FILTERING DEVICES FOR EVACUATION STATIONS

A filtering device for an evacuation station includes a filter bag configured to collect debris evacuated from a cleaning robot by an evacuation station. The filtering device includes an interface assembly configured to interface with the evacuation station. The interface assembly includes (i) a base attached to the filter bag along an opening of the filter bag, (ii) an access door configured to provide or limit access to a space within the filter bag depending on whether the access door is in an open position or a closed position, and (iii) one or more hinges connecting the base to the access door. The access door is rotatable around the one or more hinges from the closed position to the open position.

TECHNICAL FIELD

This specification relates to filtering devices for evacuation stations.

BACKGROUND

Autonomous cleaning robots are robots that can perform desired cleaning operations, such as vacuum cleaning, in environments without continuous human guidance. An autonomous cleaning robot can automatically dock with an evacuation station for the purpose of emptying its debris bin of vacuumed debris. During an evacuation operation, the evacuation station can draw debris collected by the robot into the evacuation station. The drawn debris can be stored in a receptacle within the evacuation station. When the debris collected in the receptacle has reached a debris capacity of the receptacle, the receptacle must be emptied or replaced before the evacuation station can perform additional evacuation operations.

SUMMARY

In certain systems, a filtering device in an evacuation station can include a bag with an inlet for receiving debris. After becoming full with debris, the bag can be discarded, such as to avoid emptying the bag through the inlet, which can be difficult and can also generate dust clouds in the vicinity of the user. The inventors have recognized that it may be possible to provide a filtering device that includes a mechanism for easily emptying the bag, thereby making the bag reusable.

The systems, devices, methods, and other features described herein can include the advantages below and described herein elsewhere. For example, the features described herein can improve the efficiency and performance of autonomous cleaning robots, evacuation stations, and filtering devices.

After removing a filtering device from an evacuation station, the user can more easily discard the debris contained within the filtering device. In some implementations, an access door such as those described herein, can provide access to a space within the filtering device so that the debris contained by the filtering device can be removed more efficiently. In some cases, the access provided by the access door can be via an opening that is larger than an inlet of the filtering device. This can make it faster and easier for a user to remove the debris contained within the filtering device than it would be for the user to extract the debris via the inlet. This may encourage a user to reuse the filtering device rather than replacing it once the filtering device is full. In some implementations, a magnetic flap, a slider mechanism, and/or a zipper, such as those described herein, can provide similar advantages to an access door.

In one aspect, a filtering device includes a filter bag configured to collect debris evacuated from a cleaning robot by an evacuation station. The filtering device includes an interface assembly configured to interface with the evacuation station. The interface assembly includes a base attached to the filter bag along an opening of the filter bag, an opening of the base aligned with the opening of the filter bag. The interface assembly also includes an access door. The interface assembly further includes one or more hinges connecting the base and the access door, wherein the access door is rotatable about the one or more hinges from a closed position to an open position.

In another aspect, an evacuation station is featured. The evacuation station includes an airflow pathway, a robot interface configured to pneumatically connect a debris bin of a cleaning robot to the airflow pathway, and a filtering device pneumatically connected to the airflow pathway. The filtering device includes a filter bag and an interface assembly configured to interface with the evacuation station. The interface assembly includes a base attached to the filter bag along an opening of the filter bag, an opening of the base aligned with the opening of the filter bag. The interface assembly also includes an access door. The interface assembly further includes one or more hinges connecting the base and the access door, wherein the access door is rotatable about the one or more hinges from a closed position to an open position. The evacuation station further includes an air mover configured to produce a flow of air through the airflow pathway such that debris is evacuated from the debris bin of the cleaning robot, travels through the airflow pathway, and is collected in the filter bag.

In another aspect, a system including a cleaning robot and an evacuation station is featured. The cleaning robot includes a drive system configured to move the robot across a floor surface, one or more implements configured to remove debris from the floor surface, and a debris bin configured to collect the debris removed from the floor surface by the one or implements. The evacuation station includes an airflow pathway, a robot interface configured to pneumatically connect the debris bin of the cleaning robot to the airflow pathway, and a filtering device pneumatically connected to the airflow pathway. The filtering device includes a filter bag and an interface assembly configured to interface with the evacuation station. The interface assembly includes a base attached to the filter bag along an opening of the filter bag, an opening of the base aligned with the opening of the filter bag. The interface assembly also includes an access door. The interface assembly further includes one or more hinges connecting the base and the access door, wherein the access door is rotatable about the one or more hinges from a closed position to an open position. The evacuation station further includes an air mover configured to produce a flow of air through the airflow pathway such that debris is evacuated from the debris bin of the cleaning robot, travels through the airflow pathway, and is collected in the filter bag.

Implementations can include the examples described below and herein elsewhere.

In some implementations, the access door is configured to (i) provide access to a space within the filter bag via the opening of the base when the access door is in the open position and (ii) limit access to the space within the filter bag via the opening of the base when the access door is in the closed position. In some implementations, the access door includes an inlet configured to interface with an outlet of the evacuation station to pneumatically connect the space within the filter bag with the outlet of the evacuation station. In some implementations, the filtering device is pneumatically connected to the airflow pathway of the evacuation station via the inlet. The access door can further include a conduit, wherein an opening of the conduit is aligned with the inlet and wherein the conduit extends into the space within the filter bag when the access door is in the closed position. In some implementations, the access door can further include a slider including an opening. The slider can be configured to move between a first position and a second position, wherein the opening of the slider is aligned with the inlet in the first position and wherein the opening of the slider is misaligned with the inlet in the second position. In some implementations, an area of the opening of the base is greater than an area of the inlet.

In some implementations, a substantially airtight seal is formed along one or more edges of the interface assembly when the access door is in the closed position. In some implementations, the substantially airtight seal can be formed between the base and the access door.

In some implementations, the one or more hinges are disposed on a lateral edge of the interface assembly.

In some implementations, the interface assembly further includes a latch mechanism configured to secure the access door in the closed position. The one or more hinges can be disposed on a first lateral edge of the interface assembly, and the latch mechanism can be disposed on a second lateral edge of the interface assembly, the second lateral edge being opposite the first lateral edge. In some implementations, the latch mechanism includes a keeper disposed on the base of the interface assembly and a latch disposed on the access door. In some implementations, the latch can have a length of 2 to 15 cm and a width of 1 to 3 cm. In some implementations, the latch mechanism includes one or more detents.

In some implementations, a front of the base includes one or more ribbed features.

In some implementations, the interface assembly has a length of 12 to 20 cm, a width of 9 to 16 cm, and a depth of 5 to 80 mm in the closed position.

In some implementations, the base is attached to the filter bag using at least one of an adhesive attachment, a welding, or an interference fit mechanism.

In another aspect, a method for emptying a filtering device of an evacuation station is featured. The method includes removing the filtering device from the evacuation station and rotating an access door of the filtering device relative to a base of the filtering device to provide access to a space within a filter bag of the filtering device through an opening of the base. The method further includes removing debris from the space within the filter bag through the opening of the base.

Implementations can include the examples described below and herein elsewhere.

In some implementations, the method includes receiving a notification that the filtering device is in a full state prior to removing the filtering device from the evacuation station. The method can further include determining the full state of the filtering device based on one or more signals generated by a sensor positioned proximate an airflow pathway through the evacuation station.

In some implementations, removing the filtering device includes disengaging an inlet of the filtering device from an outlet of the evacuation station.

In some implementations, the access door of the filtering device further includes a conduit including an opening aligned with an inlet of the filtering device and a slider including an opening that is movable relative to the inlet. The method can further include moving the slider of the access door relative to the inlet such that the opening of the slider is misaligned with the inlet.

In some implementations, the method includes prior to rotating the access door, releasing a latch mechanism that secures the access door in a closed position.

In some implementations, rotating the access door includes rotating the access door to an open position, and the method further includes rotating the access door to a closed position subsequent to removing the debris from the space within the filter bag. The method can further include reinserting the filtering device into the evacuation station.

In some implementations, the method includes, prior to removing the filtering device from the evacuation station, operating the evacuation station to evacuate debris from a cleaning robot.

In some implementations, rotating the access door includes rotating the access door about one or more hinges that connect the access door to the base of the filtering device.

In another aspect, a filtering device includes a filter bag, an interface assembly, and a releasable magnetic flap. The filter bag is configured to collect debris evacuated from a cleaning robot by an evacuation station. The interface assembly is configured to interface with the evacuation station. The releasable magnetic flap is configured to provide access to a space within the filter bag.

Implementations can include the examples described below and herein elsewhere.

In some implementations, the interface assembly includes an inlet configured to interface with an outlet of the evacuation station to pneumatically connect the space within the filter bag with the outlet of the evacuation station. The filtering device can further include a conduit, wherein an opening of the conduit is aligned with the inlet and wherein the conduit extends into the space within the filter bag.

In some implementations, the magnetic flap is disposed on the filter bag in a position substantially opposite a position of the interface assembly.

In some implementations, the magnetic flap provides a seal that prevents escape of the debris from the filter bag when the magnetic flap is configured in an unreleased position. A strength of one or more magnets of the magnetic flap can be sufficient to maintain the magnetic flap in the unreleased position when a flow of air is generated by the evacuation station.

In some implementations, the releasable magnetic flap has a substantially rectangular shape. The releasable magnetic flap can be attached to the filter bag along one edge of the substantially rectangular shape.

In some implementations, one or more magnets are disposed on the releasable magnetic flap, between 0 cm and 5 cm from at least one edge of the flap. The filter bag can include magnetic material disposed around a rear-facing opening of the filter bag, the magnetic material configured to interact with the one or more magnets.

DETAILED DESCRIPTION

An evacuation station for an autonomous cleaning robot can be used to evacuate debris collected by the robot between cleaning operations performed by the robot. After the robot performs a cleaning operation and collects debris, the evacuation station can generate an airflow to draw debris contained in the robot into a receptacle of the evacuation station, thereby enabling the robot leave the evacuation station and perform another cleaning operation to collect more debris. A conduit in the receptacle to direct debris received from the robot into the receptacle can be susceptible to clogs or other obstructions that can prevent a full debris capacity of the receptacle from being utilized. As described herein, a filtering device containing the receptacle can include a conduit that is configured to inhibit formation of clogs or other obstructions proximate the conduit. Once the receptacle is filled with debris, a user can manually empty the filtering device of the debris so that the filtering device can be reused. As described herein, the filtering device can include an access door, a releasable magnetic flap, a slider mechanism, or a zipper to provide the user with access to the receptacle for faster and easier removal of the debris.

Referring toFIG.1, an evacuation station100includes a top portion102within which a filtering device300with a receptacle302for debris is located. The filtering device300includes a filter bag304at least partially forming the receptacle302, which is a space within the filter bag304. The filtering device300further includes an inlet306and a conduit308. The inlet306is configured to interface with an outlet of one or more conduits of the evacuation station100. For example, the one or more conduits of the evacuation station100includes a conduit114that includes an outlet119configured to interface with the inlet306. The conduit308of the filtering device300is configured to pneumatically connect the inlet306of the filtering device300to the receptacle302. The conduit308extends inwardly, from the inlet306into the receptacle302. The conduit308is an example of a conduit described herein configured to inhibit accumulation of debris within the conduit and thereby inhibit the formation of clogs or obstructions proximate the conduit308.

The evacuation station100includes a housing101(shown inFIGS.1-4). The housing101of the evacuation station100can include one or more interconnected structures that support various components of the evacuation station100, including an air mover117(shown inFIG.2), a system of airflow paths for airflow generated by the air mover117, and a controller113(shown inFIG.2).

FIG.1illustrates the evacuation station100during an evacuation operation in which the controller113operates the air mover117to generate airflow116through air pathways of the evacuation station100. Referring toFIG.2showing a system, e.g., a debris collection system, including the evacuation station100and an autonomous cleaning robot200, the evacuation station100performs an evacuation operation when the autonomous cleaning robot200and the evacuation station100are interfaced with one another. The robot200performs a cleaning operation in a room, e.g., a room of a commercial, residential, industrial, or other type of building, and collects debris from a floor surface of the room as the robot200autonomously moves about the room. The robot200includes implements that enable the robot to remove the debris from the floor surface. For example, the robot200can include an air mover202that draws air from a portion of the floor surface below the robot200and hence draws any debris on that portion of the floor surface into the robot200. The robot200can also include one or more rotatable members (not shown) facing the floor surface that engage the debris on the floor surface and mechanically moves the debris into the robot200. The one or more rotatable members can include a roller, a brush, a flapper brush, or other rotatable implements that can engage debris and direct the debris into the robot200. The debris removed from the floor surface is directed into a debris bin204of the robot200, where it is collected. A controller206of the robot200operates a drive system (not shown) of the robot200, e.g., including motors and wheels that are operable to propel the robot200across the floor surface, to navigate the robot200about the room and thereby clean different portions of the room.

During the cleaning operation, the controller206can determine that the debris bin204is full. For example, the controller206can determine that debris accumulated in the debris bin204has exceeded a certain percentage of the total debris capacity of the debris bin204, e.g., more than 70%, 80%, or 90% of the total debris capacity of the debris bin204. After making such a determination, the controller206operates the drive system of the robot200to direct the robot200toward the evacuation station100. In some implementations, the robot200includes a sensor system including an optical sensor, an acoustic sensor, or other appropriate sensor for detecting the evacuation station100during the robot's navigation about the room to find the evacuation station100.

The evacuation station100can perform an evacuation operation to draw debris from the debris bin204of the robot200into the evacuation station100. To enable the evacuation station100to remove debris from the robot200, the robot200interfaces with the evacuation station100. For example, the robot200can autonomously move relative to the evacuation station100to physically dock to the evacuation station100. In other implementations, a conduit (not shown) of the evacuation station100is manually connected to the robot200. To interface with the evacuation station100, in some implementations, an underside of the robot200includes an outlet (not shown) that engages with the intake118of the evacuation station100, shown inFIG.3. For example, the outlet of the robot200can be located on an underside of the debris bin204and can be an opening that engages with a corresponding opening of the intake118.

While the robot200interfaces with the evacuation station100, the debris bin204is in pneumatic communication with the air mover117of the evacuation station100. In addition, in some implementations, the robot200is in electrical communication with the evacuation station100such that the evacuation station100can charge a battery of the robot200when the robot200interfaces with the evacuation station100. Thus, while interfaced with the robot200, the evacuation station100can simultaneously evacuate debris from the robot200and charge the battery of the robot200. In other implementations, the evacuation station100charges the battery of the robot200only while the evacuation station100is not evacuating debris from the robot200.

Referring also toFIG.1, during the evacuation operation while the evacuation station100is interfaced with the robot200, the airflow116generated by the evacuation station100travels through the debris bin204, through airflow pathways of the evacuation station100, and through the filtering device300while carrying debris120drawn from the robot200. The airflow pathways of the evacuation station100include the one or more conduits of the evacuation station100. In addition to including the conduit114, the one or more conduits can also include conduits122,124. The conduit122includes the intake118of the evacuation station100and is connected with the conduit124, and the conduit124is connected with the conduit114. In this regard, the airflow116travels through the one or more conduits of the evacuation station100by travelling through the conduit122, the conduit124, and conduit114. The airflow116exits the one or more conduits through the outlet119into the inlet306of the filtering device300, and then travels through the conduit308. The airflow116further travels through a wall of the filter bag304toward the air mover117. The wall of the filter bag304serves as a filtering mechanism, separating a portion of the debris120from the airflow116.

In some implementations, the evacuation station100can include a removable filter (not shown). The filter can be a small or fine particle filter. For example, particles having a width between about0.1to0.5micrometers carried by the airflow116after the airflow116exits the filtering device300are removed by the filter. The filter can be positioned between the filtering device300and the air mover117. After the airflow116exits the filtering device300and travels beyond the filter, the air mover117directs the airflow116out of the evacuation station100, in particular, through an exhaust125(shown inFIG.2). As described herein, the evacuation station100can continue to perform the evacuation operation until a sensor126(shown inFIGS.1and3) of the evacuation station100detects that the receptacle302is full. In some implementations, the sensor126is positioned proximate a flow path for the flow of air. As described herein, in some implementations, the sensor126is a pressure sensor. In other implementations, the sensor126is an optical sensor, a force sensor, or other sensor that can generate one or more signal indicative of a fullness state of the filtering device300.

The filtering device300is disconnectable and removable from the evacuation station100. Referring toFIG.4, the housing101of the evacuation station100includes a cover128along the top portion102of the evacuation station100. The cover128covers a receptacle130of the evacuation station100. The receptacle130can receive the filtering device300. The cover128is movable between a closed position (shown inFIG.3) and an open position (shown inFIG.4). In the open position of the cover128, a filtering device is insertable into the receptacle130or is removable from the receptacle130. For example, the filtering device300can be placed into the receptacle to be connected with the one or more conduits of the evacuation station100. In addition, the filtering device300can be disconnected from the one or more conduits of the evacuation station and then removed from the receptacle130, thereby enabling a new filtering device to be inserted into the receptacle.

FIGS.5-7illustrate an example of the filtering device300. Referring toFIG.5, the filtering device300, as described herein, includes the filter bag304, the inlet306, and an interface assembly310. In some implementations, the filtering device300can be disposable, e.g., after the debris collected in the receptacle302has exceeded a certain debris capacity of the receptacle302. In some implementations, the filtering device300can be emptied of the collected debris. In some implementations, the filtering device300can be reusable, e.g., after removing the debris collected in the receptacle302.

The filter bag304at least partially forms the receptacle302and is formed of a material through which air can travel. The material of the filter bag304is selected such that the filter bag304can serve as a separator that separates and filters at least a portion of the debris out of the airflow116generated by the evacuation station100. For example, the filter bag304can be formed of paper; fabric; a composite fiber; or a spunbound, nonwoven, or melt blown material (e.g., polypropylene [PP] or ethylene-propylene side by side [ES]) that allows air to pass through but traps dirt and debris and thereby retains the debris within the receptacle302. In some implementations, the filter bag304can be formed of multiple layers of material. For example, the filter bag304can include four layers formed of, from the outer layer to the inner layer: (i) 30 g/m2white spunbound PP, (ii) 20 g/m2melt-blow PP, (iii) 20 g/m2melt-blow PP, and (iv) 30 g/m2fluffy nonwoven ES/PP. In another example, the filter bag304can include four layers formed of, from the outer layer to the inner layer: (i) 50 g/m2gray spunbound PP, (ii) 30 g/m2melt-blow PP, (iii) 30 g/m2fluffy nonwoven ES/PP, and (iv) 15 g/m2white spunbound PP. The material of the filter bag304is flexible, enabling the filter bag304to be folded and easily stored. In addition, the filter bag304can expand to accommodate additional debris as the filter bag304collects debris during an evacuation operation. The filter bag304, while collecting debris via filtration, is porous to permit the airflow116to exit the filter bag304with an amount of debris less than the amount of debris with the airflow116as the airflow116enters the filtering device300. For example, the filter bag304can collect debris having a width greater than1micrometer, e.g., greater than 3 micrometers, 10 micrometers, 50 micrometers, or more.

Referring also toFIG.8, the interface assembly310includes a collar312, a cover314, a seal316, and the conduit308. The interface assembly310is configured to interface with the one or more conduits of the evacuation station100, e.g., with the conduit114(shown inFIGS.1and3). For example, when the filtering device300is disposed into the receptacle130of the evacuation station100and the conduit114of the evacuation station100is in the protruded position, the intake118is placed into pneumatic communication with the receptacle302of the filtering device300. Hence, when the robot200interfaces with the evacuation station100, the debris bin204of the robot200is also placed into pneumatic communication with the receptacle302of the filtering device300.

The seal316is attached to the collar312and is configured to engage the conduit114. In particular, the seal316is an outward facing seal, e.g., facing away from the receptacle302, that is configured to interface with the outlet119of the conduit114. For example, in implementations in which the conduit114is movable in response to the movement of the cover128, the conduit114can move into the protruded position and thereby contact the seal316. The seal316is formed of a rubber, another elastomeric material, or a combination of different materials including an elastomeric material. The seal316includes an opening338that is part of the inlet306of the filtering device300. The seal316can form a sealed engagement around an outer surface of the conduit114. The seal engagement can prevent, inhibit, or otherwise reduce airflow leakage from the conduit114when the air mover117generates the airflow116and thus can improve the efficiency of the air mover117.

The collar312is positioned along an opening317of the filter bag304. The collar312is a substantially flat plate. For example, a thickness of the collar312is between 1.0 mm and 3.5 mm, e.g., between 1.0 mm and 2.0 mm, 1.5 mm and 2.5 mm, 2.0 mm and 3.0 mm, or 2.5 mm and 3.5 mm. While depicted inFIG.10as being substantially rectangular or square, in other implementations, the collar312is circular or has a polygonal shape. Referring also toFIG.10, the collar312has a width W1that is larger than a width W2of the cover314. For example the width of the collar312is 1.05 to 1.5 times larger than the width of the cover314. For example, the width W1of the collar312is between 7.0 cm and 12.0 cm, e.g., between 7.0 cm and 8.0 cm, 8.0 cm and 9.0 cm, 9.0 cm and 10.0 cm, 10.0 cm and 11.0 cm, or 11.0 cm and 12.0 cm, and the length W2of the cover314is between 6.0 cm and 9.0 cm, e.g., between 6.0 cm and 6.5 cm, 6.5 cm and 7.0 cm, 7.0 cm and 7.5 cm, 7.5 cm and 8.0 cm, 8.0 cm and 8.5 cm. or 8.5 cm and 9.0 cm.

In some implementations, the collar312of the interface assembly310is attached directly to the filter bag304. In some implementations, the collar312is welded to the filter bag304. In other implementations, the collar312is attached to the filter bag304via a fastener, e.g., via stitches, clips, zippers, and other appropriate fasteners. The collar312is formed of a rigid polymeric material, such as polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, or another appropriate polymer.

The cover314of the interface assembly310is movably attached to the collar312. The cover314is a substantially flat plate. For example, a thickness of the cover314is between 0.5 mm and 3.5 mm, e.g., between 0.5 mm and 1.5 mm, 1.0 mm and 2.0 mm, 1.5 mm and 2.5 mm, 2.0 mm and 3.0 mm, or 2.5 mm and 3.5 mm. While depicted inFIG.10as being substantially rectangular, in other implementations, the cover314is circular or has a polygonal shape. Referring also toFIG.10, the cover314has a length L2longer than a length L1of the collar312, e.g., 1.25 to 2 times longer than the length of the collar312. For example, the length L2of the cover314is between 9.0 cm and 14.0 cm, e.g., between 9.0 cm and 12.0 cm, 10.0 cm and 13.0 cm, or 11.0 cm and 14.0 cm, and the length L1of the collar312is between 6.0 cm and 11.0 cm, e.g., between 6.0 cm and 9.0 cm, 7.0 cm and 10.0 cm, or 8.0 cm and 11.0 cm.

The cover314is movable relative to the opening317of the filter bag304between an open position in which the opening317of the filter bag304is accessible via the inlet306of the filtering device and a closed position in which the opening317of the filter bag304is inaccessible. For example, referring toFIG.8, the cover314is a slider that is slidable relative to the collar312. The collar312includes clips318(shown inFIG.10) attaching the cover314to the collar312while allowing the cover314to slide relative to the collar312.

Referring toFIG.10, the cover314includes an opening320and a body322. The opening320can be a substantially circular opening in the body322of the cover314. In some implementations, the opening320includes non-circular portions, or is otherwise polygonal. When the cover314is in the open position (as shown inFIG.10), the opening320is aligned with and overlaps with the opening317of the filter bag304and the opening338defined by the seal316. When the cover314is in the closed position (not shown), the opening320of the cover314is misaligned with the inlet306of the filtering device. In the closed position, the body322overlaps with and covers the opening317of the filter bag304and the opening338defined by the seal316such that debris cannot enter or exit from the receptacle302(shown inFIGS.5and6).

The cover314is manually movable by a human user so that the user can easily close off the receptacle302to prevent debris from falling out the filtering device300when the user wishes to dispose of the filtering device300. The collar312can further include tabs313that enable a human user to more easily grasp the collar312while manually moving the cover314, and the length L2of the cover314can be longer than the length L1of the collar312so that the user can easily grasp the cover314and reposition the cover314relative to the collar312.

The conduit308is a hollow tube-like structure that provides an airflow pathway for the airflow generated by the air mover117of the evacuation station100when the filtering device300is connected to the evacuation station100. Referring toFIG.6, the conduit308extends inwardly from the collar312into the receptacle302of the filtering device300and away from the filter bag304. The extension of the conduit308into the receptacle302can have the advantage of improving the detection of a fullness of the filtering device300, as described herein. The conduit308and the collar312are attached to one another. In some implementations, referring also toFIG.8, the conduit308can include a first portion of a snap fit mechanism324attached to a second portion of the snap fit mechanism324on the collar312. For example, the first portion of the snap fit mechanism324can include multiple snaps, and the second portion of the snap fit mechanism324can include multiple slots with which the multiple snaps are engaged. Alternatively, the first portion of the snap fit mechanism324can include multiple slots, and the second portion of the snap fit mechanism324can include multiple snaps configured to engage with the multiple slots.

The conduit308is formed from a rigid polymer. For example, referring toFIGS.6-8, the conduit308can be formed from polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, another appropriate polymer, or a combination of materials including an appropriate polymer. The conduit308tapers inward from the opening317of the filter bag304along at least a portion of the conduit308. In some implementations, the conduit308includes a substantially frustoconical portion326that tapers away from the opening317of the filter bag304.

The conduit308includes an attached end portion330attached to the collar312, and a free end portion332. The attached end portion330has an opening (not shown) having a width greater than a width W3of the opening334and a width W4of the opening338defined by the seal316. The opening of the attached end portion330is positioned proximate the inlet306of the filtering device300. The free end portion332includes an opening334within the receptacle302.

Referring toFIG.7, an angle335between an outer surface of the conduit308of the filtering device300and a longitudinal axis336of the conduit308of the filtering device300is between 10 and 45 degrees, e.g., between 10 and 25 degrees, 20 and 35 degrees, or 30 and 45 degrees. In some implementations, a portion328of the conduit308proximate the collar312is not tapered. For example, the portion328can be substantially cylindrical.

Referring toFIG.9, a width W3of the opening334of the conduit308is between 2.0 cm and 5.0 cm, e.g., between 2.0 cm and 3.0 cm, 3.0 cm and 4.0 cm, or 4.0 cm and 5.0 cm. Referring also toFIG.10, the width W3is substantially equal to a width W4of the opening338defined by the seal316. For example, the width W4is between 90% and 110% of the width W3, e.g., between 90% and 100%, between 95% and 105%, or between 100% and 110% of the width

W3. In implementations in which the opening334and the opening338are substantially circular, the widths W3, W4correspond to diameters of the openings334,338. In other implementations, the openings334,338are non-circular, e.g., polygonal. Referring also toFIG.7, the width W3is 1 to 2 times larger than a length L3of the conduit308, e.g., 1 to 1.5 times, 1.25 times to 1.75 times, or 1.5 times to 2 times larger than the length L3. The length L3of the conduit308, for example, corresponds to an overall distance from the opening317of the filter bag304to the opening334of the conduit308. For example, the length L3of the conduit308can be between 1 and 4 cm, e.g., between 1 and 2 cm, 2 and 3 cm, or 3 and 4 cm.

In some implementations, the filtering device300can include one or more elements that can provide a user access to the receptacle302. Access can be provided via an opening having an area greater than an area of the inlet306. This can enable the user to more easily and quickly remove debris from the receptacle302so that the filtering device300can be reused.FIGS.11A-14illustrate example implementations of such filtering devices.FIGS.11A-11Bdepict a filtering device1200with a hinged interface assembly including an access door1150.FIG.12depicts a filtering device1200with a magnetic flap1202.FIG.13depicts a filtering device1300with a slider mechanism.FIG.14depicts a filtering device1400with a zipper1402.

Referring toFIGS.11A-11B, in some implementations, a filtering device1100includes a filter bag304and an interface assembly1110. In some cases, the filter bag304can be substantially similar to the filter bag304of the filtering device300(shown inFIG.5), e.g., formed of a similar material or the same material, having a similar geometry or the same geometry, etc. However, in some cases, the filter bag304(shown inFIGS.11A-11B) can have a different welding pattern, a different color, a different geometry, etc. In addition, the interface assembly1110has many similarities to the interface assembly310of the filtering device300. For example, the interface assembly1110also includes a collar312, an inlet306, a conduit308, a cover314, and a seal316. In contrast to the components of the filtering device300, in the interface assembly1110, the collar312, the inlet306, the conduit308, the cover314, and the seal316are components of an access door1150that is connected to a base1190of the interface assembly1110via hinges1170. The access door1150is rotatable about the hinges1170from a closed position (shown inFIG.11A) to an open position (shown inFIG.11B), and vice versa. When the access door1150is the closed position, the access door1150limits access to the space, e.g., by a user or by a hand of a user, within the filter bag304. When the access door1150is in the open position, the access door1150provides access to the space within the filter bag304via an opening1180of the base1190.

In the interface assembly1110, the base1190(rather than the collar312, as in interface assembly310) is positioned along an opening of the filter bag304such that the opening1180of the base1190is aligned with the opening of the filter bag304. The base1190defines a perimeter of the opening1180. The base1190is a substantially flat plate with the opening1180in an interior portion of the base1190. The opening1180is a through-opening extending through an entire thickness of the base1190. For example, a thickness of the base1190is between 1.0 mm and 3.5 mm, e.g., between 1.0 mm and 2.0 mm, 1.5 mm and 2.5 mm, 2.0 mm and 3.0 mm, or 2.5 mm and 3.5 mm. While depicted inFIG.11Bas being substantially rectangular or square, in other implementations, the base1190is circular or has a polygonal shape. Similarly, the shape of the opening1180in the base1190can have varying shapes in implementations. In some implementations, the opening1180has a polygonal shape, such as a rectangular shape. In other implementations, the opening1180has a circular or elliptical shape. The base1190includes an inner surface (not shown) facing the receptacle302of the filtering device300, and an outer surface1192facing away from the receptacle302of the filtering device300. The inner and outer surfaces can be planar, and can be parallel to a front surface1155of the filter bag304.

In some implementations, the base1190of the interface assembly1110is attached directly to the filter bag304. In some implementations, the base1190is welded or adhered to the filter bag304. In other implementations, the base1190is attached to the filter bag304via a fastener, e.g., via stitches, clips, zippers, and other appropriate fasteners. In some implementations, the base1190is attached to the filter bag304using an interference fit mechanism. The base1190is formed of a rigid polymeric material, such as polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, or another appropriate polymer. In some implementations, the material used for the base1190is more rigid than the material used for the filter bag304. The filter bag304can be folded onto the base1190. In some implementations, the base1190can include one or more ribbed features on the outer surface1192that provide structural support for the interface assembly1110.

Referring toFIG.11A, in the closed position, the access door1150at least partially defines one of the outer faces of the filtering device300that define the interior space of the filter bag304. For example, the access door1150at least partially defines the receptacle302(shown inFIG.11B) of the filter bag304, and thus at least partially blocks debris from falling out or otherwise being removed from the filter bag304. In particular, an opening1180in the base1190is at least partially covered by the access door1150when the access door1150is in the closed position. For example, the access door1150is positioned on an outer surface of the filter bag304. In the example depicted inFIG.11A, the base1190is attached to a front surface1155of the filter bag304. The base1190at least partially defines an opening1180. The access door1150, in the closed position, extends at least partially across the opening1180of the base1190. Furthermore, the access door1150is positioned over the front surface1155. For example, planar surfaces of the access door1150, e.g., planar surfaces of the collar312and the cover314, can overlap with the front surface1155and the opening1180of the base1190. In the closed position, the interior planar surfaces of the collar312and the cover314adjacent to the conduit308are substantially parallel to the front surface1155of the filter bag304and face an interior of the filter bag304, e.g., face the receptacle302of the filter bag304. In the closed position, the access door1150extends across the front surface1155of the filter bag304and covers 50% to 95% of the opening1180of the base1190, e.g., covers 50% to 75%, 50% to 80%, 50% to 90%, 60% to 75%, 60% to 80%, 60% to 90%, 70% to 80%, 70% to 90%, 80% to 90%, at least 50%, at least 60%, at least 70%, at least 80%, or at least 90% of the area of the opening1180of the base1190. When the access door1150is in the closed position, a substantially airtight seal can be formed between the base1190and the access door1150. For example, the base1190and/or the access door1150can be lined, at least in part, by rubber or another elastomeric material, to produce the airtight seal. In some implementations, the airtight seal can be formed along one or more of the edges of the interface assembly1110.

The access door1150in the open position is misaligned with the opening1180of the base1190and no longer covers the opening1180of the base1190. The opening1180has a larger area than the area of the inlet306, giving the user easier access to the space within the filter bag304(e.g., in order to remove debris).

To move the access door1150from the closed position to the open position, at least part of the access door1150is moved away from the opening1180, from the base1190, and from the front surface1155of the filter bag304. This part of the access door1150is moved away while another part of the access door1150remains attached to the base1190, e.g., via the hinges1170. In particular, to move the part of the access door1150away from the opening1180, the part of the access door1150is rotated about the hinges1170. In some implementations, in the closed position, at least part of the access door1150extends into the receptacle302, while in the open position, the access door1150is positioned entirely outside of the receptacle302. For example, the collar312(shown inFIG.11B) can extend into the receptacle302in the closed position, but is positioned outside of the receptacle302in the open position of the access door1150. In some implementations, in the closed position of the access door1150, an internal facing surface of the access door1150, e.g., a surface of the collar312or a surface of the cover314, contacts the base1190, while in the open position of the access door1150, this internal facing surface does not contact the base1190. In some implementations, the hinges1170can allow for free rotation of the access door between the closed position (i.e., 0 degrees) and 180 degrees. In some implementations, the hinges1170can provide some friction between the closed position and 180 degrees, but still maintains an level of friction low enough for the access door1150to be able to open under the force of gravity. In some implementations, when the access door is rotated beyond 180 degrees (e.g., between 180 degrees and 270 degrees), the hinges1170can provide increased friction. For example, the amount of friction provided by the hinges1170when the access door is rotated beyond 180 degrees can be enough to counteract the force of gravity, or even greater forces, in order to hold the access door1150in the open position. In some implementations, the increased friction can be supplied by one or more detents on the hinges1170that hold the access door1150in the open position. In some implementations, the hinges1170can also include detents that hold the access door1150in the closed position (i.e., 0 degrees).

For example, referring toFIGS.17and18, a hinge assembly1700including example hinge1170is illustrated. The hinge1170includes a substantially cylindrical component1704(herein referred to as a “hinge core”) that is attached to a main body of the access door1150. In some implementations, the hinge core1704is formed with the access door1150as a single body, but in other implementations, the hinge core1704may be a separate component that is mounted (e.g., using a fastener or adhesive material) or welded to the access door1150. The hinge1170further includes a receiving component1706attached to the base1190and configured to receive the hinge core1704(e.g., via a snap fit or interference fit). Upon receiving the hinge core1704, the receiving component1706allows for rotation of the hinge core1704(and the access door1150), along a longitudinal axis of the assembled hinge1170. In some implementations, the receiving component1706is formed with the base1190as a single body, but in other implementations, the receiving component1706may be a separate component that is mounted (e.g., using a fastener or adhesive material) or welded to the base1190. While the hinge core1704is shown as attached to the access door1150, and the receiving component1706is shown as attached to the base1190, in some implementations, the hinge core1704can be attached to the base1190and the receiving component1706can be attached to the access door1150.

The hinge core1704includes a raised feature1702that serves as a hinge detent and can affect the amount of torque required to rotate the access door1150relative to the base1190. The raised feature1702can extend along 20% to 100% of the length of the hinge core1704(e.g., 20%, 50%, 75%, 90%, 100% of the length of the hinge core1704).FIG.18shows a cross-sectional view of the hinge1170, providing a closer look at the interface between the hinge core1704and the receiving component1706.FIG.18shows the access door1150in the closed position, where the angle of rotation of the hinge core1704(and access door1150) is 0 degrees.

As shown in this view, the receiving component1706is shaped to allow for free rotation of the access door1150between the closed position (i.e., 0 degrees) and 180 degrees. For example, an inner diameter of the receiving component1706can be selected such that when the access door1150is rotated between 0 degrees and 180 degrees, there is a minimum clearance of 0.05 mm (e.g., 0.5 mm, 0.1 mm, 0.15 mm, etc.) between the raised feature1702and the inner face of the receiving component1706. However, when the access door is rotated to 180 degrees, the raised feature1702comes into contact with a lip1710along the inner face of the receiving component1706, where the inner diameter of the receiving component1706decreases. The decreased inner diameter of the receiving component can create interference with the raised feature1702ranging from 0.05 mm to 0.5 mm of interference (e.g., 0.05 mm, 0.1 mm, 0.35 mm, etc.). This increases the torque required to rotate the access door1150beyond 180 degrees (e.g., 181 degrees, 225 degrees, 270 degrees, etc.). For example, the amount of friction provided by the hinges1170when the access door is rotated beyond 180 degrees can be enough to counteract the force of gravity, or even greater forces, in order to hold the access door1150in the open position.

In some implementations, the lip1710of the receiving component1706does not extend along the full length of the hinge1170, but only extends along a length of the raised feature1702. Moreover, while a single raised feature1702is shown, in some implementations, the hinge core1704may include multiple raised features. The raised feature1702may also have various shapes. In some implementations, the receiving component1706can further include one or more notches along its inner face to catch the raised feature1702and hold open the access door1150at specific predefined angles of rotation (e.g., 225 degrees, 270 degrees, etc.).

Referring back toFIGS.11A-11B, in some implementations, the interface assembly1110can include a latch mechanism1160for securing the access door1150in the closed position. The latch mechanism1160can be positioned on an opposite edge of the interface assembly1110as the hinges1170. In some implementations, the latch mechanism1160can include a keeper disposed on the base1190and a latch disposed on the access door1150. In other implementations, the keeper can be disposed on the access door1150while the latch is disposed on the base1190. The latch can be made of rigid polymeric material, such as polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, or another appropriate polymer, and it can have a length of 2 cm to 15 cm and a width of 1 cm to 3 cm. In some implementations, the latch can include a pin (e.g., a metal pin), which can serve as a hinge that enables the latch to rotate relative to the access door1150or relative to the base1190. In some implementations, the latch mechanism1160can include one or more detents for securing the access door1150in the closed position. Altogether, the interface assembly1110(including the access door1150, hinges1170, latch mechanism1160, and the base1190) has a width between 9 cm and 16 cm; a length between 12 cm and 20 cm; and a depth of 5 mm to 80 mm when the access door1150is in the closed position.

Referring toFIGS.12A-12B, another implementation of a filtering device1200is illustrated from a side perspective view. As inFIG.6, the filter bag304of the filtering device1200is shown as transparent. The filtering device1200has many similarities to the filtering device300(shown inFIGS.5-6). For example, elements of the filtering device1200that can be similar to the filtering device300in some implementations are denoted by similar reference numerals.

The filtering device1200differs from the filtering device300in the manner in which the receptacle302of the filtering device300is accessible by a user. The filtering device1200includes a releasable magnetic flap1202for providing access to the space within the filter bag304.FIG.12Adepicts the releasable magnetic flap1202in a closed, or unreleased, position whileFIG.12Bdepicts the releasable magnetic flap1202in an open, or released, position. In the open position, the magnetic flap1202provides access to the space within the filter bag304via an opening1204. The opening1204, in some implementations, has an area greater than the area of the inlet306. In the closed position, the magnetic flap1202limits access to the space within the filter bag304.

The magnetic flap1202is disposed on a rear surface1225of the filter bag304, substantially opposite from a position of the interface assembly (including the inlet306and the conduit308). The magnetic flap1202extends across only a portion of the rear surface1255. For example, the width and the length of the magnetic flap1202can each be between 25% to 100% of the width and the length of the rear surface1255of the filter bag304.

The magnetic flap1202includes one or more magnets1210that interact with magnetic material1220on the filter bag304to secure the magnetic flap1202in the unreleased position. The magnets are disposed along the perimeter of the magnetic flap1202, between 0 cm and 5 cm from an edge of the magnetic flap (e.g., 1 cm away from the edge, 2 cm away from the edge, 3 cm away from the edge, etc.). The magnetic material1220is disposed in a corresponding position along a lip on the filter bag304, surrounding the opening1204. In other implementations, the magnets1210can be disposed on the filter bag304, while the magnetic material1220is disposed on the magnetic flap1202.

In the implementations represented inFIGS.12A-12B, the magnets1210are disposed along a perimeter of the magnetic flap1202. In particular, the magnets1210can be disposed along edges of the magnetic flap1202that are movable away from the filter bag304. For example, in the example ofFIGS.12A-12Bin which the opening1204is rectangular, the magnets1210are disposed along three edges of the magnetic flap1202that are movable away from the filter bag304.

The interaction between the magnets1210and the magnetic material1220provides a seal that prevents escape of debris from the filter bag304when the magnetic flap1202is in the unreleased position. The combined strength of the magnets1210is sufficient to maintain the magnetic flap1202in the unreleased position when a flow of air is generated by the evacuation station100(e.g., by air mover117) so that the magnetic flap1202is not blown open into the released position. In some implementations, the magnetic flap1202can include an elastomeric or rubber seal (e.g., elastomeric or rubber material disposed along a perimeter of the magnetic flap1202) to prevent pneumatic bypass around the edges of the magnetic flap1202when a flow of air is generated by the evacuation station100. In such implementations, the combined strength of the magnets1210can be sufficient to compress the elastomeric or rubber material to create an substantially airtight seal when the magnetic flap1202is in the unreleased position.

In the closed position, the magnetic flap1202at least partially defines the receptacle302of the filter bag304. In particular, an internal surface1267of the magnetic flap1202can at least partially define the receptacle302of the filter bag304. In this regard, in the closed position of the magnetic flap1202, surfaces of the filter bag304in combination with the magnetic flap1202can define the receptacle302of the filter bag304.

To release the magnetic flap1202from the filter bag304, the magnetic flap1202can be pulled away from the rear surface1225of the filter bag304. At least part of the magnetic flap1202is moved away from the opening1204and from the rear surface1225of the filter bag304. This part of the magnetic flap1202is moved away while another part of the magnetic flap1202remains attached to the filter bag304, e.g., via a fold line1260. The magnetic flap1202is connected to the filter bag304at the fold line1260. To move the part of the magnetic flap1202away from the opening1204, the magnetic flap1202is rotated about the fold line1260. In some implementations, in the closed position of the magnetic flap1202, the internal surface1267of the magnetic flap1202contacts the filter bag304, while in the open position of the magnetic flap1202, this internal facing surface does not contact the filter bag304.

While the releasable magnetic flap1202is depicted as having a substantially rectangular shape, in other implementations, the magnetic flap1202is circular or has a polygonal shape. In addition, while the magnetic flap1202is depicted as being attached to the filter bag304along one edge (e.g., sewn or adhered along one edge), in other implementations the magnetic flap1202could be entirely removable from the filter bag304.

In some implementations, the magnetic flap1202is formed of a material distinct from the material forming the filter bag304. The magnetic flap1202can be attached to the filter bag304via stitches, via adhesives, via welding, or via other attachment mechanisms. In some implementations, the magnetic flap1202is integral to the filter bag304. For example, the magnetic flap1202can be formed from making incisions in the material of the filter bag304, e.g., at least three cuts to form a rectangular opening1204. The magnetic flap1202is foldable along the edge attaching the magnetic flap1202to the filter bag304. A base can be attached to the filter bag304to provide the magnetic flap1202a substrate for the portion of the magnetic flap1202containing the magnets to attach to. For example, instead of attaching to the lip of the filter bag304, the magnetic flap1202magnetically connects to the base that is in turn attached to the filter bag304.

In other implementations, the magnetic flap1202can be positioned on a side surface of the filter bag304, or a bottom surface of the filter bag304. In some implementations, the magnetic material1220is on a component distinct from the filter bag304. For example, the filtering device1200can include a base (e.g., similar to the base1190in the implementations represented inFIGS.11A-11B) that is attached to the filter bag304, and the base can include magnetic material that can engage with the magnetic flap1202.

In some implementations, the implementations represented inFIGS.11A-11Bcan be modified to include magnets and magnetic material such that the access door1150and the base1190can be connected to one another. For example, one of the access door1150or the base1190can include one or more magnets, and the other of the access door1150or the base1190can include magnetic material. The access door1150and the base1190are magnetically connected to one another in the closed position of the access door. The one or more magnets and the magnetic material can be substituted for the latch mechanism1160.

Referring toFIG.13, another implementation of a filtering device1300is illustrated. The filtering device1300has many similarities to the filtering device300(shown inFIGS.5-6). For example, elements of the filtering device1300that can be similar to the filtering device300in some implementations are denoted by similar reference numerals.

The filtering device1300differs from the filtering device300in the manner in which the receptacle302of the filtering device300is accessible by a user. The filtering device1300includes a slider mechanism including a movable component1302and a stationary component1304. The slider mechanism is used to seal together two edges of the filter bag304that, when separated, provide access to the space within the filter bag304. By sliding the movable component upward (as indicated by the directional arrow U inFIG.13), the seal provided by the slider mechanism can be undone to provide a user access to the space within the filter bag304(e.g., in order to remove debris). By sliding the movable component downward, the filter bag304can be resealed. The strength of the seal provided by the slider mechanism is at least sufficient to withstand a flow of air generated by the evacuation station100(e.g., by air mover117). In some implementations, an elastomeric material or rubber material can be used at the interface of the two edges of the filter bag304to ensure that the seal is substantially airtight.

The movable component1302can be elongate member extending along an edge of the filter bag304. The movable component1302can be formed of metal, wood, or a rigid polymeric material, such as polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, or another appropriate polymer. The stationary component1304can be formed of a similar metal, a similar wood, a similar rigid polymeric material, or another rigid material discussed in this disclosure.

In some implementations the movable component1302of the slider mechanism can include a longitudinal-extending opening1306to receive two edges of the filter bag304. In particular the two edges of the filter bag304can be squeezed together within the opening1306, thereby creating a seal between the two edges of the filter bag304. In this regard, the movable component1302, when positioned over the two edges of the filter bag304, can provide a seal with a length of at least 90% of a height of the filter bag304. The movable component1302can have a length substantially similar to a height of the filter bag304. For example, the length of movable component1302can be between 80% and 130% of the height of the filter bag304. The movable component1302is movable between an engaged position and a disengaged position. The movable component1302, in some implementations, abuts the stationary component1304in the engaged position. In the disengaged position, the movable component1302does not abut the stationary component1304.

In some implementations, the movable component1302of the slider mechanism can act as a pin, which can secure two edges of the filter bag304by being inserted into loops disposed along the two edges. For example, a plurality of loops (e.g., made of paper; fabric; composite fiber; spunbound, nonwoven, or melt blown material; plastic; etc.) can be disposed along each of the two edges of the filter bag304such that when the two edges are brought together, the loops are aligned. The movable component1302can then be inserted into the loops of each edge to secure the two edges of the filter bag304together. In some implementations, the spacing of the loops along each edge can be designed such that the movable component1302is alternately inserted into a loop disposed on one edge of the filter bag304followed by a loop disposed on the other edge of the filter bag304. In this regard, the movable component1302, when inserted through the loops, can provide a seal between the two edges of the filter bag304with a length of at least 90% of a height of the filter bag304. The movable component1302can have a length substantially similar to a height of the filter bag304. For example, the length of movable component1302can be between 80% and 130% of the height of the filter bag304. The movable component1302is movable between an engaged position and a disengaged position. The movable component1302, in some implementations, abuts the stationary component1304in the engaged position. In the disengaged position, the movable component1302does not abut the stationary component1304.

The stationary component1304is fixed to the filter bag304. For example, the stationary component1304can be welded or stitched to a corner of the filter bag304, e.g., a region where three edges of the filter bag304meet. The stationary component1304and the movable component1302are configured to mate with one another when the movable component1302is in the engaged position. For example, the stationary component1304can include a contact surface that abuts a contact surface of the movable component1302.

In some implementations, the slider mechanism is disposed on a rear-facing surface of the filter bag304, substantially opposite the interface assembly310. In other implementations, the slider mechanism can be positioned near the front surface of the filter bag304, in close proximity to the interface assembly310.

In some implementations, the stationary component1304of the slider mechanism can be ergonomically shaped, or may include a loop (not shown), to allow the user to comfortably hold onto while sliding the movable component1302to unseal or seal the filter bag304. In some implementations, the movable component1302can be attached to the filter bag304(e.g., tied at one end to the filter bag) so that when the filter bag304is completely unsealed, the movable component is not misplaced or lost. In other implementations, the movable component1302of the slider mechanism is entirely removable from the filter bag304.

Referring toFIG.14, another implementation of a filtering device1400is illustrated. As inFIG.6andFIG.12, the filter bag304of the filtering device1400is shown as transparent. The filtering device1400has many similarities to the filtering device300(shown inFIGS.5-6), and similar elements are denoted by similar reference numerals. However, the filtering device1400includes a zipper1402to seal together two edges of the filter bag304that, when separated, provide access to the space within the filter bag304. The zipper1402can be operated using a handle1404. By translating the handle1404along the zipper1402, the zipper1402can be zipped and unzipped. The strength of the seal provided by the zipper1402is at least sufficient to withstand a flow of air generated by the evacuation station100(e.g., by air mover117).

In some implementations, the zipper is disposed on a rear-facing surface of the filter bag304, substantially opposite the interface assembly310. In other implementations, the zipper1402can be positioned near the front surface of the filter bag304, in close proximity to the interface assembly310.

In some implementations, the zipper1402can have an L-shape, so that when it is unzipped, a flap of the filter bag304can be pulled back to provide easy access to the space within the filter bag304(e.g., in order to remove debris). In other implementations, the zipper1402can have different shapes. For example, the zipper can a single line or can be substantially U-shaped. While a zipper1402has been described, in some implementations, hook-and-loop fasteners, 3M™ Dual Lock™ fasteners, or other fastening systems may be used in lieu of the zipper1402.FIG.15illustrates an example process400executed by the controller113of the evacuation station100. After the robot200has docked at the evacuation station100, the controller113at operation402initiates an evacuation process. During the evacuation process, the controller113activates the air mover117, thereby generating the airflow to evacuate debris from the debris bin204of the robot200.

In some implementations, the sensor126(shown inFIG.1) can be a pressure sensor that generates one or more signals indicative of a steady-state pressure within the receptacle130of the evacuation station100. During the evacuation process, referring toFIG.15A, the controller113can transmit data indicative of the steady-state pressure to a remote computing device500, e.g., a smartphone, a personal computer, a smartwatch, smartglasses, augmented reality device, or other remote computing device. For example, the controller113can directly transmit the data to the remote computing device500, e.g., via a Bluetooth, LAN, or other appropriate wireless communication protocol, or the controller113can transmit the data to the remote computing device500via a remote server. As shown inFIG.15A, the steady-state pressure can be indicative of a fullness state of the evacuation station100. Based on the steady-state pressure, the remote computing device500can present a notification502indicative of the fullness state of the evacuation station100. For example, the notification502can indicate a percentage of the total debris capacity of the filtering device300occupied by accumulated debris.

In some implementations, referring toFIG.15B, the controller113can transmit information indicative of a number of uses of a particular filtering device. For example, in implementations in which the filtering device is a reusable filtering device, the controller113can track the number of evacuation operations that the filtering device has been used for. As shown inFIG.15B, the remote computing device500can provide a notification504of the number of uses of the filtering device. If the number of uses of the filtering device exceeds a threshold number, e.g., between25and100, between100and200, between200and300, between300and400, etc., the remote computing device500can provide a recommendation to the user to replace the filtering device. In some implementations, rather than tracking a number of evacuation operations, the controller113can track the number of times that the filtering device has been removed and emptied. The controller113can transmit this information to the remote computing device500, and the remote computing device500can provide a notification of a number of times that the filtering device has been emptied. In some implementations, the user can operate the remote computing device500to reset the tracked number of uses or the tracked number of emptying operations, e.g., when the user replaces the filtering device with a new filtering device.

In some examples, referring toFIG.15C, the controller113additionally or alternatively can present a notification510indicating that the user should order one or more additional filtering devices. The notification510can include user interface elements512enabling the user to directly order a filtering device to be delivered to the user's home.

FIG.16illustrates an example process1600executed by a user to empty a filtering device (e.g., filtering device1100) of the evacuation station100. In some implementations, the user may first operate the evacuation station100to evacuate debris from the cleaning robot200and collect debris within the filtering device1100. At operation1602, the user removes the filtering device from the evacuation station. This can be done by disconnecting filtering device1100from one or more conduits of the evacuation station100and then removing it from the receptacle130, as described above in relation toFIG.4. This can also include disengaging the inlet306of the filtering device1100from an outlet of the evacuation station100. In some implementations, the user may move the cover314of the filtering device (e.g., by sliding the cover314) to block the inlet306, so that no debris spills out of the filtering device1100as it is removed from the evacuation station100.

In some implementations, the user receives a notification that the filtering device is in a full state or clogged state (as described in relation toFIGS.16A-F), which can prompt the user to remove the filtering device from the evacuation station. Determining the full state or clogged state of the filtering device can be based on one or more signals generated by a sensor positioned proximate an airflow pathway through the evacuation station (e.g., sensor126).

At operation1604, the user rotates an access door of the filtering device relative to a base of the filtering device to provide access to a space within a filter bag of the filtering device through an opening of the base. For example, the filtering device can be the filtering device1100described in relation toFIGS.11A-11B. The access door can be the access door1150and the base can be the base1190. Rotating the access door1150can include rotating the access door1150about the hinges1170from the closed position to the open position. In some implementations, prior to rotating the access door1150, the user must release a latch mechanism (e.g., latch mechanism1160) that secures the access door1150in the closed position.

At operation1606, the user removes debris from the space within the filter bag through the opening of the base. For example, the user can remove the debris that has been collected within the filter bag304through the opening1180of the base1190. Subsequent to removing the debris from the space within the filter bag304, the user can rotate the access door1150back to a closed position and reinsert the filtering device1100into the evacuation station100, thereby preparing the filtering device1100to be reused. Prior to reinsertion of the filtering device1100, the user may also engage a latch mechanism1160to secure the access door1150in the closed position.

A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made.

The robots and evacuation stations described herein can be controlled, at least in part, using one or more computer program products, e.g., one or more computer programs tangibly embodied in one or more information carriers, such as one or more non-transitory machine-readable media, for execution by, or to control the operation of, one or more data processing apparatus, e.g., a programmable processor, a computer, multiple computers, and/or programmable logic components.

Operations and processes associated with controlling the robots and evacuation stations described herein can be performed by one or more programmable processors executing one or more computer programs to perform the functions described herein. A computer program can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. Control over all or part of the robots and the evacuation stations described herein can be implemented using special purpose logic circuitry, e.g., an FPGA (field programmable gate array) and/or an ASIC (application-specific integrated circuit).

The controllers (e.g., the controller113, the controller206) described herein can include one or more processors. Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only storage area or a random access storage area or both. Elements of a computer include one or more processors for executing instructions and one or more storage area devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from, or transfer data to, or both, one or more machine-readable storage media, such as mass PCBs for storing data, e.g., magnetic, magneto-optical disks, or optical disks. Machine-readable storage media suitable for embodying computer program instructions and data include all forms of non-volatile storage area, including by way of example, semiconductor storage area devices, e.g., EPROM, EEPROM, and flash storage area devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. While the controller113of the evacuation station100is described as controlling the air mover115and performing other operations as described herein, in other implementations, the controller206of the robot200, a remote server, or a combination of various controllers described herein can be used to control the operations of the evacuation station100.

While the conduit308is described as being formed from a rigid polymer, in some implementations, the conduit308is formed from a flexible material. The conduit308can be a thin piece of polymeric material. The conduit308can formed from, for example, polyurethane, latex, rubber, an elastomer, another appropriate flexible material, or a combination of multiple appropriate materials that provide flexibility. The conduit308can be sufficiently flexible such that the conduit308droops when the air mover115of the evacuation station100is not operated. During operation of the air mover115, the conduit308can expand to allow the airflow generated by the air mover115to pass through the conduit308.

While the sensor126is described, in some implementations, the evacuation station100includes multiple sensors positioned along or proximate the airflow pathways of the evacuation station100. For example, the evacuation station100can include two pressure sensors, with one pressure sensor located on opposing sides of an airflow pathway. In some implementations, a first pressure sensor can be located within the canister, such as near the filtering device300, and a second pressure sensor can be located near the intake118of the evacuation station100. Based on signals from the multiple sensors, the controller113can determine a particular location along the airflow pathways of a clog or other obstruction or an air leak.

While the filtering device300is described as a bag-based filtering device including the filter bag304, in other implementations, the filtering device300includes a rigid container to which the collar312is attached. In some implementations, the filtering device300is a reusable container that can be emptied by a user and, in some cases, be cleaned for subsequent reuse with an evacuation station.

The cover314is described in some implementations as being slidable relative to the collar312. In some cases, as described herein, the cover314is translatable relative to the collar312. Additionally or alternatively, the cover314is rotatable relative to the cover314between the open and closed positions. In some implementations, the seal316serves as a cover for the opening317of the filter bag304. For example, the seal316can cover substantially an entirety of the opening317of the filter bag304, e.g., 75% to 95%. The conduit114in the protruded position can be penetrate the seal316and thereby enlarge the opening338defined by the seal316. The seal316can include several slits that impart the flexibility for allowing the conduit114to penetrate the seal316.

While the snap fit mechanism324is described as attaching the conduit308to the collar312, in other implementations, a mechanism for attaching the conduit308to the collar312includes adhesive attachment, welding, an interference fit mechanism, or other appropriate attachment mechanism.