ROBOTIC CLEANER

A robotic cleaning system may include a docking station, a robotic cleaner that includes at least one of a first set of robot charging contacts or a second set of robot charging contacts, the first and second sets of robot charging contacts being configured to electrically couple the robotic cleaner to the docking station, a dust cup configured to removably couple to the robotic cleaner, and a mop module configured to removably couple to the robotic cleaner. When the mop module is coupled to the robotic cleaner, the robotic cleaner may be configured to electrically couple to the docking station using the first set of robot charging contacts. When the mop module is not coupled to the robotic cleaner, the robotic cleaner may be configured to electrically couple to the docking station using the second set of robot charging contacts.

TECHNICAL FIELD

The present disclosure is generally related to robotic cleaners and more specifically related to robotic cleaner docking behaviors associated with robotic cleaner configuration(s).

BACKGROUND INFORMATION

Robotic cleaners are configured to autonomously clean a surface (e.g., a floor). An example robotic cleaner is configured to carry out one or more cleaning behaviors while traversing the surface. The cleaning behaviors may include one or more of a wet cleaning behavior and/or a dry cleaning behavior. For example, the robotic cleaner may include a mop module (for a wet cleaning behavior) and a dust cup (for a dry cleaning behavior). In this example, the mop module may be removably coupled to the robotic cleaner (e.g., such that the robotic cleaner may carry out a dry cleaning only behavior and/or for refilling of the mopping module).

DETAILED DESCRIPTION

The present disclosure is generally related to a robotic cleaning system having a robotic cleaner configured to dock with a docking station. The robotic cleaning system includes a robotic cleaner, a dust cup configured to be removably coupled to the robotic cleaner, and a mop module configured to be removably coupled to the robotic cleaner. The robotic cleaner may be generally described as being configured to operate in a wet mode when the mop module is coupled to the robotic cleaner and to operate in a dry mode when the mop module is not coupled to the robotic cleaner.

The robotic cleaner may include a first set of charging contacts and a second set of charging contacts. The first and second sets of charging contacts are configured to electrically couple with the docking station such that a power supply (e.g., one or more batteries) of the robotic cleaner can be recharged. The mop module, when coupled to the robotic cleaner, may make one of the first set or the second set of charging contacts inaccessible by obscuring (e.g., extending over) or replacing a component (e.g., the dust cup) that includes one of the first set or the second set of charging contacts. In these instances, the robotic cleaner may be configured to electrically couple to the docking station using the accessible set of charging contacts. For example, the robotic cleaner may be configured to carry out a first charging contact docking behavior when the second set of charging contacts are inaccessible and to carry out a second charging contact docking behavior when the second set of charging contacts are accessible.

FIG.1is a schematic example of a robotic cleaner100. The robotic cleaner100includes a plurality of driven wheels102, a power supply (e.g., one or more batteries)103, an agitator chamber106having an agitator108rotatable therein, and a suction motor110configured to configured to draw air through the agitator chamber106. A dust cup104is configured to removably couple to a body105of the robotic cleaner100and is configured to fluidly couple to the suction motor110such that air flowing into the agitator chamber106passes through the dust cup104before entering the suction motor110. As shown, the robotic cleaner100includes at least one of a first set of robot charging contacts112and/or a second set of robot charging contacts114. For example, the dust cup104may include the second set of robot charging contacts114and the body105of the robotic cleaner100may include the first set of robot charging contacts112. In this example, when the dust cup104is uncoupled from the robotic cleaner100, the robotic cleaner100may include only the first set of robot charging contacts112. By way of further example, both the first and second sets of robot charging contacts112and114may be coupled to the body105of the robotic cleaner100. The first set of robot charging contacts112and the second set of robot charging contacts114may be positioned on opposite sides of a central axis116of the robotic cleaner100. The central axis116may extend substantially (e.g., within 1°, 2°, 3°, 4°, or 5° of) parallel to a rotation axis of the driven wheels102.

As shown, a mop module118may be configured to couple to the robotic cleaner100. The mop module118may be configured to be coupled to the robotic cleaner100concurrently with or instead of the dust cup104. When coupled to the robotic cleaner100, at least a portion of the mop module118may cause the second set of robot charging contacts114to be inaccessible. For example, when coupled to the robotic cleaner100, the mop module118may obscure (e.g., extend over) at least a portion of the second set of robot charging contacts114. By way of further example, when the dust cup104includes the second set of robot charging contacts114and the mop module118replaces the dust cup104when coupled to the robotic cleaner100, the robotic cleaner100may not include the second set of robot charging contacts114when the mop module118is coupled to the robotic cleaner100. As such, coupling of the mop module118to the robotic cleaner100may generally be described as rendering the second set of robot charging contacts114inaccessible.

FIG.2shows a schematic side view of a robotic cleaning system200that includes the robotic cleaner100and a docking station202configured to electrically couple to the robotic cleaner100. As shown, the docking station202includes a set of docking station charging contacts204that are configured to electrically couple to the first and second sets of robot charging contacts112and114. When the mop module118is coupled to the robotic cleaner100, the robotic cleaner100is configured to electrically couple to the docking station202with the first set of robot charging contacts112. When the mop module118is not coupled to the robotic cleaner100, the robotic cleaner100is configured to electrically couple to the docking station202with the second set of robot charging contacts114. For example, when only the dust cup104of the mop module118and the dust cup104is coupled to the robotic cleaner100, the robotic cleaner100is configured to electrically couple to the docking station202with the second set of robot charging contacts114.

The robotic cleaner100may be configured to detect a presence of the mop module118. For example, in response to detecting the presence of the mop module118, the robotic cleaner100may be caused to dock according to a first charging contact docking behavior in which the robotic cleaner100electrically couples with the docking station202using the first set of robot charging contacts112. In this example, the first charging contact docking behavior may correspond to a docking behavior in which the robotic cleaner100docks (e.g., forms an electrical coupling) with the docking station202while moving according to a forward movement direction. By way of further example, when the robotic cleaner100does not detect the presence of the mop module118, the robotic cleaner100may be configured to dock according to a second charging contact docking behavior in which the robotic cleaner100electrically couples with the docking station202using the second set of robot charging contacts114. In this example, the second charging contact docking behavior may correspond to a behavior in which the robotic cleaner docks with the docking station202while moving according to a rearward movement direction. The forward movement direction corresponds to the direction of movement that the robotic cleaner100travels in for a majority of a cleaning operation and the rearward movement direction is opposite the forward movement direction.

When docked with the docking station202(e.g., as a result of a docking behavior and/or user placement), the robotic cleaner100may be configured to determine an orientation of the robotic cleaner100relative to the docking station202. For example, the robotic cleaner100may be configured to determine which of the first or second charging contacts112and114are electrically coupling the robotic cleaner100to the docking station202. Additionally, or alternatively, the robotic cleaner100may be configured to determine whether the robotic cleaner100docked with the docking station202according to the first or second charging contact docking behavior. In response to the robotic cleaner100determining the orientation of the robotic cleaner100relative to the docking station202, the robotic cleaner100determines an undocking behavior. For example, the robotic cleaner100may carry out an undocking behavior in which the robotic cleaner100moves in a rearward movement direction (e.g., if the first set of robot charging contacts112are electrically coupling the robotic cleaner100to the docking station202) or in a forward movement direction (e.g., if the second set of robot charging contacts114are electrically coupling the robotic cleaner100to the docking station202).

FIG.3shows a perspective view of a robotic cleaner300having a dust cup306removably coupled thereto andFIG.4shows another perspective view of the robotic cleaner300having a mop module400removably coupled thereto. As shown, the robotic cleaner300includes a displaceable bumper302and a navigation sensor304(e.g., a LIDAR sensor or a camera). The mop module400, when coupled to the robotic cleaner300, may extend around at least a portion of the dust cup306. In these instances, both of the dust cup306and the mop module400may be coupled to the robotic cleaner300. Alternatively, the mop module400, when coupled to the robotic cleaner300, may replace the dust cup306. In these instances, only one of the mop module400or the dust cup306may be coupled to the robotic cleaner300at a time. The mop module400and displaceable bumper302may be disposed on opposing sides of the robotic cleaner300.

FIG.5shows a bottom view of the robotic cleaner300having the mop module400removed therefrom. As shown, the robotic cleaner300includes a first set of robot charging contacts500and a second set of robot charging contacts502. The first set of robot charging contacts500and the second set of robot charging contacts502may be disposed on opposite sides of a rotation axis504of one or more driven wheels506of the robotic cleaner300. In some instances, for example, the first set of robot charging contacts500may generally be referred to as forward charging contacts and the second set of robot charging contacts502may generally be referred to as rearward charging contacts.

The first set of robot charging contacts500may be coupled to a body508of the robotic cleaner300and the second set of robot charging contacts502may be coupled to the dust cup306. As such, when the dust cup306is removed from the robotic cleaner300, the second set of robot charging contacts502are removed from robotic cleaner300. In some instances, the dust cup306may be replaced with an alternative dust cup or cleaning accessory (e.g., the mop module400) that does not include a set of robot charging contacts. In these instances, the robotic cleaner300is configured to use the first set of robot charging contacts500for charging.

FIG.6shows a perspective front view of the dust cup306. As shown, the dust cup306includes a dust cup electrical connector600configured to electrically couple to the robotic cleaner300(e.g., via a corresponding robotic cleaner electrical connector). The dust cup electrical connector600is configured to electrically couple the second set of robot charging contacts502to the robotic cleaner300(e.g., electrically couple the second set of robot charging contacts502to a power supply of the robotic cleaner300). For example, the dust cup electrical connector600may be an 8-pin electrical connector. The robotic cleaner300may be configured to detect the presence of the dust cup306based on the dust cup electrical connector600forming an electrical coupling with the robotic cleaner electrical connector. For example, the robotic cleaner300can be configured to measure a resistive load of the dust cup electrical connector600. In some instances, the resistive load may be a predetermined resistance value. In these instances, the robotic cleaner300can be configured to differentiate between the dust cup306and other accessories or dust cups that may interface with the robotic cleaner electrical connector based on the resistive load. In other words, dust cup electrical connector600may be generally described as having an identifying resistance value.

The dust cup electrical connector600may be further configured to transmit and/or receive data from the robotic cleaner300. For example, the dust cup306may include one or more sensors602. The one or more sensors602may include optical sensors (e.g., for obstacle detection and/or optical communication), magnetic sensors (e.g., hall effect sensors), and/or any other type of sensor. The one or more sensors602may be configured to detect a presence of the mop module400when the mop module400is configured to extend around at least a portion of the dust cup306when coupled to the robotic cleaner300(as opposed to replacing the dust cup306). For example, the mop module400may include a magnetic component and the one or more sensors602may include a hall effect sensor configured to detect the magnetic field of the magnetic component.

FIG.7shows a perspective rear view of the dust cup306. As shown, the dust cup306includes an evacuation port700. The evacuation port700is configured to fluidly couple with a docking station such that debris within the dust cup306is transferred to the docking station. As such, the identifying resistance value of the dust cup electrical connector600may correspond to that of an evacuation dust cup.

FIG.8shows a bottom view of the robotic cleaner300having the mop module400coupled thereto. The mop module400includes a mopping surface800. When the mop module400is coupled to the robotic cleaner300, the first set of robot charging contacts500are accessible and are capable of electrically coupling to a docking station and the second set of robot charging contacts502are inaccessible. For example, the mopping surface800can extend over the second set of robot charging contacts502(e.g., when the mop module400extends around at least a portion of dust cup306). By way of further example, the mop module400may replace the dust cup306(the dust cup306including the second set of robot charging contacts502), wherein the mop module400does not include a set of robot charging contacts. When the mop module400replaces the dust cup306, the mop module400may have a mop module electrical connector having an identify resistance value that corresponds to the mop module400, allowing the robotic cleaner300to identify the mop module400.

FIGS.9-13show the robotic cleaner300docking with a docking station900, wherein the mop module400is not coupled to the robotic cleaner300. The docking station900includes docking station charging contacts902configured to electrically couple to the first or second set of robot charging contacts500or502. The docking station900can be further configured to evacuate the dust cup306of the robotic cleaner300when the robotic cleaner300docks with the docking station900according to an evacuation orientation. The robotic cleaner300can be configured to determine whether the mop module400is coupled to the robotic cleaner300. When the mop module400is not coupled to the robotic cleaner300, the second set of robot charging contacts502are accessible. If the robotic cleaner300determines that the mop module400is not coupled thereto, the robotic cleaner300is configured to carry out a second charging contact docking behavior. The second charging contact docking behavior is configured to electrically couple the second set of robot charging contacts502with the docking station charging contacts902and orient the robotic cleaner300in the evacuation orientation when docked.FIGS.9-13illustrate an example second charging contact docking behavior.

As shown inFIG.9, the robotic cleaner300is configured to detect the docking station900and, in response to detecting the docking station900, approach the docking station900. The robotic cleaner300may detect the docking station900using one or more of a signal (e.g., an infrared signal) emitted by the docking station900and/or the navigation sensor304. In response to detecting the docking station900, the robotic cleaner300may be caused to approach the docking station900according to a forward movement direction904.

As shown inFIG.10, the robotic cleaner300moves according to the forward movement direction904and approaches the docking station900until a separation distance1000extending between the robotic cleaner300and the docking station900is less than (or equal to) a forward stopping threshold. The robotic cleaner300is caused to stop movement in the forward movement direction904in response to the separation distance1000being less than (or equal to) the forward stopping threshold. The robotic cleaner300can be configured to determine whether the separation distance1000is less than (or equal to) the forward stopping threshold using one or more of the navigation sensor304and/or the displaceable bumper302.

As shown inFIG.11, in response to the robotic cleaner300stopping after determining the separation distance1000is less than (or equal to) the forward stopping threshold, the robotic cleaner300is caused to move in a rearward movement direction1100, the rearward movement direction1100being opposite the forward movement direction904. The robotic cleaner300moves in the rearward movement direction1100until the separation distance1000is greater than (or equal to) a reverse stopping threshold. In response to the separation distance1000exceeding the reverse stopping threshold, the robotic cleaner300is caused to stop. The reverse stopping threshold may correspond to a separation distance from the docking station900that allows the robotic cleaner300to rotate relative to the docking station900. The robotic cleaner300may be configured to determine when the separation distance1000is greater than (or equal to) the reverse threshold using one or more of the navigation sensor304and/or the displaceable bumper302.

As shown inFIG.12, in response to the robotic cleaner300stopping after determining the separation distance1000is greater than (or equal to) the reverse stopping threshold, the robotic cleaner300is caused to rotate according to a rotation direction1200. The robotic cleaner300may rotate in the rotation direction1200until the evacuation port700of the dust cup306aligns with a suction port1202of the docking station900. For example, the robotic cleaner300may be caused to rotate through a rotation of angle of substantially (e.g., within 1°, 2°, 3°, 4°, or 5° of) 180°.

As shown inFIG.13, in response to the robotic cleaner300completing rotation in the rotation direction1200, the robotic cleaner300moves according to the rearward movement direction1100until the evacuation port700comes into engagement (e.g., contact) with suction port1202, fluidly coupling the dust cup306with the docking station900, and/or until the robotic cleaner300is electrically coupled to the docking station900. As such, the evacuation port700of the dust cup306may generally be described as being configured to fluidly couple with the suction port1202of the docking station900.

When the dust cup306is fluidly coupled to the docking station900, the second set of robot charging contacts502are configured to electrically couple the robotic cleaner300to the docking station charging contacts902. The docking station900may include one or more dock sensors1300configured to detect a presence of the robotic cleaner300. In some instances, the one or more dock sensors1300may be configured to determine whether the dust cup306is fluidly coupled to the docking station900and/or whether the second set of robot charging contacts502are electrically coupling the robotic cleaner300to the docking station900. In response to the docking station900determining the dust cup306is fluidly coupled to the docking station900, the docking station900may execute an evacuation behavior configured to transfer debris from the dust cup306into the docking station900. In response to completing (or in response to commencing or before commencing) the evacuation behavior, the docking station900may be configured to determine whether the second set of robot charging contacts502are electrically coupling the robotic cleaner300to the docking station charging contacts902. In response to determining that the second set of robot charging contacts502are electrically coupling the robotic cleaner300to the docking station charging contacts902, the docking station900may be caused to supply power to the docking station charging contacts902, recharging a power supply of the robotic cleaner300. The one or more dock sensors1300may include hall effect sensors, current sensors, voltage sensors, resistance sensors, weight sensors, and/or any other type of sensor. For example, the one or more dock sensors1300may include a hall effect sensor configured to detect a magnetic component1302disposed within the dust cup306. Additionally, or alternatively, the docking station900may be configured to detect that the dust cup306is fluidly coupled to the docking station900by detecting the electrical coupling between the second set of robot charging contacts502and the docking station charging contacts902. In these instances, the electrical coupling between the second set of robot charging contacts502and the docking station charging contacts902may be used to form a digital communication link between the docking station900and the robotic cleaner300. Additionally, or alternatively, the first set of robot charging contacts500and the docking station charging contacts902may be used to form a digital communication link. The digital communication link may be used, for example, to identify which of the first or second set of robot charging contacts500or502are electrically coupling the robotic cleaner300to the docking station900.

FIGS.14and15show the robotic cleaner300docking with the docking station900, wherein the mop module400is coupled to the robotic cleaner300. The robotic cleaner300can be configured to determine whether the mop module400is coupled to the robotic cleaner300. For example, the mop module400may be configured to actuate a tactile switch when coupled to the robotic cleaner300, interact with the robotic cleaner electrical connector, and/or to interact with a detection sensor1400(e.g., a hall effect sensor) of the robotic cleaner300. When the mop module400is coupled to the robotic cleaner300, the second set of robot charging contacts502are inaccessible (e.g., obscured by the mop module400or the mop module400replaced the dust cup306, wherein the dust cup306includes the second set of robot charging contacts502) and the robotic cleaner300may not be capable of fluidly coupling to the docking station900. If the robotic cleaner300determines that the mop module400is coupled thereto, the robotic cleaner300is configured to carry out a first charging contact docking behavior. The first charging contact docking behavior is configured to electrically couple the first set of robot charging contacts500with the docking station charging contacts902.FIGS.14and15illustrate an example first charging contact docking behavior.

As shown inFIG.14, the robotic cleaner300is configured to detect the docking station900and, in response to detecting the docking station900, approach the docking station900. The robotic cleaner300may detect the docking station900using one or more of a signal (e.g., an infrared signal) emitted by the docking station and/or the navigation sensor304. In response to detecting the docking station900, the robotic cleaner300may be caused to approach the docking station900according to the forward movement direction904.

As shown inFIG.15, the robotic cleaner300moves according to the forward movement direction904and approaches the docking station900until the separation distance1000extending between the robotic cleaner300and the docking station900is less than (or equal to) a stopping threshold. The robotic cleaner300is caused to stop movement in the forward movement direction904in response to the separation distance1000being less than (or equal to) the stopping threshold. The robotic cleaner300can be configured to determine whether the separation distance1000is less than (or equal to) the stopping threshold using one or more of the navigation sensor304and/or the displaceable bumper302.

When the robotic cleaner300stops moving in the forward movement direction904, an electrical coupling is formed between the first set of robot charging contacts500and the docking station charging contacts902. When docked in this orientation, the docking station900is configured to detect that the robotic cleaner300is docked in an orientation in which emptying of the dust cup306is not possible and/or that the dust cup306is not coupled to the robotic cleaner300. For example, the one or more dock sensors1300may include a hall effect sensor configured to detect a magnetic component within the dust cup306. When the robotic cleaner300is not in the correct orientation and/or the dust cup306is removed from the robotic cleaner300, the hall effect sensor will not detect the magnetic component and the docking station900will not engage in the evacuation behavior.

As discussed in relation toFIGS.9-15, the robotic cleaner300is configured to dock with the docking station900according to the first or second charging contacts docking behavior based, at least in part, on whether the mop module400and/or dust cup306is coupled to the robotic cleaner300. When the robotic cleaner300is docked with (e.g., when electrically coupled to) the docking station900, the robotic cleaner300can be configured to determine the orientation of the robotic cleaner300relative to the docking station900prior to commencing a cleaning operation (e.g., a wet cleaning or dry cleaning operation). For example, the robotic cleaner300can be configured to determine whether the first or second robot charging contacts500or502are electrically coupling the robotic cleaner300to the docking station900, configured to determine whether the mop module400is installed in the robotic cleaner300, configured to determine whether the dust cup306is configured to be evacuated by the docking station900, and/or configured to store the orientation with which the robotic cleaner300docked with the docking station900. Based on one or more of these determinations, the robotic cleaner300may be caused to undock from the docking station900using one of the forward movement direction904or the rearward movement direction1100. For example, the robotic cleaner300can be configured to determine the orientation of the robotic cleaner300relative to the docking station900based, at least in part, on whether the first set of robot charging contacts500or the second set of robot charging contacts502are electrically coupling the robotic cleaner300to the docking station900. In this example, if the first set of robot charging contacts500are electrically coupling the robotic cleaner300to the docking station900, the robotic cleaner300undocks from the docking station900using the rearward movement direction1100and, if the second set of robot charging contacts502are electrically coupling the robotic cleaner300to the docking station900, the robotic cleaner300undocks from the docking station900using forward movement direction904.

FIGS.16-18illustrate an example, wherein the mop module400is replaceable (e.g., by a user) while the robotic cleaner300is docked with the docking station900. In other words, the mop module400is configured to be removed from the robotic cleaner300while the robotic cleaner300is electrically coupled to the docking station900. In this example, the orientation of the robotic cleaner300relative to the docking station900may remain unchanged after the dust cup306is coupled to the robotic cleaner300until a cleaning operation is performed.

In the example ofFIGS.16-18, the mop module400may include a liquid tank1600and a dry debris collection chamber1602. As such, the mop module400may be generally described as being capable of carrying out a wet and dry cleaning operation. Alternatively, the mop module400may include only the liquid tank1600. In these instances, the liquid tank1600may shaped such that the dust cup306remains coupled to the robotic cleaner300and the liquid tank1600extends around at least a portion of the dust cup306.

An example of a robotic cleaning system, consistent with the present disclosure, may include a docking station having a suction port, a robotic cleaner that includes at least one of a first set of robot charging contacts or a second set of robot charging contacts, the first and second sets of robot charging contacts being configured to electrically couple the robotic cleaner to the docking station, a dust cup configured to removably couple to the robotic cleaner, the dust cup including an evacuation port configured to fluidly couple with the suction port of the docking station, and a mop module configured to removably couple to the robotic cleaner. When the mop module is coupled to the robotic cleaner, the robotic cleaner may be configured to electrically couple to the docking station using the first set of robot charging contacts. When only the dust cup of the dust cup and the mop module is coupled to the robotic cleaner, the robotic cleaner may be configured to electrically couple to the docking station using the second set of robot charging contacts.

In some instances, the robotic cleaner may further include a plurality of driven wheels configured to rotate about a rotation axis and the first and second sets of robot charging contacts are disposed on opposite sides of the rotation axis. In some instances, the dust cup may include the second set of robot charging contacts. In some instances, the dust cup may include a dust cup electrical connector configured to electrically couple with the robotic cleaner. In some instances, the dust cup electrical connector may have an identifying resistance value. In some instances, only one of the dust cup or the mop module may be coupled to the robotic cleaner at a time. In some instances, the dust cup may include the second set of robot charging contacts. In some instances, when the robotic cleaner is electrically coupled to the docking station, the robotic cleaner may be configured to determine an orientation of the robotic cleaner relative to the docking station. In some instances, the robotic cleaner may be configured to determine the orientation of the robotic cleaner relative to the docking station based, at least in part, on whether the first set of robot charging contacts or the second set of robot charging contacts are electrically coupling the robotic cleaner to the docking station. In some instances, the mop module may be configured to be removed from the robotic cleaner while the robotic cleaner is electrically coupled to the docking station.

Another example of a robotic cleaning system, consistent with the present disclosure, may include a docking station, a robotic cleaner that includes at least one of a first set of robot charging contacts or a second set of robot charging contacts, the first and second sets of robot charging contacts being configured to electrically couple the robotic cleaner to the docking station, a dust cup configured to removably couple to the robotic cleaner, and a mop module configured to removably couple to the robotic cleaner. When the mop module is coupled to the robotic cleaner, the robotic cleaner may be configured to electrically couple to the docking station using the first set of robot charging contacts. When the mop module is not coupled to the robotic cleaner, the robotic cleaner may be configured to electrically couple to the docking station using the second set of robot charging contacts.

In some instances, the robotic cleaner further may include a plurality of driven wheels configured to rotate about a rotation axis and the first and second sets of robot charging contacts are disposed on opposite sides of the rotation axis. In some instances, the dust cup may include the second set of robot charging contacts. In some instances, the dust cup may include a dust cup electrical connector configured to electrically couple with the robotic cleaner. In some instances, the dust cup electrical connector may have an identifying resistance value. In some instances, only one of the dust cup or the mop module may be coupled to the robotic cleaner at a time. In some instances, the dust cup may include the second set of robot charging contacts. In some instances, when the robotic cleaner is electrically coupled to the docking station, the robotic cleaner may be configured to determine an orientation of the robotic cleaner relative to the docking station. In some instances, the robotic cleaner may be configured to determine the orientation of the robotic cleaner relative to the docking station based, at least in part, on whether the first set of robot charging contacts or the second set of robot charging contacts are electrically coupling the robotic cleaner to the docking station. In some instances, the mop module may be configured to be removed from the robotic cleaner while the robotic cleaner is electrically coupled to the docking station.