamber 1102 and a second debris collection chamber 1104. The plenum 1106 is fluidly coupled to the first debris collection chamber 1102 and the second debris collection chamber 1104. Accordingly, the first debris collection chamber 1102 may generally be described as being fluidly coupled to the second debris collection chamber 1104. At least a portion of the plenum 1106 is defined by at least a portion of a filter 1108 (e.g., a filter media such as a mesh screen and/or a cyclone). Accordingly, the filter 1108 may generally be described as being fluidly coupled to the first debris collection chamber 1102 and the second debris collection chamber 1104. At least a portion of the filter 1108 may extend over and/or within at least a portion of the first debris collection chamber 1102 such that air entering the plenum 1106 passes through the filter 1108. For example, and as shown, the filter 1108 is a filter media, such as a mesh screen, that extends over at least a portion of the debris collection chamber 1102.

Each of the first debris collection chamber 1102 and the second debris collection chamber 1104 may be defined by one or more sidewalls. The openable door 926 may be configured to engage the distal ends of the side walls defining the first debris collection chamber 1102 and the second debris collection chamber 1104. Accordingly, the openable door 926 may define at least a portion of each of the first debris collection chamber 1102 and the second debris collection chamber 1104. In some cases, the openable door 926 may include a seal configured to extend along an interface between the openable door 926 and one or more sidewalls defining the first debris collection chamber 1102 and the second debris collection chamber 1104.

The docking station dirt cup 204 may include a cyclonic separator 1110 (e.g., a debris cyclone) configured to generate one or more cyclones (e.g., a cyclone array) in response to air flowing therethrough. The cyclone 1110 may be fluidly coupled to the plenum 1106 such that air exiting the plenum 1106 passes through the cyclone 1110. The cyclonic separator 1110 includes a debris outlet 1112 fluidly coupled to the second debris collection chamber 1104 and two air outlets 1114 fluidly coupled to a suction motor 1116. The debris outlet 1112 is configured such that debris separated from the air flowing through the cyclone 1110 is deposited in the second debris collection chamber 1104. An axis 1127 extending between the air outlet 1114 and the debris outlet 1112 of the cyclonic separator 1110 may extend transverse (e.g., at a non-perpendicular angle) to the vertical axis 1129 and the horizontal axis 1131 of the docking station 200. Thus, the cyclonic separator 1110 may generally be described as being disposed transverse (e.g., at a non-vertical angle) to the vertical axis 1129 and the horizontal axis 1131 of the docking station 200.

The suction motor 1116 may be disposed within a suction motor cavity 1118 defined in the base 206 of the docking station 200. The pre-motor filter 802 may be disposed within a pre-motor filter cavity 1120 defined in the base 206 such that air entering the suction motor 1116 passes through the pre-motor filter 802 before entering the suction motor 1116. The suction motor 1116 may be fluidly coupled to an exhaust conduit 1122 defined within the base 206 such that air exhausted from the suction motor 1116 may be exhausted to the ambient environment.

The exhaust 1122 may be configured to reduce the amount of noise generated by the air exhausted from the suction motor 1116. For example, the exhaust 1122 may have a cross-sectional area that is measured larger than the cross-sectional area of the exhaust outlet of the suction motor 1116, such that the velocity of the air exiting the suction motor 1116 is reduced. Exhaust 1122 may include a post-motor filter 1124. As shown, the post-motor filter 1124 is located at the distal end 1126 of the exhaust conduit 1122, while the suction motor 1116 is located at the proximal end 1128 of the exhaust conduit 1122, with the distal end 1126 opposite the proximal end 1128.

In operation, the suction motor 1116 causes air to be drawn into the docking station dirt cup 204 according to the flow path 1130. As shown, the flow path 1130 extends through the docking station suction inlet 216 and into the first debris collection chamber 1102. In some cases, and as shown, the flow path 1130 may extend through an upper air passage 1132 extending within the first debris collection chamber 1102. The upper duct 1132 may extend from the openable door 926 in the direction of the plenum 1106 (e.g., the filter 1108). For example, and as shown, the upper duct 1132 may extend from the openable door 926 to the plenum 1106 (e.g., the filter 1108).

The uptake 1132 may define an uptake air outlet 1134 spaced apart from the openable door 926. For example, the uptake air outlets 1134 may be proximate to the plenum 1106 (e.g., the filter 1108). A flow director 1136 (e.g., deflector) may extend from the upper duct air outlet 1134 and along at least a portion of the plenum 1106 (e.g., filter 1108). The flow director 1136 is configured to push at least a portion of the air flowing from the upper duct air outlet 1134 in a direction away from the plenum 1106 (e.g., the filter 1108) such that the flow path 1130 extends toward the openable door 926. The suction force generated by the suction motor 1116 pushes air deflected toward the openable door 926 in a direction of the plenum 1106 (e.g., the filter 1108) such that the flow path 1130 transitions from extending in a direction toward the openable door 926 to extending in a direction toward the plenum 1106 (e.g., the filter 1108). The change in the flow direction of the air flowing along the flow path 1130 may de-entrain at least a portion of any debris entrained in the air such that at least a portion of the entrained debris may be deposited within the first debris collection chamber 1102.

Flow path 1130 extends through filter 1108 and into plenum 1106. Filter 1108 may be configured to prevent debris of a predetermined size entrained in air flowing along flow path 1130 from entering plenum 1106. Thus, the first debris collection chamber 1102 may be generally described as a large debris collection chamber. A flow path 1130 extends from the plenum 1106 through the cyclone 1110. The cyclone 1110 is configured to impart a cyclonic motion to air flowing within the cyclone 1110 such that the flow path 1130 extends cyclonically therein. The cyclonic motion of the air may cause at least a portion of any remaining debris entrained in the air to be de-entrained from the air flowing along the flow path 1130 and deposited in the second debris collection chamber 1104. Thus, the second debris collection chamber 1104 may be generally described as a fine debris collection chamber.

A flow path 1130 may extend from the cyclonic separator 1110 through the pre-motor filter 802 such that at least a portion of any remaining debris entrained in the air flowing through the pre-motor filter 802 is collected by the pre-motor filter 802. Upon exiting the pre-motor filter 802, the flow path 1130 extends through the suction motor 1116 and into the exhaust conduit 1122. As shown, the flow path 1130 may extend through the post-motor filter 1124 before exiting the exhaust pipe 1122 such that at least a portion of any remaining debris entrained in the air is collected by the post-motor filter 1124.

Figure 11A shows an example of a docking station dirt cup 204 in which the filter 1108 is a cyclonic separator (e.g. a debris cyclone) having a vortex finder 1138 extending within a cyclone chamber 1140. The cyclone chamber 1140 extends within the first debris collecting chamber 1102. The cyclone chamber 1140 includes a cyclone chamber inlet 1142 fluidly coupled to the upper duct air outlet 1134 and a cyclone chamber outlet 1144 through which debris is cyclonically separated from air flowing therethrough. In some cases, and as shown, the cyclone chamber 1140 may include an open end 1148 spaced apart from the plenum 1106. The plate 1150 may extend across at least a portion of the open end 1148, with the plate 1150 being spaced apart from the cyclone chamber 1140. The plate 1150 may be coupled to an openable door 926 via, for example, a base 1152.

Vortex finder 1138 defines an air channel 1146 extending therein such that first debris collection chamber 1102 is fluidly coupled to plenum 1106 via air channel 1146. At least a portion of the vortex finder 1138 may be defined by a filter medium, such as a mesh screen.

As shown, the vortex finder 1138 and the cyclone chamber 1140 extend in a direction away from the plenum 1106 that is generally parallel to the vertical axis 1129 of the docking station 200. Thus, the filter 1108 may be generally described as a vertical cyclone.

Fig. 12 shows a bottom view of the docking station 200. The floor-facing surface 1204 may include one or more grid regions 1206 having a plurality of grid cavities 1208. The grid cavity 1208 can be configured to receive at least a portion of a material (e.g., a portion of carpet) extending from the floor. For example, the stability of the docking station 200 may be improved when a portion of a carpet is received within the grid cavity 1208.

As shown, the support member 210 includes a plurality of grid regions 1206 extending around the perimeter of the support member 210. For example, the grill area 1206 may extend within the front 1210 of the support member 210. The front portion 1210 of the support 210 may generally be described as the portion of the support 210 from which the base 206 does not extend. The substrate 1212 may extend within the rear 1214 of the support 210. The rear 1214 of the support 210 may generally be described as the portion of the support 210 from which the base 206 extends. In some cases, at least a portion of the substrate 1212 can extend between the grid regions 1206 extending within the front 1210. Additionally or alternatively, the grid region 1206 may extend substantially only within the front portion 1210 (e.g., less than 5% of the total surface area of the grid region 1206 extends within the rear portion 1214).

The grill cavity 1208 may have any shape. In some cases, the grid cavity 1208 can have a variety of shapes. For example, one or more of the grid cavities 1208 may have one or more of a hexagonal shape, a triangular shape, a square shape, an octagonal shape, and/or any other shape. In some cases, at least a portion of the grid cavity 1208 for the respective grid region 1206 can be generally described as defining a honeycomb structure.

As also shown, the support 210 includes a plurality of legs 1202 spaced around the perimeter of the floor-facing surface 1204 of the support 210. In some cases, the legs 1202 may have different heights. For example, the legs 1202 can be configured such that the legs 1202 located in the rear 1214 of the support 210 have a greater height than the legs 1202 located within the front 1210 of the support 210. Such a configuration may improve the stability of the docking station 200 on a carpeted surface. For example, on carpeted surfaces, the rear portion 1214 may tend to sink deeper into the carpet due to the weight of the docking station 200 being concentrated on the rear portion 1214. The longer legs 1202 may reduce the amount of the rear portion 1214 sinking into the carpet.

Fig. 13 shows a cross-sectional view of a docking station 1300, which may be an example of docking station 100 of fig. 1. As shown, the docking station 1300 includes a base 1302 having a suction housing 1301 and a support 1310. Suction housing 1301 defines a pre-motor filter chamber 1304, a motor chamber 1306 and a post-motor filter chamber 1308.

A support 1310 extends from the suction housing 1301 and is configured to support the docking station dirt cup 1312. Flow path 1314 extends from docking station dirt cup 1312 through motor chamber 1306 and post-motor filter chamber 1308 into pre-motor filter chamber 1304 and then out of docking station 1300. Debris may be entrained in the air flowing along the flow path 1314. A portion of debris entrained in the air may be deposited in the docking station dirt cup 1312 before the air enters the pre-motor filter chamber 1304. The pre-motor filter chamber 1304 includes a pre-motor filter 1316 configured to remove at least a portion of any remaining debris entrained in the air before the air reaches the suction motor 1318. Any debris remaining in the air after passing through the pre-motor filter 1316 passes through the suction motor 1318 and into the post-motor filter chamber 1308. Post-motor filter chamber 1308 includes a post-motor filter 1320 configured to remove at least a portion of any debris remaining in the air after passing through suction motor 1318. The post-motor filter 1320 may be a finer filter media than the pre-motor filter 1316. For example, the post-motor filter 1320 may be a High Efficiency Particulate Air (HEPA) filter. In some cases, the motor chamber 1306 may include an acoustic insulation material, and the suction motor 1318 may have a power of at least 750 watts or at least 800 watts.

As also shown, the docking station dirt cup 1312 includes a cyclonic separator 1322 and a debris collector 1323. The longitudinal axis 1324 of the cyclonic separator 1322 extends generally parallel to the support 1310 and/or transverse (e.g., perpendicular) to an axis 1325 extending through the suction motor 1318 (e.g., a central longitudinal axis of the suction motor 1318) and the pre-motor filter 1316. In other words, cyclone 1322 may be generally described as a horizontal cyclone.

Figure 14 shows an example of the docking station dirt cup 1312 pivoting relative to the base 1302 about an axis in a direction away from the base 1302. As shown, docking station dirt cup 1312 includes a handle 1402 extending over a portion of base 1302. For example, the handle 1402 may extend over a portion of the suction housing 1301 that defines the pre-motor filter chamber 1304, the motor chamber 1306, and the post-motor filter chamber 1308. In some cases, the handle 1402 can include a latch that couples the handle 1402 to the base 1302 such that the docking station dirt cup 1312 does not inadvertently decouple from the base 1302.

As also shown, the support 1310 includes one or more recesses 1404 configured to receive corresponding protrusions 1406 extending from the docking station dirt cup 1312. Each projection 1406 engages a corresponding recess 1404 such that lateral movement of the docking station dirt cup 1312 relative to the base 1302 is substantially prevented. As the docking station dirt cup 1312 pivots relative to the base 1302, each projection 1406 rotates out of each corresponding recess 1404 so that the docking station dirt cup 1312 can be removed from the support 1310.

When the docking station dirt cup 1312 is removed from the base 1302, both the cyclonic separator 1322 and the debris collector 1323 are removed from the base 1302. However, in some cases, the docking station dirt cup 1312 may be configured such that at least a portion of the cyclonic separator 1322 remains coupled to the base 1302. For example, the vortex finder 1408 may remain coupled to the base 1302 when the docking station dirt cup 1312 is removed from the base 1302.

Fig. 15 shows an example of a docking station 1500, which may be an example of the docking station 100 of fig. 1. As shown, the docking station 1500 includes a base 1502 and a docking station dirt cup 1504. Base 1502 includes a pre-motor filter chamber 1506 configured to receive a pre-motor filter 1508, a suction motor chamber 1510 configured to receive a suction motor 1512, and a post-motor filter chamber 1514 configured to receive a post-motor filter 1516. As shown, the pre-motor filter chamber 1506 and the suction motor chamber 1510 are configured such that the axis 1518 extends through the pre-motor filter 1508 and the suction motor 1512.

The docking station dirt cup 1504 includes a cyclonic separator 1520 and a debris collector 1522. As shown, the longitudinal axis 1524 of the cyclonic separator 1520 extends generally parallel to an axis 1518 extending through the pre-motor filter 1508 and the suction motor 1512. In other words, the cyclone 1520 may be generally described as a vertical cyclone.

As shown, the docking station 1500 includes a plurality of electrodes 1526 and an optical transmitter 1528 (e.g., one or more light sources configured to transmit optical signals to the robotic cleaner 101 so that the robotic cleaner 101 can be positioned and navigated to the docking station 1500).

As shown in fig. 16, the docking station dust cup 1504 includes a handle 1602 that extends along a top surface 1604 of the docking station dust cup 1504. As also shown, the docking station dust cup 1504 is configured to pivot in a direction away from the base 1502 of the docking station 1500. For example, a user may pivot the docking station dirt cup 1504 away from the base 1502 so that the docking station dirt cup 1504 may be removed from the base 1502.

In some cases, the user may actuate the release when the docking station dust cup 1504 is removed from the base 1502. Upon release of the actuation, the docking station dirt cup 1504 may be pushed in a substantially horizontal direction away from the base 1502. After being pushed horizontally away from the base 1502, the user can pivot the docking station dust cup 1504 in a direction away from the base 1502.

Fig. 17-19 show an example of a docking station 1700, which may be an example of docking station 100 of fig. 1. The docking station 1700 includes a base 1702 and a docking station dirt cup 1704 coupled to the base 1702. As shown, the docking station dirt cup 1704 is configured to pivot about an axis 1706 extending along a hinge 1708 between a use position (e.g., as shown in fig. 17) and a removed position (e.g., as shown in fig. 18). As also shown, the docking station dust cup 1704 is configured to pivot in the direction of the docking station base 1702 and out of engagement with the support 1701, such that the docking station dust cup 1704 rests on the base 1702 in an inverted position (e.g., a removed position).

As shown in fig. 18 and 19, the handle 1800 may be extended from the docking station dust cup 1704 such that the docking station dust cup 1704 may be removed from the coupling platform 1802 coupling the docking station dust cup 1704 to the base 1702. The coupling platform 1802 can define a slot 1804 (e.g., a T-shaped slot) configured to receive a corresponding rail 1806 (e.g., a T-shaped rail) extending from the docking station dust cup 1704. The slot 1804 and the guide rail 1806 may be configured to slidably engage one another such that the docking station dust cup 1704 may be removed from the coupling platform 1802 in response to a sliding motion. Additionally or alternatively, the coupling platform 1802 may define a receptacle for receiving the docking station dust cup 1704. In some cases, the receptacle may form a friction fit with at least a portion of the docking station dirt cup 1704.

When the docking station dirt cup 1704 is decoupled from the coupling platform 1802, the door 1808 may be configured to pivot open (e.g., in response to actuation of a button/trigger, a user pulling the door 1808, etc.). When the door 1808 is pivoted open, the docking station dirt cup 1704 may be emptied of any debris stored therein.

Fig. 20 and 21 show cross-sectional views of an example of a docking station 2000, which may be an example of the docking station 100 of fig. 1. The docking station 2000 includes a base 2002 and a docking station dirt cup 2004. The docking station dust cup 2004 is configured to at least partially decouple from the base 2002 in response to pivotal movement of the docking station dust cup 2004 and to recouple to the base 2002 in response to substantially vertical movement. Additionally or alternatively, the docking station dust cup 2004 may be at least partially recoupled to the base 2002 in response to the pivoting motion. Figure 20 shows an example of a docking station dirt cup 2004 coupled to the base 2002 in a use position and figure 21 shows an example of a docking station dirt cup 2004 pivoted such that the docking station dirt cup 2004 may be decoupled from the base 2002.

As shown, the docking dirt cup 2004 includes a release 2005 configured to allow the docking dirt cup 2004 to pivot about a pivot point 2006 in response to actuation. At a predetermined rotation angle? (e.g., about 5 °, about 10 °, about 15 °, about 20 °, about 25 °, or any other rotational angle) the docking station dust cup 2004 may be completely decoupled from the base 2002.

Figure 22 shows a cross-sectional view of a portion of a docking station dirt cup 2004 coupled to a base 2002. As shown, a portion of the docking station dirt cup 2004 is disposed between a pivot catch 2200 coupled to the base 2002. As shown, the pivot buckle 2200 extends from and is pivotably coupled to the base 2002. In response to actuation of the release 2005, a biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) can urge the docking station dust cup 2004 away from the base 2002 such that the docking station dust cup 2004 engages (e.g., contacts) the pivot catch 2200. Upon engaging (e.g., contacting) the pivot catch 2200, the docking station dust cup 2004 may move along a removal axis 2202 that extends transverse to the vertical axis 2201. To re-couple the docking station dust cup 2004 to the base 2002, the docking station dust cup 2004 may be inserted vertically onto the base 2002 such that a portion of the docking station dust cup 2004 engages (e.g., contacts) the pivot catch 2200, thereby causing the pivot catch 2200 to rotate. The rotation of the pivot catch 2200 allows a portion of the docking station dust cup 2004 to pass the pivot catch 2200 such that when the portion of the docking station dust cup 2004 is disposed between the pivot catch 2200 and the base 2002, the pivot catch 2200 rotates back to the retaining position (e.g., as shown in figure 22). A biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may be configured to urge the pintle hook 2200 toward the retention position. In some cases, for example, a resiliently deformable seal (e.g., a natural or synthetic rubber seal) may extend between the docking station dust cup 2004 and the base 2002. The resiliently deformable seal may be configured to be compressed when the docking station dust cup 2004 is coupled to the base 2002 so that the pivot catch 2200 may pivot back to the retaining position. Thus, when coupled to the base 2002, the resiliently deformable seal can urge the docking station dirt cup 2004 into engagement with (e.g., contact with) the pivot catch 2200.

Fig. 23 shows an example of a pivot buckle 2200 coupled to a portion of the base 2002. As shown, the pivot buckle 2200 includes a shaft 2300 rotatably coupled to the base 2002 and a lever 2302 extending from the shaft 2300. When the lever 2302 engages (e.g., contacts) the docking station dirt cup 2004, the shaft 2300 is rotated such that a portion of the docking station dirt cup 2004 may be received in the cavity 2304 defined in the base 2002.

Fig. 24-26 show cross-sectional examples of a portion of a docking station 2400, which may be an example of docking station 100 of fig. 1. The docking station 2400 includes a base 2402 and a docking station dirt cup 2404 removably coupled to the base 2402. The docking station dirt cup 2404 may generally be described as being configured to at least partially decouple from the base 2402 in response to pivotal movement of the docking station dirt cup 2404 and to recouple to the base 2402 in response to substantially vertical movement. Additionally or alternatively, the docking station dirt cup 2404 may be at least partially recoupled to the base 2402 in response to a pivoting motion.

As shown, docking station dirt cup 2404 includes a pivot catch 2406 configured to pivot about a pivot point 2408 defined by an axle 2410. The pivot buckle 2406 may include a protrusion 2412 configured to extend at least partially around the shaft 2410. The shaft 2410 can include a cut-out region 2414 (e.g., a planar portion) such that the protrusion 2412 can pass over the cut-out region 2414 in response to movement along the movement axis 2416. In response to pivotal movement of docking station dirt cup 2404, protrusion 2412 aligns with cutout area 2414. The pivot button 2406 may be configured to be resiliently deformable such that the docking station dirt cup 2404 may be recoupled to the base 2402 in response to a substantially vertical movement. In other words, the pivot catch 2406 may be resiliently deformable such that when the docking station dust cup 2404 is re-coupled to the base 2402, the protrusion 2412 may clear the shaft 2410 without having to align with the cut-out area 2414.

Figure 27 shows an example of a docking station dirt cup 2700 which may be an example of the docking station dirt cup 104 of figure 1, having a horizontal cyclone 2702. The docking station dirt cup 2700 defines an interior volume 2704 that is configured to receive debris entrained in the airflow. As shown, a filter 2706 (e.g., filter media) extends within the interior volume 2704 such that a first debris collection chamber 2708 and a second debris collection chamber 2710 are defined therein. The airflow path is configured to extend between the first debris collection chamber 2708 and the second debris collection chamber 2710 and through the filter 2706. The air flowing along the airflow path may include debris of varying sizes entrained therein.

The filter 2706 may be configured such that larger debris does not pass through the filter 2706, while smaller debris passes through the filter 2706. Accordingly, larger debris is deposited in the first debris collection chamber 2708 and smaller debris passes through the filter 2706 and into the second debris collection chamber 2710. The filter 2706 may be, for example, a mesh screen.

Once the smaller debris enters the second debris collection chamber 2710, at least a portion of the smaller debris can be separated from the airflow by cyclonic action. For example, debris separated from the airflow may be deposited in debris collector 2714. The debris collector 2714 defines a debris collection area 2712 within the second debris collection chamber 2710. As shown, a debris collector 2714 is disposed proximate a distal region 2716 of the vortex finder 2718 extending within the second debris collection chamber 2710.

An adjustable insert 2720 may be provided adjacent the debris collector 2714. The adjustable insert 2720 may extend along a longitudinal axis 2722 of the second debris collection chamber 2710 and may slidably engage an inner surface 2724 of the second debris collection chamber 2710. Accordingly, the position of the adjustable insert 2720 may be adjusted relative to the debris collector 2714.

For clarity, the docking station dirt cup 2700 is shown with the dirt cup cover removed therefrom. However, the docking station dirt cup 2700 may include a dirt cup lid pivotally coupled thereto such that the interior volume 2704 is enclosed.

Figure 28 shows an example of a docking station dirt cup 2800 which may be an example of the docking station dirt cup 104 of figure 1. The docking station dirt cup 2800 includes a cyclone generator 2802 configured to generate a plurality of horizontal cyclones. As shown, the docking station dirt cup 2800 may define an interior volume 2804 having a filter 2806 (e.g., filter media) extending therein such that a first debris collection chamber 2808 and a second debris collection chamber 2810 are defined within the interior volume 2804. As also shown, the docking station dirt cup 2800 includes a dirty air inlet 2812 and a flow director 2814 disposed above the dirty air inlet 2812.

For clarity, the docking station dirt cup 2800 is shown with the dirt cup cover removed therefrom. However, the docking station dirt cup 2800 may include a dirt cup cover pivotally coupled thereto such that the interior volume 2804 is enclosed.

Fig. 29 shows an example of the filter 2806. As shown, the filter 2806 may include a plurality of apertures 2900 extending therethrough. The apertures 2900 may be sized such that debris of a desired granularity may pass through the apertures 2900 while substantially preventing larger debris from passing through the apertures 2900. Thus, the first debris collection chamber 2808 may be generally described as being configured to receive large debris, while the second debris collection chamber 2810 may be generally described as being configured to receive small debris. In some cases, filter 2806 may be a mesh screen.

Figure 30 shows an example of a docking station dirt cup 3000 which may be an example of the docking station dirt cup 104 of figure 1. As shown, the docking station dirt cup 3000 may define an interior volume 3002. A filter 3004 (e.g., filter media) may extend within the interior volume 3002 such that a first debris collection chamber 3006 and a second debris collection chamber 3008 are defined therein. An air flow path 3010 may extend from the dirty air inlet 3012 through the filter 3004 into the first debris collection chamber 3006 and into the second debris collection chamber 3008.

The filter 3004 may be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. For example, the filter 3004 may be configured such that large debris is collected in the first debris collection chamber 3006, while small debris is collected in the second debris collection chamber 3008.

When debris is separated between the first debris collection chamber 3006 and the second debris collection chamber 3008, debris may become adhered to the filter 3004. Thus, airflow through the filter 3004 may be restricted, thereby reducing the performance of the docking station to which the docking station dirt cup 3000 is coupled. Debris adhered to the filter 3004 may be removed by the action of the agitator 3014 coupled to the body 3015 of the dirt cup 3000.

The agitator 3014 can be configured to engage at least a portion of the filter 3004. As shown, agitator 3014 can include a wiper 3016 configured to slidably engage a portion of filter 3004. For example, the filter 3004 may be coupled to a pivoting door 3018 that is pivotably coupled to the body 3015 such that when the pivoting door 3018 is transitioned from a closed position (e.g., as shown in fig. 30) to an open position (e.g., as shown in fig. 31), for example, to empty the dirt cup 3000, the filter 3004 slides relative to the wiper 3016 such that the wiper removes at least a portion of any debris that adheres to the filter 3004. Although the wiper 3016 is shown to engage a surface of the filter 3004 facing the second debris collection chamber 3008, the wiper 3016 may be configured to engage a surface of the filter 3004 facing the first debris collection chamber 3006. In some cases, multiple wipers 3016 can be provided so that both surfaces of filter 3004 can engage.

Figure 32 shows an example of a docking station dirt cup 3200 which may be an example of the docking station dirt cup 104 of figure 1. As shown, the docking station dirt cup 3200 may define an internal volume 3202 that is divided into a first debris collection chamber 3204 and a second debris collection chamber 3206 by a filter 3208 (e.g., filter media). The airflow path 3210 may extend from the dirty air inlet 3212 through the filter 3208 into the first debris collection chamber 3204 and into the second debris collection chamber 3206.

The filter 3208 may be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. Thus, the first debris collection chamber 3204 may be generally described as being configured to receive large debris, while the second debris collection chamber 3206 may be generally described as being configured to receive smaller debris.

When the foreign objects are separated between the first and second foreign

object collecting chambers

3204 and 3206, the foreign objects may become adhered to the filter 3208. Thus, airflow through the filter 3208 may be restricted, thereby reducing performance of the docking station to which the dirt cup 3200 is coupled. Accordingly, an agitator 3214 may be provided to remove foreign matter from the filter 3208. The agitator 3214 may be configured such that air may flow therethrough.

The agitator 3214 may be configured to engage at least a portion of the filter 3208. As shown, the agitator 3214 may include a wiper 3216 configured to slidably engage at least a portion of the filter 3208. For example, the agitator 3214 may be coupled to a pivoting door 3218 that is pivotably coupled to the body 3219 of the docking station dust cup 3200, such that when the pivoting door 3218 transitions from a closed position (e.g., as shown in fig. 32) to an open position (e.g., as shown in fig. 33), the wiper 3216 slides relative to the filter 3208 such that at least a portion of debris adhered to the filter 3208 is removed therefrom. While the wiper 3216 is shown to engage a surface of the filter 3208 facing the second debris collection chamber 3206, the wiper 3216 may be configured to engage a surface of the filter 3208 facing the first debris collection chamber 3204. In some cases, a plurality of wipers 3216 may be provided so that two surfaces of the filter 3208 may engage.

Figure 34 illustrates an example of a docking station dirt cup 3400 which may be an example of the docking station dirt cup 104 of figure 1. As shown, the docking station dirt cup 3400 may define an interior volume 3402. The internal volume 3402 may include a filter 3404 (e.g., filter media) that divides the internal volume 3402 into a first debris collection chamber 3406 and a second debris collection chamber 3408. An airflow path 3410 may extend from the dirty air inlet 3412 through the filter 3404 into the first debris collection chamber 3406 and into the second debris collection chamber 3408.

The filter 3404 may be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. For example, the strainer 3404 may be configured such that larger debris is collected in the first debris collection chamber 3406, while smaller debris is collected in the second debris collection chamber 3408. As shown, the filter 3404 may include a plurality of protrusions 3414 extending therefrom. Protrusions 3414 can be configured to engage agitator 3416 such that movement of agitator 3416 over protrusions 3414 can introduce vibrations into filter 3404. The vibration introduced into the filter 3404 may cause foreign materials adhered to the filter 3404 to be removed. Protrusions 3414 may be strips coupled to filter 3404. In some cases, protrusions 3414 can be formed from filter 3404. For example, filter 3404 may be at least partially pleated.

As shown, the agitator 3416 can be coupled to a pivoting door 3418 that is pivotally coupled to the body 3419 of the docking station dirt cup 3400 such that the agitator 3416 is moved across the protrusion 3414 in response to the pivoting door being transitioned from a closed position (e.g., as shown in fig. 34) to an open position (e.g., as shown in fig. 35), for example, to empty the docking station dirt cup 3400. The agitator 3416 can be configured such that air can flow therethrough.

Figure 36 shows a side cross-sectional view of a docking station dirt cup 3600 which may be an example of the docking station dirt cup 104 of figure 1. As shown, the docking station dirt cup 3600 can define an interior volume 3602 having a filter 3604 (e.g., filter media) disposed therein. The filter 3604 may divide the internal volume 3602 into a first debris collection chamber 3606 and a second debris collection chamber 3608. An airflow path 3610 may extend from a dirty air inlet 3612 through the filter 3604 into the first debris collection chamber 3606 and into the second debris collection chamber 3608.

Filter 3604 may be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. For example, the filter 3604 may be configured such that larger debris is collected in the first debris collection chamber 3606, while smaller debris is collected in the second debris collection chamber 3608.

As shown, filter 3604 may have an arcuate shape. Concave surface 3614 of filter 3604 may be configured to engage agitator 3616 such that agitator 3616 slidably engages concave surface 3614 of filter 3604 as agitator 3616 pivots about pivot point 3618. Accordingly, at least a portion of any debris adhered to concave surface 3614 of strainer 3604 may be removed from strainer 3604.

Agitator 3616 may be configured to pivot in response to, for example, the opening of pivoting door 3620. For example, the pivoting door 3620 may be pivotally coupled to the body 3624 of the docking station dirt cup 3600. As shown, the pivoting door 3620 may include a protrusion 3622 extending from the pivoting door 3620 at a location adjacent to the pivot point 3618. For example, agitator 3616 may be biased into engagement with (e.g., contact with) protrusion 3622 such that agitator 3616 pivots about pivot point 3618 when pivoting door 3620 transitions from a closed position (e.g., as shown in fig. 36) to an open position (e.g., as shown in fig. 37). Agitator 3616 may be biased into engagement with protrusion 3622 using, for example, one or more springs (e.g., torsion springs).

As shown, agitator 3616 can include a cam 3617 having a protrusion engaging surface 3621 configured to engage (e.g., contact) protrusion 3622. For example, the protrusion engagement surface 3621 may extend substantially parallel to a longitudinal axis 3626 of the protrusion 3622 when the pivoting door 3620 is in the closed position. Additionally or alternatively, protrusion engaging surfaces 3621 may extend transverse to a longitudinal axis 3628 of agitator 3616.

Fig. 38 shows a perspective view of a docking station 3800, which may be an example of docking station 100 of fig. 1. As shown, the docking station 3800 includes a base 3802 having a docking station dirt cup 3804 removably coupled thereto. For example, in response to actuation of the release 3806 and a force (e.g., by a user) exerted on the handle 3808 formed in the docking station dirt cup 3804, the docking station dirt cup 3804 may be decoupled from the base 3802.

The base 3802 may also include an air inlet 3810 configured to be fluidly coupled to the docking station dirt cup 3804 and a dirt cup of a robotic vacuum cleaner (such as the robotic cleaner 101 of fig. 1). Accordingly, debris stored in the dirt cup of the robotic vacuum cleaner can be sucked into the docking station dirt cup 3804. The base 3802 may also include one or more charging contacts 3812 configured to power the robotic vacuum cleaner, for example, to recharge one or more batteries.

Fig. 39 is a cross-sectional view of docking station 3800 taken along line XXXIX-XXXIX of fig. 38. As shown, the docking station dirt cup 3804 may define an interior volume 3900 having a first (or large) debris compartment (or chamber) 3902 and a second (or small) debris compartment (or chamber) 3904. The bulk debris compartment 3902 can be fluidly coupled to the debris compartment 3904 via a filter 3906 (e.g., filter media). For example, the separation wall 3908 may extend within the internal volume 3900 to separate the debris compartment 3904 from the bulk compartment 3902, wherein the separation wall 3908 defines an opening 3910 for receiving the strainer 3906.

In operation, air-borne debris may flow from the air inlet 3810 into the debris compartment 3902 and through the filter 3906. A cyclone 3912 configured to create one or more cyclones may be provided to cyclonically separate at least a portion of the debris passing through filter 3906 from the airflow. The separated debris may then be deposited in the debris compartment 3904.

In operation, as air passes through filter 3906, debris may adhere to filter 3906 and the performance of docking station 3800 may be compromised. Accordingly, a stirrer 3914 may be provided. The agitator 3914 may be configured to rotate about an axis of rotation 3916 that extends transverse (e.g., perpendicular) to the filtering surface 3918 of the filter 3906. Thus, as agitator 3914 rotates, at least a portion of agitator 3914 engages (e.g., contacts) filtering surface 3918 of strainer 3906 and removes at least a portion of debris that adheres to strainer 3906.

The agitator 3914 may be rotated, for example, in response to the docking station dirt cup 3804 being decoupled (or removed) from the base 3802, in response to the pivoting door 3920 being opened at a predetermined time (e.g., in response to expiration of a predetermined time period), etc. In some cases, the agitator 3914 may be rotated by a motor and/or manually (e.g., by pressing a button, by removing the docking station dirt cup 3804 from the base 3802, etc.).

In some cases, the geometry of filter 3906 may be configured such that filter 3906 promotes self-cleaning. For example, the filter 3906 may be oriented (e.g., vertically oriented) such that at least a portion of debris adhered to the filter 3906 is dislodged from the filter 3906 when the debris is emptied from the docking station dirt cup 3804. After disengaging filter 3906, the debris may engage (e.g., contact) additional debris adhered to filter 3906, and may disengage at least a portion of the additional debris from filter 3906. In such cases, the docking station dirt cup 3804 may or may not include the agitator 3914.

Fig. 40 is another cross-sectional view of docking station 3800 taken along line XXXIX-XXXIX of fig. 38. Fig. 40 shows an exemplary airflow 4000 extending from the debris compartment 3902 through the strainer 3906 and cyclone 3912. After exiting the cyclone 3912, the airflow 4000 extends through the pre-motor filter 4002 and into the suction motor 4004. As shown, the air flow 4000 is exhausted from the suction motor 4004 into the exhaust duct 4006. The exhaust duct 4006 may include a post-motor filter 4008, such as a High Efficiency Particulate Air (HEPA) filter. Exhaust duct 4006 may be configured such that the noise of air flow 4000 as it exits exhaust port 4010 is reduced. For example, exhaust duct 4006 may be configured to reduce the velocity of air flow 4000 therethrough by, for example, increasing the size of exhaust duct 4006 and/or by increasing the length of the path along which air flow 4000 travels.

Fig. 41 shows an example of a stirrer 3914, wherein the stirrer 3914 is configured to rotate in response to decoupling of the docking station dirt cup 3804 from the base 3802. As shown, the base 3802 can include a rack 4100 extending from the housing and configured to engage a pinion 4102 coupled to or formed by the agitator 3914. Thus, when the docking station dirt cup 3804 is removed from the base 3802, it may be rotated due to the engagement of the pinion 4102 with the rack 4100. Rotation of the pinion 4102 causes corresponding rotation of the agitator 3914.

In some instances, the rack 4100 may be configured to be stationary such that the pinion 4102 is pushed along the rack 4100 when the docking station dust cup 3804 is coupled to the base 3802 or decoupled from the base 3802. Thus, when the docking station dirt cup 3804 is coupled to the base 3802 and decoupled from the base 3802, the agitator 3914 is caused to rotate. In some cases, the rack 4100 can be movable relative to the base 3802. For example, the rack 4100 can be configured to be biased (e.g., using a biasing mechanism such as a spring) in a direction away from the base 3802. In these instances, when the docking station dirt cup 3804 is coupled to the base 3802, the docking station dirt cup 3804 may be configured to push the rack 4100 into the base 3802, thereby storing energy in the biasing mechanism (e.g., compression spring). When the docking station dust cup 3804 is coupled to the base 3802, the rack 4100 may be configured to be retained within the base 3802 by a latching feature, and the latching feature may disengage the rack 4100, such that the rack 4100 is urged in a direction away from the base 3802 by a biasing mechanism, for example, when the release 3806 is actuated. Thus, movement of the rack 4100 rotates the agitator 3914.

By way of further example, the rack 4100 can be pushed into the pivoting door 3920 by a biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism). Thus, when the pivoting door 3920 is opened, the rack 4100 may be pushed away from the docking station dirt cup 3804, thereby rotating the agitator 3914. Closing of the pivoting door 3920 may push the rack 4100 back into the docking station dirt cup 3804 such that the biasing mechanism pushes the rack 4100 into the pivoting door 3920. In this example, the rack 4100 is separate from the base 3802 and is disposed within the docking station dirt cup 3804.

The pinion 4102 may be sized such that the agitator 3914 completes at least one full rotation during removal of the docking station dirt cup 3804 from the base 3802. Alternatively, the pinion 4102 may be sized such that the agitator 3914 does not complete a full rotation during removal of the docking station dirt cup 3804 from the base 3802.

As also shown, the agitator 3914 includes one or more arms 4104 (e.g., two, three, four, or any other number of arms 4104) extending from a hub 4106, the hub 4106 being coupled to or formed from a pinion 4102. The one or more arms 4104 are configured to engage (e.g., contact) at least a portion of the filter 3906 when rotated. For example, one or more arms 4104 can include a plurality of bristles extending therefrom, wherein the bristles engage filter 3906. Additionally or alternatively, the agitator 3914 may include one or more elastically deformable wipers.

Fig. 42 shows an enlarged cross-sectional side view of the rack 4100, pinion 4102, and agitator 3914 of fig. 41. In some cases, the rack 4100 and the pinion 4102 may be enclosed, so that entry of foreign matter into the rack 4100 and the pinion 4102 may be mitigated.

Fig. 43 shows a perspective view of a robotic vacuum cleaner 4300, which may be an example of robotic vacuum cleaner 101 of fig. 1, inverted into docking station 4302, which may be an example of docking station 100 of fig. 1, and fig. 10 shows a perspective view of robotic vacuum cleaner 4300 in a docked position (e.g., engaged with docking station 4302). As shown, the docking station 4302 includes a base 4304 coupled to a docking station dirt cup 4306. The docking station dust cup 4306 is configured to decouple from the base 4304 in response to pivotal movement of the docking station dust cup 4306 in a direction away from the base 4304.

As shown, the base 4304 includes a dust cover 4308 configured to form a seal with at least a portion of the robotic vacuum cleaner 4300. For example, the dust cover 4308 may engage an outlet port defined in a dirt cup of the robotic vacuum cleaner 4300. When the dust cover 4308 is engaged with the robotic vacuum cleaner 4300, the dust cup of the robotic vacuum 4300 is fluidly coupled to the docking station dust cup 4306.

As also shown, the docking station dust cup 4306 may include a handle 4310 extending over at least a portion of the suction housing 4312 of the base 4304. The handle 4310 can include a latch 4314 configured to engage with the base 4304. When the latch 4314 is actuated, the docking station dust cup 4306 is allowed to pivot. Thus, latch 4314

May be generally described as being configured to selectively allow pivotal movement of the docking station dirt cup 4306.

In some cases, and as shown, the docking station 4302 may include a guide 4316 extending in a direction away from the dust cover 4308. The guides 4316 extend from the docking station 4302 on opposite sides of the dust cover 4308 such that when the robotic vacuum cleaner 4300 is docked, the guides extend along opposite sides of the robotic vacuum cleaner 4300. The guide 4316 may be configured to urge the robotic vacuum cleaner 4300 into alignment with the dust cover 4308. Additionally or alternatively, when the robotic vacuum cleaner 4300 approaches the dust cover 4308, the docking station 4302 may begin generating suction at the dust cover 4308 such that the suction forces the robotic vacuum cleaner 4300 into engagement with the dust cover 4308. Thus, the vacuum generated by the docking station 4302 may also be used to push the robotic vacuum cleaner 4300 into engagement with the dust cover 4308.

Fig. 45 shows a schematic view of a docking station 4500, which may be an example of docking station 100 of fig. 1. The docking station 4500 includes an adjustable dust cover 4502 configured to slide relative to a base 4504 of the docking station 4500. The adjustable dust cover 4502 can be configured to slide in response to the robotic vacuum cleaner 4506 engaging the adjustable dust cover 4502 in a misaligned orientation (e.g., a central axis 4510 of an outlet port 4512 of the robotic vacuum cleaner 4506 is substantially non-collinear with a central axis 4514 of the adjustable dust cover 4502). Accordingly, when the adjustable dust cap 4502 slides in response to a misaligned orientation, the adjustable dust cap 4502 can engage the robotic vacuum cleaner 4506 in a substantially aligned orientation, which can allow the adjustable dust cap 4502 to fluidly couple a dust cup 4516 of the robotic vacuum cleaner 4506 to the docking station 4500.

Fig. 46 shows a schematic view of a docking station 4600, which may be an example of docking station 100 of fig. 1. The docking station 4600 includes a base 4602 and an adjustable dust cover 4604. The adjustable dust cover 4604 is movable relative to the base 4602 to at least partially correct misalignment of the robotic cleaner 4606 relative to the adjustable dust cover 4604. As shown, one or more charging contacts 4608 may be coupled to the adjustable dust cover 4604 such that the charging contacts 4608 move in response to movement of the adjustable dust cover 4604. Thus, when the robotic cleaner 4606 engages the docking station 4600 in a misaligned orientation, the charging contacts 4608 may be electrically coupled to the robotic cleaner 4606.

In some cases, the charging contacts 4608 may not be coupled to the adjustable dust cover 4604. In these cases, the charging contacts 4608 can be configured to electrically couple to the robotic cleaner 4606 over a range of misalignment angles. For example, the size of the charging contacts 4608 can be increased to allow for greater misalignment.

Fig. 47 and 48 illustrate an example of a docking station 4700, which may be an example of the docking station 100 of fig. 1. As shown, the docking station includes a cover 4702 configured to transition between a closed position (e.g., as shown in fig. 47) and an open position (e.g., as shown in fig. 48). When the lid 4702 is in the open position, the compartment door 4704 can be pivoted in a direction toward the user to a dirt cup removal position. When the compartment door 4704 is in the dust cup removal position, the docking station dust cup 4706 may be pivoted toward the compartment door 4704 and removed from the docking station 4700.

Fig. 49-51 illustrate an example of a docking station 4900 with a removable bag 4902 configured to receive debris from a dirt cup 4904 of a robotic vacuum cleaner 4908. The removable bag 4902 may be a disposable bag. In some cases, the removable bag 4902 may include a filter material such that the removable bag 4902 functions as a filter. As shown, the removable bag 4902 may be inflatable such that the size of the removable bag 4902 increases as debris is collected in the removable bag 4902.

As also shown, docking station 4900 defines a cavity 4910 configured to receive a removable bag 4902, wherein cavity 4910 includes an open end 4912 configured to be closed with a lid 4914. The suction motor 4918 is configured to generate a vacuum within the cavity 4910 such that debris is drawn along a flow path extending from a dirt cup 4904 of the robotic vacuum cleaner 4908 at least partially along a tube 4916 and into the removable bag 4902. Thus, in these cases, the removable bag 4902 may serve as a pre-motor filter.

Fig. 52 and 53 show an example of a docking station 5200 having a suction motor 5201, a pre-motor filter 5203, a post-motor filter 5205, a horizontal cyclone 5202 extending along a longitudinal axis 5204 of the docking station 5200 and a docking station dust cup 5206. As shown, the docking station dirt cup 5206 is configured to slidably engage at least a portion of the horizontal cyclone separator 5202. For example, the docking station dirt cup 5206 may be configured to be slidable along the longitudinal axis 5204 such that the docking station dirt cup 5206 may be removed from the docking station 5200 to be emptied. As also shown, the docking station dirt cup 5206 may include a vortex finder scraper 5208 configured to slidably engage a vortex finder 5210 of the horizontal cyclone 5202. For example, sliding movement of the vortex finder scraper 5208 along the vortex finder 5210 can remove debris from the vortex finder 5210.

Fig. 54 shows a rear perspective view of the robotic vacuum cleaner 202. As shown, the robotic vacuum cleaner 202 includes a displaceable bumper 5402, at least one drive wheel 5404, and a side brush 5406. At least a portion of the displaceable bumper 5402 and the robotic vacuum cleaner dirt cup 208 are disposed on opposite sides of the drive wheel 5404. Thus, the displaceable bumper 5402 is positioned in the front of the robotic vacuum cleaner 202 and the robotic vacuum cleaner dust cup 208 is positioned in the rear of the robotic vacuum cleaner 202.

As shown, the robotic vacuum cleaner dirt cup 208 includes a robotic vacuum dirt cup release 5408 positioned between the top surface 5410 of the robotic vacuum cleaner dirt cup 208 and the outlet port 218. The robotic vacuum cup release 5408 can include opposing depressible triggers 5412 configured to actuate in opposite directions. Actuation of the trigger 5412 may disengage at least a portion of the robotic vacuum cleaner dirt cup 208 from a portion of the robotic vacuum cleaner 202 such that the robotic vacuum cleaner dirt cup 208 may be removed therefrom.

The outlet port 218 may include a discharge pivot door 5414. The drain pivot door 5414 may be configured to transition from an open position (e.g., when the robotic vacuum cleaner 202 is docked with the docking station 200) and a closed position (e.g., when the robotic vacuum cleaner 202 is performing a cleaning operation). When transitioned to the closed position, the drain pivot door 5414 may pivot in the direction of the robotic vacuum cleaner dust cup 208. Accordingly, during a cleaning operation, suction generated by the suction motor of the robotic vacuum cleaner 202 may urge the discharge pivot door 5414 toward the closed position. Additionally or alternatively, in some cases, a biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may urge the drain pivot door 5414 toward the closed position. When transitioned to the open position, the drain pivot door 5414 may pivot in a direction away from the robotic vacuum cleaner dust cup 208. Thus, when the robotic vacuum cleaner 202 is docked with the docking station 200, the suction force generated by the suction motor 1116 of the docking station 200 may urge the discharge pivot door 5414 toward the open position.

Fig. 55 shows a cutaway perspective view of the robotic vacuum cleaner 202 taken along line LV-LV of fig. 54. As shown, the robotic vacuum cleaner dirt cup 208 includes a rib 5500 having a plurality of teeth 5502. The teeth 5502 are configured to engage a portion of a cleaning roller 5504 of the robotic vacuum cleaner 202. The engagement between the teeth 5502 and the scrub roller 5504 causes fibrous debris (e.g., hair) wrapped around the scrub roller 5504 to be removed therefrom. Once removed from the scrub roller 5504, the fibrous debris may be deposited within the debris collection chamber 5506 of the robotic vacuum cleaner dirt cup 208.

In some cases, the scrub roller 5504 may be configured to operate in a counter-rotational direction to remove fiber impurities therefrom. The reverse rotational direction may generally correspond to a direction opposite to the rotational direction of the cleaning roller 5504 when the robotic vacuum cleaner 202 is performing a cleaning operation. When docked to docking station 200, robotic vacuum cleaner 202 may reverse cleaning roller 5504. For example, the robotic vacuum cleaner 202 may reverse the cleaning roller 5504 as the docking station 200 draws debris from the robotic vacuum cleaner dirt cup 208. Additionally or alternatively, the robotic vacuum cleaner 202 may reverse the cleaning roller 5504 during a cleaning operation.

The scrub roller 5504 is configured to engage a surface to be cleaned (e.g., a floor). The scrub roller 5504 can include one or more of bristles and/or fins that extend along the roller body 5508 of the scrub roller 5504. At least a portion of the cleaning roller 5504 may be configured to engage a surface to be cleaned such that debris remaining thereon may be urged into the debris collection chamber 5506 of the robotic vacuum cleaner dirt cup 208.

As shown, the bottom surface 5510 of the debris collection chamber 5506 includes a tapered region 5512 that extends between the robot cleaner dirt cup inlet 5514 and the outlet port 218. The tapered region 5512 may encourage debris to settle within the debris collection chamber 5506 at a location proximate the outlet port 218. Thus, the emptying of the robotic vacuum cleaner dust cup 208 may be improved. In some cases, the tapered area 5512 may improve airflow through the robotic vacuum cleaner dust cup 208 when the robotic vacuum cleaner dust cup 208 is emptied by the docking station 200. The tapered region 5512 may have a linear or curved profile, for example.

Fig. 56 shows a cutaway perspective view of the robotic vacuum cleaner 202 taken along line LVI-LVI of fig. 54. As shown, the debris collection chamber 5506 tapers from the robotic vacuum cleaner dust cup inlet 5602 to the outlet port 218, wherein the outlet port 218 is defined in a dust cup sidewall 5603 that extends between the top surface 5410 of the robotic vacuum cleaner dust cup 208 and the dust cup bottom surface 408. In other words, the robotic vacuum cleaner dirt cup width 5604 decreases as the distance from the robotic vacuum cleaner dirt cup inlet 5602 increases. Such a configuration may increase the velocity of air flowing therethrough, cause a greater linear velocity gradient to be created therein, and/or reduce the flow separation between air flowing through the robotic vacuum cleaner dirt cup 208 and the sides of the robotic cleaner dirt cup 208 as the robotic vacuum cleaner dirt cup 208 is emptied.

In some cases, and as shown, the robotic vacuum cleaner dirt cup 208 can include a constricted region 5606 on the opposite side of the debris collection chamber 5506. Thus, the converging sidewalls 5608, which at least partially define the respective converging region 5606, may define at least a portion of the taper of debris collection chamber 5506. In some cases, for example, the converging sidewall 5608 can be linear or curved. As shown, the converging sidewall 5608 has a convex curvature extending inwardly into debris collection chamber 5506 such that debris collection chamber 5506 tapers from the robotic vacuum cleaner dirt cup inlet 5602 to the outlet port 218.

In some cases, the constricted region 5606 can define an internal volume configured to receive a cleaning liquid to be applied to a surface to be cleaned. For example, the robotic vacuum cleaner 202 may be configured to perform one or more wet cleaning operations in which a cleaning liquid is applied to a cleaning pad that engages a surface to be cleaned. In these cases, the cleaning liquid may be replenished by the user and/or automatically when docked with the docking station 200.

Fig. 57 and 58 show cross-sectional views of a robotic vacuum cleaner 5701, which may be an example of the robotic cleaner 101 of fig. 1. As shown, the robotic vacuum cleaner 5701 includes a suction motor 5700 that is fluidly coupled to a robotic vacuum cleaner dirt cup 5702. A filter media 5704 (e.g., a HEPA filter) may be disposed within the flow path extending from the robotic vacuum cleaner dirt cup 5702 and the suction motor 5700 such that at least a portion of any debris entrained in the air flowing from the robotic vacuum cleaner dirt cup 5702 is captured by the filter media 5704.

A baffle 5706 can be provided between the filter media 5704 and the suction motor 5700. As shown, flapper 5706 is pivotably coupled to robotic vacuum cleaner 5701 such that flapper 5706 pivots toward an open position when suction motor 5700 is activated and flapper 5706 pivots toward a closed position when suction motor 5700 is not activated. In other words, the baffle 5706 can generally be described as a robotic vacuum cleaner dirt cup 5702 configured to selectively fluidly couple the suction motor 5700 to the robotic vacuum cleaner 5701.

As shown, the robotic vacuum cleaner dirt cup 5702 of robotic vacuum cleaner 5701 may include a drain pivot door 5708 that is configured to be actuated when the robotic vacuum cleaner 5701 engages a docking station. For example, the docking station can include a door protrusion 5709 (shown schematically in fig. 57 and 58) configured to pivot the drain pivot door 5708 from a closed position (e.g., the drain pivot door 5708 extends over the fluid outlet 5710 of the robotic vacuum cleaner dirt cup 5702) to an open position. As shown, the robotic vacuum cleaner dirt cup 5702 can include a projection socket 5711 configured to receive at least a portion of the door projection 5709 such that the drain pivot door 5708 is urged to an open position when at least a portion of the door projection 5709 is disposed within the projection socket 5711.

When the robotic vacuum cleaner 5701 is engaged with the docking station, the drain pivot door 5708 is in an open position such that the robotic vacuum cleaner dust cup 5702 is fluidly coupled to the docking station dust cup. When the robotic vacuum cleaner dust cup 5702 is fluidly coupled to the docking station dust cup, the flap 5706 can be in a closed position such that the suction motor 5700 is fluidly decoupled from the robotic vacuum cleaner dust cup 5702. Such a configuration may result in more debris being removed from the robotic vacuum cleaner dust cup 5702 by increasing the suction force generated within the robotic vacuum cleaner dust cup 5702.

In some cases, robotic vacuum cleaner 5701 may include an exhaust 5712 configured to be in a closed position (fig. 57) when suction motor 5700 is activated and an open position (fig. 58) when robotic vacuum cleaner 5701 is engaging a docking station. When the vent 5712 is in an open position, a flow path may extend from the environment surrounding the robotic vacuum cleaner 5701, through the filter media 5704, and into the robotic vacuum cleaner dust cup 5702. Thus, debris trapped in the filter media 5704 may be entrained in the airflow through the filter media 5704 when the docking station creates a suction force.

In some cases, when robotic vacuum cleaner 5701 is engaged with a docking station, robotic vacuum cleaner 5701 can be configured to operate suction motor 5700 in a reverse configuration such that suction motor 5700 pushes debris away from robotic vacuum cleaner dirt cup 5702. For example, when the suction motor 5700 is operating in a reverse configuration, a flow path may extend from the suction motor 5700 of the robotic vacuum cleaner 5701, through the filter media 5704 and the robotic vacuum cleaner dust cup 5702, and into the fluid outlet 5710 of the robotic vacuum cleaner dust cup 5702. Such a configuration may facilitate removal of debris captured in the filter media 5704 therefrom. Thus, when the docking station causes a suction force to be generated, the suction motor 5700 may be generally described as cooperating with the suction motor of the docking station to propel debris from the robotic vacuum cleaner dirt cup 5702.

Thus, the robotic vacuum cleaner and the docking station may be configured to operate in cooperation to improve the discharge of debris from the robotic vacuum cleaner dirt cup into the docking station dirt cup. For example, the synchronized operation of the robotic vacuum cleaner suction motor and the docking station suction motor may improve the discharge of debris from the robotic cleaner dirt cup. By way of further example, the synchronized operation of the robotic vacuum cleaner suction motor and the docking station suction motor may improve the removal of debris from the agitator (e.g., brush roll) and/or from the rib having a plurality of teeth (e.g., rib 5500). In some cases, the agitator of the robotic vacuum cleaner may be caused to rotate while the robotic vacuum cleaner dust cup is being emptied. Such a configuration may remove fiber impurities from the agitator and/or the ribs (e.g., rib 5500). For example, the beater may be rotated in a reverse direction (i.e. a rotational direction opposite to the rotational direction of the beater when the robotic vacuum cleaner is cleaning).

The cooperative operation of the robotic vacuum cleaner suction motor and the docking station suction motor may be achieved in a number of ways. In one example, a timer system is used to coordinate collaboration. In another example, optical communication between the robotic vacuum cleaner and the docking station may be used to coordinate the cooperation.

Fig. 64 shows a flowchart of an exemplary method of operation for docking station 7000 and robot cleaner 7100, where docking station 7000 may be any of the examples of docking station 100 of fig. 1, and robot cleaner 7100 may be any of the examples of robot cleaner 101 of fig. 1. The docking station 7000 and the robot cleaner 7100 can be configured to cooperate to empty the robot cleaner dust cup of the robot cleaner 7100. The method of operation shown in the flowchart of fig. 64 may be generally described as including a power-on behavior 7050, an off-station behavior 7052, and an inbound behavior 7054. Inbound behavior 7054 may include a drain sub-behavior 7056 and a charge sub-behavior 7058.

As shown in fig. 64, the docking station 7000 is configured to transition 7001 from the off state to the on state (e.g., in response to being coupled to a power source). In response to the transition to the on state, the controller of the docking station 7000 is brought into the guiding state 7002. When in the guide state 7002, programming for operation of the docking station 7000 is loaded. The programming may include instructions configured to cause docking station 7000 to determine whether robotic cleaner 7100 is docked with docking station 7000.

If it is determined that robot cleaner 7100 is docked with docking station 7000, docking station 7000 enters first standby mode 7006. When in the first standby mode 7006, the docking station 7000 provides power to the robotic cleaner 7100 to charge one or more batteries of the robotic cleaner 7100. Further, when in the first standby mode 7006, the docking station suction motor is deactivated and one or more emitters (e.g., light emitting diodes) of the docking station 7000 used to guide the robotic cleaner 7100 to the docking station 7000 may be deactivated.

If it is determined that the robot cleaner 7100 is not docked with the docking station 7000, the docking station 7000 enters the second standby mode 7003. When in the second standby mode 7003, the one or more emitters are activated such that optical signals are emitted into the ambient environment and the docking station suction motor is deactivated. Further, when in the second standby mode 7003, the docking station 7000 is configured to determine whether the robot cleaner 7100 is subsequently docked with the docking station 7000. If it is determined that the robot cleaner has subsequently docked with docking station 7000, an initial docking timer 7004 is started on the controller of docking station 7000. For example, the initial docking timer 7004 may correspond to seven second time periods.

The robotic cleaner 7100 may also be configured to determine whether the robotic cleaner 7100 has been docked with the docking station 7000. For example, robotic cleaner 7100 may be configured to detect and follow signals generated by one or more transmitters of docking station 7000 so that the robotic cleaner approaches 7101 docking station 7000 and docks with docking station 7000. When the robot cleaner 7100 detects an electrical coupling with the charging contacts of the docking station 7000, it can be determined that the docking is successful. After the robot cleaner 7100 docks with the docking station 7000, a robot docking timer 7102 is started on the controller of the robot cleaner 7100. For example, robot docking timer 7102 may correspond to seven second time periods. In some cases, the robot docking timer 7102 and the initial docking timer 7004 may correspond to the same time period. In other cases, the robot docking timer 7102 and the initial docking timer 7004 may correspond to different time periods.

In response to the initial docking timer 7004 elapsing, the docking station 7000 is caused to enter the automatic evacuation routine 7005. When operating according to the automatic evacuation routine 7005, the suction motor of the docking station 7000 is caused to be activated. Thus, docking station 7000 may generally be described as being configured to activate the docking station suction motor after determining that robotic cleaner 7100 is docked with docking station 7000 and in response to a triggering event (e.g., corresponding to the expiration of a predetermined time period elapsed for initial docking timer 7004).

Activation of the suction motor of docking station 7000 causes air to be sucked into docking station 7000 so that debris in the robot cleaner dust cup can be pushed into docking station 7000. When operating according to the automatic evacuation routine 7005, the docking station 7000 does not provide power to the charging contacts of the docking station 7000. Thus, when operating according to the automatic evacuation routine 7005, the docking station 7000 does not charge the battery or batteries of the robotic cleaner 7100. The docking station 7000 may operate according to the automatic evacuation routine 7005 over a 15 second time period.

In response to the passage of the robot docking timer 7102, the robot cleaner 7100 is caused to enter at least one of a first discharge state 7103 and/or a second discharge state 7104, wherein the first discharge state 7103 and the second discharge state 7104 cause the robot cleaner 7100 to engage in a behavior corresponding to a respective one of the discharge states 7103 and 7104. For example, the first discharge state 7103 can cause the robotic cleaner 7100 to activate a suction motor of the robotic cleaner 7100 and/or cause a stirrer of the robotic cleaner 7100 to rotate (e.g., in a forward and/or reverse direction). During at least a portion of the automatic evacuation routine 7005 of the docking station 7000 the robotic cleaner 7100 may be caused to operate according to a first discharge state 7103. By way of further example, the second discharge state 7104 may cause the robotic cleaner 7100 to rotate an agitator of the robotic cleaner 7100 in a reverse direction and/or a forward direction (e.g., without activating a suction motor of the robotic cleaner 7100). During at least a portion of the automatic evacuation routine 7005 of the docking station 7000 the robotic cleaner 7100 may be caused to operate according to the second emission state 7104. The robot cleaner 7100 may operate for a 15 second period of time according to the first discharge state 7103 or the second discharge state 7104. In some cases, the time period for which the robotic cleaner 7100 operates according to the first discharge state 7103 or the second discharge state 7104 may correspond to the time period for which the docking station 7000 operates according to the automatic evacuation routine 7005. For example, a time period for which the robot cleaner 7100 operates according to the first discharge state 7103 or the second discharge state 7104 may be measured as 15 seconds.

In some cases, the robotic cleaner 7100 may operate according to both the first discharge state 7103 and the second discharge state 7104. When the docking station 7000 is operating according to the automatic evacuation routine 7005, the robotic cleaner 7100 may be operated in both the first discharge state 7103 and the second discharge state 7104. For example, the robot cleaner 7100 may operate in a combined discharge state period according to the first discharge state 7103 and the second discharge state 7104. The combined emission state time period may be measured to be the same as the time period that docking station 7000 is operating according to automatic evacuation routine 7005. For example, the combined emission state time period may be measured as 15 seconds. In this example, the robotic cleaner 7100 may be operated for a first period of time (e.g., seven seconds) according to one of the first discharge state 7103 or the second discharge state 7104, and then operated for a second period of time (e.g., eight seconds) according to the other of the first discharge state 7103 or the second discharge state 7104.

In response to completion of the automatic evacuation routine 7005, the docking station 7000 enters the first standby mode 7006. In response to completing one or more of the first discharge state 7103 and/or the second discharge state 7104, the robotic cleaner 7100 enters a charging mode 7105 in which one or more batteries of the robotic cleaner 7100 are recharged via charging contacts of the docking station 7000. When operating according to the charging mode 7105, the robotic cleaner 7100 deactivates one or more cleaning systems (e.g., a suction motor and/or a motor configured to rotate a agitator of the robotic cleaner 7100).

In response to the robotic cleaner 7100 exiting the docking station 7000 (e.g., to engage in a cleaning operation), the docking station may be brought into an initial exit mode 7007. The initial departure mode 7007 may cause a robot absent timer to be started. If robot cleaner 7100 docks with docking station 7000 before the robot absence timer expires, docking station 7000 is left in first standby mode 7006. If the robot cleaner 7100 is not docked with docking station 7000 before the robot absence timer expires, then docking station 7000 is entered into second standby mode 7003. The robot absence timer may for example correspond to a 60 second timer.

The initial outbound mode 7007 may be generally described as being configured to prevent the docking station 7000 from operating in the automatic evacuation routine 7005 when the robotic cleaner 7100 has not yet performed a cleaning operation. Similarly, the robotic cleaner 7100 may be configured to start a cleaning timer, wherein the robotic cleaner 7100 is not caused to enter the first discharge state 7103 and/or the second discharge state 7104 if the cleaning timer has not expired before the robotic cleaner 7100 is docked with the docking station 7000.

In another example, optical signals generated by emitters on the robotic cleaner 7100 and/or docking station 7000 can be used to coordinate cooperation between the robotic cleaner 7100 and docking station 7000.

Fig. 65 shows a flow diagram of another exemplary method of operation for docking station 7200 and robot cleaner 7300, where docking station 7200 may be any of the examples of docking station 100 of fig. 1, and robot cleaner 7300 may be any of the examples of robot cleaner 101 of fig. 1. Docking station 7200 and robot cleaner 7300 can be configured to cooperate to empty the robot cleaner dust cup of robot cleaner 7300. For example, docking station 7200 and robot cleaner 7300 can be configured to cooperate based at least in part on optical signals transmitted and/or received from one or more of docking station 7200 and/or robot cleaner 7300. The method of operation shown in the flowchart of fig. 65 may be generally described as including a power-on behavior 7250, an outbound behavior 7252, and an inbound behavior 7254. The inbound behavior 7254 may include a drain sub-behavior 7256 and a charge sub-behavior 7258.

As shown in fig. 65, the docking station 7200 is configured to transition 7201 from an off state to an on state (e.g., in response to being coupled to a power source). In response to transitioning to the on state, the controller of the docking station 7200 is brought into a boot state 7202. When in the boot state 7202, programming for operation of the docking station 7200 is loaded. The programming may include instructions configured to cause docking station 7200 to determine whether robotic cleaner 7300 is docked with docking station 7200.

If it is determined that robot cleaner 7300 is docked with docking station 7200, docking station 7200 enters first standby mode 7206. When in the first standby mode 7206, the docking station 7200 provides power to the robotic cleaner 7300, charging one or more batteries of the robotic cleaner 7300. Further, when in the first standby mode 7206, the docking station suction motor is deactivated and one or more emitters (e.g., light emitting diodes) of the docking station 7200 for guiding the robotic cleaner 7300 to the docking station 7200 may be deactivated.

If it is determined that the robot cleaner 7300 is not docked with docking station 7200, docking station 7200 enters a second standby mode 7203. While in the second standby mode 7203, the one or more emitters are activated such that the first optical signal is emitted into the ambient environment and the docking station suction motor is deactivated. When generating the first optical signal, the transmitter may generally be described as operating according to a transmitter (e.g., light emitting diode) docking mode.

Further, while in the second standby mode 7203, docking station 7200 is configured to determine whether robot cleaner 7300 is subsequently docked with docking station 7200. If it is determined that robot cleaner 7300 has subsequently docked with docking station 7200, a second optical signal (e.g., a synchronization signal) is generated 7204 by docking station 7200. In other words, the synchronization signal is generated 7204 in response to determining that the robotic cleaner 7300 has docked with the docking station 7200. When generating 7204 a second optical signal, the transmitter may generally be described as operating according to a transmitter (e.g., light emitting diode) synchronization state. After (e.g., in response to) robot cleaner 7300 docking with docking station 7200 and receiving the docked second optical signal, docking station 7200 may be configured to transmit a third optical signal (e.g., a functional signal). When generating the third optical signal, the transmitter may generally be described as operating according to a transmitter (e.g., light emitting diode) functional state. For example, a third optical signal may be generated by the docking station 7200 in response to determining that the drain pivot door of the robotic cleaner dirt cup is in the open position.

Robot cleaner 7300 may also be configured to determine whether robot cleaner 7300 has been docked with docking station 7200. For example, robotic cleaner 7300 may be configured to detect and follow a first optical signal generated by one or more emitters of docking station 7200 such that robotic cleaner 7300 approaches 7301 docking station 7200 and docks with docking station 7200. When robot cleaner 7300 detects an electrical coupling with the charging contacts of docking station 7200, successful docking may be determined. After robot cleaner 7300 docks with docking station 7200, robot cleaner 7300 is configured to detect a second optical signal emitted from an emitter of docking station 7200. When the second optical signal is detected, the robot cleaner 7300 may be configured to detect a third optical signal. In some cases, robotic cleaner 7300 may be configured to detect a transition between the second optical signal and the third optical signal. For example, robotic cleaner 7300 may be configured to detect a transition of a transmitter of docking station 7200 from a synchronized state to a functional state.

After (e.g., in response to) the transmitter of docking station 7200 transmitting the second optical signal, docking station 7200 is caused to operate in accordance with automatic evacuation routine 7205. When operating in accordance with the automatic evacuation routine 7205, the suction motor of docking station 7200 is activated. Thus, docking station 7000 can generally be described as being configured to activate the docking station suction motor after determining that robotic cleaner 7100 is docked with docking station 7000 and in response to a triggering event (e.g., generation of a synchronization signal).

Activation of the suction motor of docking station 7200 causes air to be drawn into docking station 7200 such that debris can be pushed from the robot cleaner dirt cup into docking station 7200. The docking station 7200 can be configured to generate a third optical signal if an airflow generated by a suction motor of the docking station 7200 transitions a discharge pivot door of a robotic cleaner dirt cup to an open position. If the airflow generated by the suction motor of docking station 7200 does not transition the discharge pivot door to the open position, the suction motor of docking station 7200 is deactivated prior to expiration of a predetermined time corresponding to the duration of automatic evacuation routine 7205.

When operating according to automatic evacuation routine 7205, docking station 7200 does not provide power to the charging contacts of docking station 7200. Thus, when operating according to the automatic evacuation routine 7205, the docking station 7200 does not charge the one or more batteries of the robotic cleaner 7300. Docking station 7200 may operate in an automatic evacuation routine 7205 for a period of 15 seconds.

When docked 7302 with docking station 7200, and after (e.g., in response to) detecting the third optical signal, robot cleaner 7300 may be caused to enter at least one of a first discharge state 7303 and/or a second discharge state 7304, where the first discharge state 7303 and the second discharge state 7304 cause robot cleaner 7300 to engage in behavior corresponding to a respective one of the discharge states 7303 and 7304. For example, first discharge state 7303 may cause robot cleaner 7300 to activate a suction motor of robot cleaner 7300 and/or cause an agitator of robot cleaner 7300 to rotate (e.g., in a forward and/or reverse direction). During at least a portion of the automatic evacuation routine 7205 of docking station 7200, the robotic cleaner 7300 may be caused to operate according to a first discharge state 7303. By way of further example, the second discharge state 7304 may cause the robot cleaner 7300 to rotate an agitator of the robot cleaner 7300 in a reverse direction and/or a forward direction (e.g., without activating a suction motor of the robot cleaner 7300). During at least a portion of the automatic evacuation routine 7205 of docking station 7200, the robotic cleaner 7300 may be caused to operate according to a second discharge state 7304. The robot cleaner 7300 may operate in a 15 second period according to the first discharge state 7303 or the second discharge state 7304. In some cases, the period of time that the robot cleaner 7300 operates according to the first discharge state 7303 or the second discharge state 7304 may correspond to the period of time that the docking station 7200 operates according to the automatic evacuation routine 7205. For example, the period of time for which the robot cleaner 7300 operates according to the first discharge state 7303 or the second discharge state 7304 may be measured as 15 seconds.

In some cases, the robot cleaner 7300 may operate according to both the first discharge state 7303 and the second discharge state 7304. When the docking station 7200 operates in accordance with the automatic evacuation routine 7205, the robotic cleaner 7300 may be caused to operate in both the first discharge state 7303 and the second discharge state 7304. For example, the robot cleaner 7300 may operate within a combined discharge state period according to the first and second discharge states 7303 and 7304. The combined discharge state time period may be measured to be the same as the time period that docking station 7200 operates according to automatic evacuation routine 7205. For example, the combined emission state time period may be measured as 15 seconds. In this example, the robot cleaner 7300 may operate for a first period of time (e.g., seven seconds) according to one of the first discharge state 7303 or the second discharge state 7304, and then operate for a second period of time (e.g., eight seconds) according to the other of the first discharge state 7303 or the second discharge state 7304.

In response to completing the auto evacuation routine 7205, docking station 7200 enters a first standby mode 7206. In response to completing one or more of the first discharge state 7303 and/or the second discharge state 7304, the robotic cleaner 7300 enters a charging mode 7305 in which one or more batteries of the robotic cleaner 7300 are recharged via charging contacts of the docking station 7200. When operating according to the charging mode 7305, the robotic cleaner 7300 deactivates one or more cleaning systems (e.g., a suction motor of the robotic cleaner 7300 and/or a motor configured to rotate a beater).

In response to robot cleaner 7300 exiting docking station 7200 (e.g., to engage in a cleaning operation), docking station 7200 may be brought into an initial exit mode 7207. The initial departure mode 7207 can cause a robot absent timer to be started. If robot cleaner 7300 docks with docking station 7200 before the robot absence timer expires, docking station 7200 is left in first standby mode 7206. If robot cleaner 7300 is not docked with docking station 7200 before the robot absence timer expires, docking station 7200 is caused to enter a second standby mode 7203. The robot absence timer may for example correspond to a 60 second timer.

The initial outbound mode 7207 may generally be described as being configured to prevent docking station 7200 from operating in the automatic evacuation routine 7205 when robotic cleaner 7300 has not yet performed a cleaning operation. Similarly, robot cleaner 7300 may be configured to start a cleaning timer, where robot cleaner 7300 is not brought into first discharge state 7303 and/or second discharge state 7304 if the cleaning timer has not expired before robot cleaner 7300 docks with docking station 7200.

Fig. 59 and 60 show a schematic example of a robotic vacuum cleaner dirt cup 5900 with a drain pivot door 5902. As shown, the robotic vacuum cleaner dirt cup 5900 includes a sliding latch 5904 that slides in response to the robotic vacuum cleaner engaging the docking station. When a suction force is generated by the docking station, the drain pivot door 5902 may be transitioned to an open position such that the robotic vacuum cleaner dirt cup 5900 is fluidly coupled to the docking station via the outlet port 5906 of the robotic vacuum cleaner dirt cup 5900. Additionally or alternatively, the drain pivot door 5902 may be biased toward an open position (e.g., as shown in fig. 60) using a biasing mechanism (e.g., using a spring, a resilient member, and/or any other biasing mechanism). In these cases, the sliding latch 5904 resists the pivoting motion of the discharge pivot door 5902 such that the discharge pivot door 5902 is urged to an open position by the biasing mechanism as the sliding latch 5904 moves in response to the robotic vacuum cleaner engaging the docking station. In some cases, the biasing mechanism may urge the drain pivot door 5902 toward the closed position (e.g., as shown in fig. 59).

Figures 61 and 62 show an example of a robotic vacuum cleaner dirt cup 6100 having a discharge pivot door 6102. As shown, the drain pivot door 6102 includes a pivot door latch 6104 configured to engage a portion of the docking station 6106 (e.g., docking station 100 of fig. 1). As shown, when the robotic vacuum cleaner dust cup 6100 moves over a portion of the docking station 6106, the discharge pivot door 6102 pivots toward the docking station 6106 such that the docking station suction inlet 6108 can be fluidly coupled to the outlet port 6110 of the robotic vacuum cleaner dust cup 6100. In some cases, the drain pivot door 6102 may be biased toward the closed position (e.g., as shown in fig. 61) using a biasing mechanism (e.g., using a spring, a resilient member, and/or any other biasing mechanism). Additionally or alternatively, the drain pivot door 6102 may engage a latch 6300 configured to hold the closure flap in the closed position until the latch is actuated by engagement with the docking station (see, e.g., fig. 63).

A docking station for a robotic vacuum cleaner may include a base, a dirt cup configured to pivot relative to the base, and a suction motor configured to draw air into the dirt cup.

In some cases, the docking station may be configured to pivot in a direction away from the base. In some cases, the base may define a pre-motor filter chamber with a pre-motor filter, a motor chamber with a suction motor, and a post-motor filter chamber with a post-motor filter. In some cases, the suction motor and the pre-motor filter may be aligned along an axis passing through the suction motor and the pre-motor filter. In some cases, the dirt cup is configured to create a cyclone. In some cases, the cyclone may be a horizontal cyclone.

The docking system may include a robotic vacuum cleaner and a docking station. The robotic vacuum cleaner may comprise a robotic vacuum cleaner dust cup. The docking station may be configured to be fluidly coupled to a robotic vacuum cleaner dirt cup. The docking station may include a base, a docking station dirt cup configured to pivot relative to the base, and a suction motor configured to draw air into the docking station dirt cup.

In some cases, the robotic vacuum cleaner dirt cup may include an outlet port configured to be in fluid communication with the docking station dirt cup. In some cases, the robotic vacuum cleaner dirt cup can include a drain pivot door configured to selectively cover the outlet port. In some cases, the drain pivot door may be configured to transition to the open position in response to the robotic vacuum cleaner engaging the docking station. In some cases, the docking station may include a protrusion configured to transition the drain pivot door from the closed position to the open position. In some cases, the docking station dirt cup may be configured to pivot in a direction away from the base. In some cases, the base may define a pre-motor filter chamber with a pre-motor filter, a motor chamber with a suction motor, and a post-motor filter chamber with a post-motor filter. In some cases, the suction motor and the pre-motor filter may be aligned along an axis passing through the suction motor and the pre-motor filter. In some cases, the docking station dirt cup may be configured to create a cyclone. In some cases, the cyclone may be a horizontal cyclone.

A docking station for a robotic vacuum cleaner may include a base, a dirt cup defining an interior volume, a filter disposed within the interior volume such that a first debris collection chamber and a second debris collection chamber are defined within the dirt cup, and a suction motor configured to draw air into the dirt cup.

In some cases, the dirt cup can be configured to pivot relative to the base. In some cases, the docking station may be configured to pivot in a direction away from the base. In some cases, the base may define a pre-motor filter chamber having a pre-motor filter, a motor chamber having a suction motor, and a post-motor filter chamber having a post-motor filter. In some cases, the suction motor and the pre-motor filter may be aligned along an axis passing through the suction motor and the pre-motor filter. In some cases, the dirt cup may be configured to create a cyclone. In some cases, the cyclone may be a horizontal cyclone.

A docking station for a robotic vacuum cleaner may include a base, a dirt cup defining an interior volume, a filter disposed within the interior volume such that a first debris collection chamber and a second debris collection chamber are defined within the dirt cup, an agitator configured to remove debris adhered to the filter, and a suction motor configured to draw air into the dirt cup.

In some cases, the dirt cup may be configured to pivot relative to the base. In some cases, the docking station may be configured to pivot in a direction away from the base. In some cases, the base may define a pre-motor filter chamber with a pre-motor filter, a motor chamber with a suction motor, and a post-motor filter chamber with a post-motor filter. In some cases, the suction motor and the pre-motor filter may be aligned along an axis passing through the suction motor and the pre-motor filter. In some cases, the dirt cup may be configured to create a cyclone. In some cases, the cyclone may be a horizontal cyclone.

A docking station for a robotic vacuum cleaner may include a base; a dust cup disposed in the base; a dust cover movably coupled to the base, the dust cover configured to move in response to the robotic vacuum cleaner engaging the dust cover; and a suction motor configured to draw air through the dust cover and into the dirt cup.

In some cases, the dust cover may be configured to move when the robotic vacuum cleaner engages the dust cover in a misaligned orientation.

The docking system may include a robotic vacuum cleaner and a docking station. The robotic vacuum cleaner may comprise a robotic vacuum cleaner dust cup. The docking station may be configured to be fluidly coupled to a robotic vacuum cleaner dirt cup. The docking station may include a base; a dust cup disposed in the base; a dust cover movably coupled to the base, the dust cover configured to move in response to the robotic vacuum cleaner engaging the dust cover; and a suction motor configured to draw air through the dust cover and into the dust cup.

A docking station for a robotic vacuum cleaner may include: a base; a dust collecting cup; a suction motor configured to draw air into the dirt cup through an inlet configured to be fluidly coupled to the robotic vacuum cleaner; and an alignment protrusion configured to engage an alignment socket on the robotic vacuum cleaner to urge the robotic vacuum cleaner into alignment with the inlet.

A docking station for a robotic cleaner may include a base, a docking station suction inlet, and an alignment protrusion. The base may include a support and a suction housing. A suction inlet may be defined in the suction housing, the docking station suction inlet being configured to be fluidly coupled to the robotic cleaner. The alignment protrusion may be defined in the support and may be configured to urge the robotic cleaner toward an orientation in which the robotic cleaner is fluidly coupled to the docking station suction inlet.

In some cases, the docking station may include a dust cover configured to engage at least a portion of the robotic cleaner, the dust cover configured to move in response to the robotic cleaner engaging the base in a misaligned orientation. In some cases, the alignment protrusion may include a first protrusion sidewall and a second protrusion sidewall that converge toward a central axis of the docking station suction inlet as the distance from the docking station suction inlet increases. In some cases, the first projection sidewall and the second projection sidewall can include respective arcuate portions. In some cases, the floor-facing surface of the support may include one or more grid areas. In some cases, at least a portion of at least one of the one or more grid areas may define a honeycomb structure.

A robotic cleaner configured to dock with the docking station may include a robotic cleaner dirt cup and an alignment receptacle. The robotic cleaner dirt cup can be configured to receive debris and can include a robotic cleaner dirt cup inlet and an outlet port, which can be configured to be fluidly coupled to the docking station. The alignment receptacle may be configured to receive a corresponding alignment protrusion defined by the docking station such that mutual engagement between the alignment receptacle and the alignment protrusion urges the robotic cleaner toward an orientation in which the robotic cleaner is fluidly coupled to the docking station.

In some cases, the alignment receptacle can be defined in the robotic cleaner dirt cup. In some cases, the alignment receptacle may include first and second receptacle sidewalls that are offset from a central axis of the outlet port as the first and second receptacle sidewalls approach the outlet port. In some cases, the first and second receptacle sidewalls may include respective arcuate portions.

The robotic vacuum cleaning system may include a docking station and a robotic vacuum cleaner. The docking station may include a base including a support and a suction housing, a docking station suction inlet defined in the suction housing, and an alignment protrusion defined in the support. The robotic vacuum cleaner may include an alignment receptacle configured to receive at least a portion of the alignment protrusion, wherein the interengagement between the alignment receptacle and the alignment protrusion is configured to urge the robotic vacuum cleaner toward an orientation in which the robotic vacuum cleaner is fluidly coupled to the docking station suction inlet.

In some cases, the robotic vacuum cleaner may comprise a robotic vacuum cleaner dirt cup having an outlet port, the robotic vacuum cleaner dirt cup defining an alignment receptacle. In some cases, the alignment receptacle may include first and second receptacle sidewalls that are offset from an outlet port central axis of the outlet port as the first and second receptacle sidewalls extend toward the outlet port. In some cases, the first and second receptacle sidewalls may include respective arcuate portions. In some cases, the docking station may include a dust cover configured to engage at least a portion of the robotic vacuum cleaner, the dust cover configured to move in response to the robotic vacuum cleaner engaging the base in a misaligned orientation. In some cases, the alignment protrusion may include a first protrusion sidewall and a second protrusion sidewall that converge toward a docking station suction inlet central axis of the docking station suction inlet with increasing distance from the docking station suction inlet. In some cases, the first projection sidewall and the second projection sidewall can include respective arcuate portions. In some cases, the floor-facing surface of the support may include one or more grid areas. In some cases, at least a portion of at least one of the one or more grid areas may define a honeycomb structure. In some cases, the robotic vacuum cleaner may be configured to detect proximity of the docking station based on detection of a magnetic field extending from the support.

The robotic cleaning system may include a robotic cleaner having a robotic cleaner dirt cup; and a docking station having a docking station dirt cup configured to be fluidly coupled to the robotic cleaner dirt cup. The docking station dirt cup may include a first debris collection chamber, a second debris collection chamber fluidly coupled to the first debris collection chamber, and a filter fluidly coupled to the first debris collection chamber and the second debris collection chamber.

In some cases, the docking station dirt cup may include a cyclonic separator having a debris outlet configured such that debris separated from air flowing through the cyclonic separator is deposited in the second debris collection chamber. In some cases, the docking station dirt cup may include a plenum fluidly coupled to the first debris collection chamber and the second debris collection chamber. In some cases, at least a portion of the plenum may be defined by at least a portion of the filter. In some cases, the docking station dirt cup may include an openable door and an upper duct extending between the openable door and the plenum. In some cases, the uptake may include an uptake air outlet spaced apart from the openable door and a flow director extending from the uptake air outlet, the flow director configured to urge at least a portion of the air flowing from the uptake air outlet in a direction away from the plenum. In some cases, the docking station dirt cup may include an agitator configured to remove at least a portion of debris adhered to the filter therefrom. In some cases, the filter may be a vertical cyclone.

A docking station for a robot cleaner having a robot cleaner dirt cup can include a base and a docking station dirt cup removably coupled to the base and configured to be fluidly coupled to the robot cleaner dirt cup. The docking station dirt cup may include a first debris collection chamber, a second debris collection chamber fluidly coupled to the first debris collection chamber, and a filter fluidly coupled to the first debris collection chamber and the second debris collection chamber.

In some cases, the docking station dirt cup may include a cyclonic separator having a debris outlet configured such that debris separated from air flowing through the cyclonic separator is deposited in the second debris collection chamber. In some cases, the docking station dirt cup may include a plenum fluidly coupled to the first debris collection chamber and the second debris collection chamber. In some cases, at least a portion of the plenum may be defined by at least a portion of the filter. In some cases, the docking station dirt cup may include an openable door and an upper duct extending between the openable door and the plenum. In some cases, the uptake may include an uptake air outlet spaced apart from the openable door and a flow director extending from the uptake air outlet, the flow director being configured to push at least a portion of the air flowing from the uptake air outlet in a direction away from the plenum. In some cases, the docking station dirt cup may include an agitator configured to remove at least a portion of debris adhered to the filter therefrom. In some cases, the filter may be a vertical cyclone.

A dirt cup for a robot cleaner docking station may include a first debris collection chamber, a second debris collection chamber fluidly coupled to the first debris collection chamber, and a filter fluidly coupled to the first debris collection chamber and the second debris collection chamber.

In some cases, the dirt cup may include a cyclone separator having a debris outlet configured to cause debris separated from air flowing through the cyclone separator to be deposited in the second debris collection chamber. In some cases, the dirt cup may include a plenum chamber fluidly coupled to the first debris collection chamber and the second debris collection chamber. In some cases, at least a portion of the plenum may be defined by at least a portion of the filter. In some cases, the dirt cup can include an openable door and an upper duct extending between the openable door and the plenum. In some cases, the uptake may include an uptake air outlet spaced apart from the openable door and a flow director extending from the uptake air outlet, the flow director configured to urge at least a portion of the air flowing from the uptake air outlet in a direction away from the plenum.

A docking station for a robotic cleaner may include a base, a docking station dirt cup, a latch, and a release system. The docking station dirt cup may be removably coupled to the base, wherein the docking station dirt cup may be removed from the base in response to pivotal movement of the docking station dirt cup relative to the base about a pivot point. A latch is actuatable between a retaining position and a release position, the latch being horizontally spaced from the pivot point, wherein pivotal movement of the docking station dirt cup is substantially prevented when the latch is in the retaining position. The release system may be configured to actuate the latch between the hold position and the release position.

In some cases, the release system may include an actuator configured to push the push rod between the first push rod position and the second push rod position in response to the actuator being actuated, and a push rod configured to push the latch between the hold position and the release position. In some cases, the latch may be pivotally coupled to the docking station dirt cup. In some cases, the base may include a plunger that is urged into engagement with the docking station dirt cup such that the plunger pivotably urges the docking station dirt cup away from the base when the latch is in the released position. In some cases, the docking station dirt cup may include an openable door defining a plunger receptacle for receiving at least a portion of the plunger. In some cases, the docking station dirt cup may include a pivot catch configured to engage a corresponding pivot lever pivotably coupled to the base. In some cases, the pivot buckle may define a buckle cavity configured to engage at least a portion of the pivot lever, the pivot lever being urged toward the buckle cavity. In some cases, the latch may be configured to be urged toward the retention position. In some cases, the docking station dirt cup may define a release area configured to prevent the base from preventing pivotal movement of the docking station dirt cup relative to the base. In some cases, at least a portion of the docking station dirt cup may be configured to be pushed away from the base in response to the latch being actuated to the release position.

The cleaning system may include a robotic cleaner and a docking station configured to be fluidly coupled to the robotic cleaner. The robot cleaner may include a base and a docking station dirt cup removably coupled to the base, wherein the docking station dirt cup is removable from the base in response to pivotal movement of the docking station dirt cup relative to the base about a pivot point. The docking station dirt cup may include a latch actuatable between a retaining position and a release position, the latch being horizontally spaced from the pivot point; and a release system configured to actuate the latch between the hold position and the release position.

In some cases, the release system may include an actuator configured to push the push rod between the first push rod position and the second push rod position in response to the actuator being actuated, and a push rod configured to push the latch between the hold position and the release position. In some cases, the latch may be pivotally coupled to the docking station dirt cup. In some cases, the base may include a plunger that is urged into engagement with the docking station dirt cup such that the plunger pivotably urges the docking station dirt cup away from the base when the latch is in the released position. In some cases, the docking dirt cup can include an openable door that defines a plunger receptacle for receiving at least a portion of the plunger. In some cases, the docking station dirt cup may include a pivot catch configured to engage a corresponding pivot lever pivotably coupled to the base. In some cases, the pivot clasp may define a clasp cavity configured to engage at least a portion of a pivot lever, the pivot lever being urged toward the clasp cavity. In some cases, the latch may be configured to be urged toward the holding position. In some cases, the docking station dirt cup may define a release area configured to prevent the base from preventing pivotal movement of the docking station dirt cup relative to the base. In some cases, at least a portion of the docking station dirt cup may be configured to be pushed away from the base in response to the latch being actuated to the release position.

A docking station for a robotic cleaner can include a base including a support and a suction housing; a docking station suction inlet defined in the suction housing, the docking station suction inlet configured to be fluidly coupled to the robotic cleaner; and a docking station suction motor, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event.

In some cases, the triggering event may be the expiration of a predetermined time period. In some cases, the triggering event may be the generation of a synchronization signal. In some cases, the docking station suction motor may be started within a predetermined time. In some cases, the docking station suction motor may be deactivated prior to expiration of a predetermined time in response to determining that the drain pivot door of the robotic cleaner dirt cup is in the closed position. In some cases, the docking station may be configured to generate a synchronization signal in response to determining that the robot cleaner is docked with the docking station. In some cases, the docking station may be configured to generate a function signal in response to determining that a drain pivot door of the robotic cleaner dirt cup is in an open position.

A robotic cleaner configured to dock with a docking station may include a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station; a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and an agitator configured to rotate in an agitator forward direction and an agitator reverse direction.

In some cases, the robotic cleaner suction motor may be operated in a suction motor reverse direction in response to docking with the docking station. In some cases, the agitator may be rotated in an agitator reverse direction in response to docking with the docking station. In some cases, the agitator may be rotated in an agitator reverse direction and an agitator forward direction in response to docking with the docking station. In some cases, the robotic cleaner dirt cup can further include a rib having a plurality of teeth configured to engage the agitator. In some cases, the robotic cleaner suction motor may be operated in a suction motor reverse direction in response to receiving a function signal from the docking station. In some cases, the agitator may be rotated in an agitator reverse direction in response to receiving the functional signal from the docking station.

The robotic cleaning system may include a docking station and a robotic cleaner. The docking station may include a base including a support and a suction housing, a docking station suction inlet defined in the suction housing, and a docking station suction motor, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event. The robotic cleaner may include a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station; a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and an agitator configured to rotate in an agitator forward direction and an agitator reverse direction.

In some cases, the docking station may be configured to generate a synchronization signal in response to determining that the robot cleaner is docked with the docking station. In some cases, the docking station may be configured to generate a function signal in response to determining that a drain pivot door of the robotic cleaner dirt cup is in an open position. In some cases, the robotic cleaner suction motor may be operated in a suction motor reverse direction in response to receiving a function signal from the docking station. In some cases, the agitator may be rotated in an agitator reverse direction in response to receiving the functional signal from the docking station. In some cases, the robotic cleaner dirt cup can further include a rib having a plurality of teeth configured to engage the agitator.

A docking station for a robotic cleaner may include a base including a support and a suction housing; a docking station suction inlet defined in the suction housing, the docking station suction inlet configured to be fluidly coupled to the robotic cleaner; and a docking station suction motor, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event, the triggering event comprising generation of a synchronization signal.

In some cases, the docking station suction motor may be started within a predetermined time. In some cases, the docking station suction motor may be deactivated prior to expiration of a predetermined time in response to determining that the drain pivot door of the robotic cleaner dirt cup is in the closed position. In some cases, the docking station may be configured to generate a synchronization signal in response to determining that the robot cleaner is docked with the docking station. In some cases, the docking station may be configured to generate a function signal in response to determining that a drain pivot door of the robotic cleaner dirt cup is in an open position.

A robotic cleaner configured to dock with a docking station may include a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station; a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and an agitator configured to rotate in an agitator forward direction and an agitator reverse direction, wherein at least one of the suction motor or the agitator is caused to operate in the suction motor reverse direction or the agitator reverse direction, respectively, in response to receiving a function signal from the docking station.

In some cases, the robotic cleaner suction motor may be operated in a suction motor reverse direction in response to docking with the docking station. In some cases, the agitator may be rotated in an agitator reverse direction in response to docking with the docking station. In some cases, the agitator may be rotated in an agitator reverse direction and an agitator forward direction in response to docking with the docking station. In some cases, the robotic cleaner dirt cup can further include a rib having a plurality of teeth configured to engage the agitator. In some cases, the robotic cleaner suction motor may be operated in a suction motor reverse direction in response to receiving a function signal from the docking station. In some cases, the agitator may be rotated in an agitator reverse direction in response to receiving the function signal from the docking station.

The robotic cleaning system may include a docking station configured to generate a synchronization signal and a function signal and a robotic cleaner. The docking station may include a base including a support and a suction housing, a docking station suction inlet defined in the suction housing, and a docking station suction motor. The docking station suction motor may be activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event. The triggering event may include the generation of a synchronization signal. The robotic cleaner may include a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station; a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and an agitator configured to rotate in an agitator forward direction and an agitator reverse direction.

While the principles of the utility model have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation as to the scope of the utility model. In addition to the exemplary embodiments shown and described herein, other embodiments are also encompassed within the scope of the present invention. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present invention, which is not to be limited except by the following claims.

Claims

1. A docking station for a robotic cleaner, comprising:

a base comprising a support and a suction housing;

a docking station suction inlet defined in the suction housing, the docking station suction inlet configured to be fluidly coupled to the robotic cleaner; and

a docking station suction motor, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event, the triggering event comprising generation of a synchronization signal.

2. The docking station of claim 1, wherein the docking station suction motor is activated within a predetermined time.

3. The docking station of claim 1, wherein the docking station suction motor is deactivated prior to expiration of a predetermined time in response to determining that the drain pivot door of the robotic cleaner dirt cup is in the closed position.

4. The docking station of claim 1, wherein the docking station is configured to generate the synchronization signal in response to determining that the robotic cleaner is docked with the docking station.

5. The docking station of claim 1, wherein the docking station is configured to generate a function signal in response to determining that a drain pivot door of a robotic cleaner dirt cup is in an open position.

6. A robotic cleaner configured to dock with a docking station, comprising:

a robotic cleaner dirt cup configured to receive debris, the robotic cleaner dirt cup including a robotic cleaner dirt cup inlet and an outlet port, the outlet port configured to be fluidly coupled to the docking station;

a robot cleaner suction motor configured to operate in a suction motor forward direction and a suction motor reverse direction; and

an agitator configured to rotate in an agitator forward direction and an agitator reverse direction, wherein at least one of the suction motor or the agitator is caused to operate in the suction motor reverse direction or the agitator reverse direction, respectively, in response to receiving a function signal from the docking station.

7. A robotic cleaner as claimed in claim 6 wherein the robotic cleaner suction motor is caused to operate in a reverse direction of the suction motor in response to docking with the docking station.

8. A robotic cleaner as claimed in claim 6 in which the agitator is caused to rotate in the agitator reverse direction in response to docking with the docking station.

9. The robotic cleaner of claim 6, wherein the agitator is rotated in the agitator reverse direction and the agitator forward direction in response to docking with the docking station.

10. The robotic cleaner of claim 6, wherein the robotic cleaner dirt cup further comprises a rib having a plurality of teeth configured to engage the agitator.

11. The robotic cleaner of claim 6, wherein the robotic cleaner suction motor is caused to operate in the suction motor reverse direction in response to receiving the function signal from the docking station.

12. The robotic cleaner of claim 6, wherein the agitator is rotated in the agitator reverse direction in response to receiving the function signal from the docking station.

13. A robotic cleaning system, comprising:

a docking station configured to generate a synchronization signal and a functional signal, the docking station comprising:

a base comprising a support and a suction housing;

a docking station suction inlet defined in the suction housing; and

a docking station suction motor; and

a robotic cleaner, wherein the docking station suction motor is activated after determining that the robotic cleaner is docked with the docking station and in response to a triggering event, the triggering event including generation of the synchronization signal, the robotic cleaner comprising:

an agitator configured to rotate in an agitator forward direction and an agitator reverse direction.

14. A robotic cleaning system as claimed in claim 13, wherein the docking station is configured to generate the synchronization signal in response to determining that the robotic cleaner is docked with the docking station.

15. The robotic cleaning system according to claim 13, wherein the docking station is configured to generate the function signal in response to determining that a drain pivot door of the robotic cleaner dirt cup is in an open position.

16. A robotic cleaning system as claimed in claim 15, wherein the robotic cleaner suction motor is caused to operate in the suction motor reverse direction in response to receiving the function signal from the docking station.

17. The robotic cleaning system as set forth in claim 15 wherein said agitator is rotated in said agitator reverse direction in response to receiving said function signal from said docking station.

18. The robotic cleaning system according to claim 13, wherein the robotic cleaner dirt cup further comprises a rib having a plurality of teeth configured to engage the agitator.