Patent Publication Number: US-2010125968-A1

Title: Automated apparatus and equipped trashcan

Description:
BACKGROUND 
     The present invention generally relates to the field of automated cleaning devices and, more particularly, to a system including an automated vacuum apparatus and equipped trashcan for cleaning a plurality of surfaces. 
     Automated cleaning devices are well-known and have been used extensively in many different technical fields including industries such as automotive, clothing, financial, and governmental. These devices have been used to replace human labor in many instances for reducing costs and improving efficiency. More recently, these automated devices have been incorporated into the household services industry for performing tasks such as doing laundry, cleaning appliances and dishware, mopping, sweeping, and waxing various surfaces, and other traditional household chores. 
     One such automated device that has found its way into the marketplace is a robotic cleaning apparatus that moves about and cleans a defined space without human intervention. A basic navigation system and sensors incorporated within the robotic cleaning apparatus allow the apparatus to clean an entire floor space without missing areas within the space. The general use of such a robotic cleaning apparatus is for cleaning a substantially planar and horizontal surface. 
     SUMMARY OF THE INVENTION 
     An embodiment of the present invention provides an automated apparatus for cleaning a floor surface and steps. The apparatus can include a housing having a power source, plurality of cleaning mechanisms, and a drive mechanism coupled to the power source. The drive mechanism can drive the plurality of cleaning mechanisms and a sensor can be coupled to the housing for detecting objects that lie along a path of movement being traveled by the apparatus. A controller can be disposed in the housing for controlling the plurality of cleaning mechanisms. The controller can be configured to communicate with a remote communication system. The apparatus further includes a leg movably coupled to the housing, such that the leg can move from a retracted position in which the leg is disposed in the housing to an extended position. As the leg moves to the extended position, the leg can engage a surface adjacent to the apparatus and lift the housing away from the surface. 
     In a different embodiment, an automated system for cleaning steps is provided that includes an automated robot for cleaning and a collection device. The robot can be provided with a housing having a power source and a plurality of cleaning mechanisms coupled thereto, a drive mechanism coupled to the power source, the drive mechanism driving the plurality of cleaning mechanisms and a sensor coupled to the housing for detecting an elevation change and objects that lie along a path of movement being traveled by the apparatus. The robot can further have a controller disposed in the housing for controlling the plurality of cleaning mechanisms. Additionally, the robot can include a leg movably coupled to the housing such that the leg can move from a retracted position in which the leg is disposed in the housing to an extended position. As the leg moves to the extended position, the leg can engage a surface in which the apparatus is positioned on and lift the housing away from the surface. 
     In one embodiment, the collection device can include a communication center for communicating with the robot, a housing adapted to receive collected contents from the robot, and a vacuum coupled to the housing. The vacuum can assist with transferring collected contents from the robot into the housing. Further, the collection device can include a docking station to which the robot couples thereto. 
     In another embodiment, a method for using an automated cleaning apparatus from one step to another or up or down a step and cleaning the step is provided with the apparatus having a housing and a plurality of cleaning mechanisms coupled thereto, a drive mechanism coupled to the plurality of cleaning mechanisms, a sensor coupled to the housing, a controller, and a leg movably coupled to the housing. The method can include detecting a step with the sensor and transmitting a signal to the controller that the apparatus is near or at the step. Further, the method includes determining whether to move up or down the step. To do so, the leg moves to a position in which the leg contacts a surface and then lifts the housing away from the surface. The leg can then tilt at an angle and thereby move at least a portion of the housing to a position substantially above the step. The leg can be moved into the housing before the apparatus cleans the step. 
     The present invention is explained in more detail hereinafter on the basis of advantageous embodiments shown in the figures. The special features shown therein may be used individually or in combination to provide embodiments of the present invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above-mentioned aspects of the present invention and the manner of obtaining them will become more apparent and the invention itself will be better understood by reference to the following description of the embodiments of the invention, taken in conjunction with the accompanying drawings, wherein: 
         FIG. 1  is a perspective top view of a robotic cleaning device; 
         FIG. 2  is a perspective bottom view of the robotic cleaning device of  FIG. 1 ; 
         FIG. 3  is a perspective view of internal components of the robotic cleaning device of  FIG. 1 ; 
         FIG. 4  is a perspective view of additional or different internal components of the robotic cleaning device of  FIG. 1 ; 
         FIG. 5  is a schematic of a robotic cleaning device detecting objects via a plurality of sensors; 
         FIG. 6  is a side view of the robotic cleaning device of  FIG. 1  is a raised position for moving about a step; 
         FIG. 7  is a side view of the robotic cleaning device of  FIG. 6  including a leg tilting and moving the device into contact with the step; 
         FIG. 8  is a perspective view of a leg of a robotic cleaning device; 
         FIG. 9  is a perspective view of a case of a robotic cleaning device for the leg of  FIG. 8 ; 
         FIG. 10  is a perspective view of a holder of a robotic cleaning device; 
         FIG. 11  is a perspective view of the leg of  FIG. 8  in a retracted position in the case of  FIG. 9 ; 
         FIG. 12  is a perspective view of the leg of  FIG. 8  in an extended position; 
         FIG. 13A  is a perspective bottom view of another embodiment of the robotic cleaning device of  FIG. 1 ; 
         FIG. 13B  is a cross-sectional view of a cap mechanism for removing collected particles from the robotic cleaning device of  FIG. 1 ; 
         FIG. 13C  is a cross-sectional view of collected particles being transferred from the robotic cleaning apparatus of  FIG. 1  to a collection device; 
         FIG. 14  is a partial perspective top view of a mechanism for coupling with a robotic cleaning device for transferring collected particles; 
         FIG. 15  is a partial perspective bottom view of a docking station of a collection receptacle; 
         FIG. 16  is a schematic of an exemplary brush being cleaned by a rotary mechanism; 
         FIG. 17  is a perspective view of an exemplary rotary mechanism for cleaning the brush of  FIG. 16 ; 
         FIG. 18  is a partial perspective view of an exemplary side brush of a robotic cleaning device; 
         FIG. 19  is a schematic of a robotic cleaning device moving about an area; 
         FIG. 20  is a flow diagram of communication between a communication controller and a robotic cleaning device; and 
         FIG. 21  is a diagram of the connectivity between features of the robot and collection device. 
     
    
    
     Corresponding reference numerals are used to indicate corresponding parts throughout the several views. 
     DETAILED DESCRIPTION 
     The embodiments of the present invention described below are not intended to be exhaustive or to limit the invention to the precise forms disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present invention. 
     An exemplary robotic cleaning device (“robot”) is shown in  FIG. 1 . The robot  2  includes a housing  4  supported by a plurality of wheels. In the embodiment of  FIG. 1 , the robot has a pair of rear wheels  6  near the rear of the robot  2  which drives the robot in forward, reverse, and lateral directions. The robot  2  may also have one or more wheels  8  positioned forward of the rear wheels  6  to provide stability and balance the weight of the robot. The forward wheel  8  may comprise a plurality of forward wheels  8 . In one embodiment, the forward wheel  8  is free-spinning and the robot  2  is driven by the rear wheels  6 . In another embodiment, the forward wheel  8  and rear wheels  6  drive the robot  2 . 
     The robot  2  may include a plurality of sensors for detecting objects and obstacles in all directions that surround the robot. In the embodiment of  FIG. 1 , for example, the robot  2  has a sensor  12  disposed at the front end of the housing  4  for detecting objects. The sensor  12  can be any type of sensor, including infrared, radio-frequency (RF), photoelectric, magnetic, proximity, ultrasonic, or any other sensor known to the skilled artisan. Additionally, a sensor  10  is provided near the front end of the robot  2  to detect obstacles along a path of movement of the robot  2 . This particular sensor  10  detects objects upon contact with the object and transmits a signal to a controller within the robot  2 . In  FIG. 2 , a plurality of sensors  34 ,  36  are positioned on the bottom of the robot  2  to detect changes in the surface the robot  2  is moving about. For example, if the robot  2  is moving in a forward direction and it comes upon a sudden downward slope or step, sensors  56  near the front of the robot  2  can detect the surface change and communicate the change to the controller. Similarly, if the robot  2  is moving in a reverse direction and it comes upon a surface change (e.g., a downward step), sensors (not shown) which are disposed near the rear of the robot  2  can detect the sudden surface change and communicate the change to the controller. The location of the sensors  34 ,  36  can vary in different embodiments and those shown in the figures should not be limiting. One skilled in the art can appreciate other advantages by positioning the sensors along other edges and in various quantities. 
     In the embodiment of  FIG. 1 , the robot  2  can include an accessory compartment  14  in which different components, particularly audio and/or video equipment can be disposed therein. Such components may include a webcam, video camera, digital camera, and any other similar component known to one skilled in the art. Also, the compartment can store air freshner, deodorizer, or other scent-pleasing formula for enhancing the smell of the surrounding environment. To help cool the robot  2  and the internal components within the housing  4 , an air vent  24  can be provided on the outside of the housing  4 . 
     The robot  2  also can include a plurality of cleaning devices for sweeping, dusting, mopping, polishing, vacuuming, wiping, or other cleaning functions. In  FIGS. 1 and 2 , side cleaning brushes  16  are shown near the front end of the robot  2 . The side brushes  16  can be driven electrically, hydraulically, mechanically, or by any other means. In one embodiment, for example, the side brushes  16  are driven by an electric motor  52  (see  FIG. 4 ). Each side brush  16  can generally include several arms  18  coupled at one end to the center of the brush  16 . At the other end of each arm  18  are bristles  20  which extend outward and perform most of the cleaning function. The robot  2  can also include a center brush  28  for performing a cleaning function. The center brush  28  can be driven by an electric motor  48 , as illustrated in  FIG. 4 , but it can also be driven by other means known to a skilled artisan. The center brush  28  can be positioned anywhere on the robot, but in the embodiment of  FIG. 2 , the center brush is disposed between the side brushes  16  and wheel  8 . The center brush  28  can rotate in clockwise and counterclockwise directions, and in some embodiments, as the brush rotates counterclockwise, dust and other particles are vacuumed and collected by secondary cleaning assembly  30 . The secondary cleaning assembly  30  can include one or more apertures, such as slots, a vacuum device for collecting particles, or it may be any form of a brush or mop. Although the embodiments illustrated in  FIGS. 1-4  only show the side brushes  16 , center brush  28 , and secondary cleaning assembly  30 , it is possible for the robot  2  to include other components for performing cleaning functions such as a nozzle for dispensing liquid soap, shampoo, conditioner, carpet cleaner, polish, or water on a floor surface. The secondary cleaning assembly  30  may further include a dryer for blowing air onto a surface through the apertures, for example, after the robot  2  has mopped the floor surface. In this particular embodiment, the accessory compartment  14  can hold the liquid soap or shampoo and a nozzle or release apparatus (not shown) can dispense the material from the compartment  14 . 
     The robot  2  can further include legs  22  which are coupled to the housing  4 . As will be described in detail below, the legs  22  can move from a retracted position, as shown in  FIGS. 1 and 2 , in which the legs are substantially disposed in the housing to an extended position in which the legs are substantially disposed outside the housing. In the extended position, the legs  22  can lift the robot  2  from the surface it is positioned on and move the robot to another surface. 
     In the embodiment of  FIG. 2 , the robot  2  is shown with a dome-shaped cover  26 . The housing  4  and cover  26  can be made from various materials including any plastic, metal or rubber material. The housing and cover should be durable to withstand contact from other objects, such as when the robot is moving in a direction and runs into an object. It is also desirable to use materials that enable the robot to be manufactured and sold cheaply to most consumers. The cover  26  can be coupled to the housing via hinges, snap-fit connectors, screws, adjustable fasteners, slip-fit, or any other means known to the skilled artisan. The cover  26  can also include a plurality of sensors or communication transmitters (not shown) for transmitting signals from any of the sensors of the robot  2  to a remote location. In one embodiment, as the robot  2  travels about a room, the sensors may detect the layout of the room and the detected signals are transmitted from a communication transmitter within the cover to a remote computer for storing the layout of the room being traveled. It is also possible that the cover  26  includes grooves or ribs that allow the robot  2  to be guided by a collection device  84 . In other embodiments, wires or electrical conductors (not shown) can be positioned at or near the cover  26  for charging batteries or other power supply of the robot  2 . 
     In one embodiment, the robot  2  can include a cap assembly  32 . The cap assembly  32  can include a removable cap that allows collected dust and other particles to be emptied from inside the robot  2 . The cap assembly  32  can include a rib or protrusion for assisting in manual removal of the cap. In another embodiment, the opening in which the cap covers can be automatically opened by moving the cap. Other embodiments will be described below with reference to  FIGS. 13-15 . The robot  2  can also include power supply recharger ports  36 . These ports  36  define openings that can receive electrical connectors for recharging the robot&#39;s power supply. 
     In the embodiments of  FIGS. 3 and 4 , internal components of a robot  2  are shown (in phantom) and can include a plurality of side brushes  16  and center brush  28 . As described above, the side brushes  16  and center brush  28  can be driven by motors  46  and  48 , respectively. The robot  2  can include an air system  38  that incorporates the functionality of both a vacuum and air pump into a single unit. In a different embodiment, however, the air system  38  can be a vacuum only that collects dust and other particles passing through the apertures as part of the robot&#39;s cleaning operation. In an alternative embodiment, the air system  38  can be an air pump that distributes air and functions as a blower. In these latter two embodiments, the air system  38  serves only a single function (e.g., vacuum or blower), but in other embodiments the air system  38  performs multiple functions. For example, in the embodiment of  FIG. 2 , the air system  38  can operate as either a blower or vacuum, and the direction of the air flow can be distributed through or via the secondary cleaning assembly  30 . 
     The robot  2  can also include a collection compartment  40  disposed in the housing  4  and positioned above or near an opening (not shown) on the bottom of the robot  2 . The collection compartment  40  can be a container that receives and stores dust, dirt, hair, and other particles that are collected by the robot&#39;s plurality of cleaning devices. In one embodiment, the air system  38  may perform a vacuuming function and particles can be sucked up by the air system  38  and distributed to the collection compartment  40 . The collection compartment  40  can include a removable filter (not shown) and the compartment can be made of a light-weight aluminum or plastic that is durable to withstand continued use. The collection compartment  40  can also be made of an environmentally-friendly material to allow the compartment to be recycled after use. 
     In  FIG. 3 , the robot  2  can also include a multi-function assembly  42 , which is enclosed within the housing  4  to prevent the assembly  42  from being contaminated with moisture, dirt, and other contaminants. In an exemplary embodiment, the multi-function assembly  42  can include a controller  200 , drive mechanism  204 , and power source  202  (see  FIG. 21 ). The controller  200  can include a microprocessor programmed to control the functions and components of the robot  2  including, but not limited to, the drive mechanism  204 , one or more cleaning mechanisms  206 , and the legs  210 . The controller  200  can include a transmitter/receiver  212  to transmit signals, such as infrared, RF, ultrasonic, wireless (e.g., Bluetooth, WIFI), and others, to a remote controller  214  or computer system. In this embodiment, the controller  200  can include a robot communication system having a receiver  212  that receives detected signals from the plurality of sensors  208  of the robot  2 , interprets the signals, and transmits corresponding signals to other components of the robot  2  or to the remote controller  214  or computer system. 
     In an embodiment in which the multi-function assembly  42  includes a drive mechanism  204 , the drive mechanism  204  can provide power to the plurality of motors or other drivers ( 44 ,  46 ,  48 ,  50 ,  52 ) which operate or power other components of the robot  2 . Although not shown in detail, in one exemplary embodiment, the multi-function assembly  42  can include a rechargeable battery supply  202  that provides electric power to the drive mechanism. In turn, the drive mechanism  204  provides power to the other motors or drivers of the robot, which operate the cleaning mechanisms  206 , sensors  208 , and legs  210 . The drive mechanism can drive the robot  2  about a space and therefore is coupled to the rear wheels  6  and optionally the forward wheel  8 . 
       FIG. 5  illustrates the robot  2  having a plurality of sensors for detecting objects and obstacles. In particular, as the robot  2  moves in a forward direction and approaches a step  126 , the robot  2  can detect the step  126  with sensors  128  and  130 . If the step  126  went downwards rather than upwards in  FIG. 5 , sensor  132  could detect a downward step. Likewise, if the robot  2  was traveling in a reverse direction, sensor  136  could detect a step or object (e.g., a downward step). In this embodiment, sensor  134  can be positioned at or near the rear of the robot  2  to more effectively detect the surface drop. As noted above, each of the previously mentioned sensors can be positioned differently than as depicted in the figures, and additional or fewer sensors can be incorporated into the design of the robot  2 . 
     In the embodiment of  FIG. 6 , a robot  2  is shown moving from a first surface  60  to a second surface  62 . The first surface  60  and second surface  62  are non-planar and separated by height H 1 . In this embodiment, the robot  2  originally contacted surface  60  before being lifted in direction  58  to a height H 2 . Height H 2  is shown as being greater than Height H 1 , which would allow the robot to move to second surface  62 . The robot  2  (not shown to scale) can be lifted from first surface  60  by moving legs  52  from a retracted position to an extended position. Once the legs  52  have moved to an extended position, the legs can tilt by moving the longitudinal axis of the legs off of vertical as shown in  FIG. 7 . As the legs  52  tilt, the rear wheels  6  engage second surface  62  and drive the robot  2  onto the surface. A plurality of forward wheels  8 , one of which is shown in  FIG. 1 , can assist in moving the robot onto surface  62 . In the embodiment of  FIGS. 6 and 7 , the majority of the weight of the robot is towards the rear of the robot and therefore as the rear wheels  6  move the robot onto the second surface  62 , the front portion of the robot is able to hang over the edge. This becomes important to allow the legs  52  to retract back into the housing of the robot  2 . In alternative embodiments, however, the weight of the robot is positioned substantially near the center, or between the center and rear of the robot. In this case, one or more of the plurality of forward wheels  8  can be positioned substantially between the center and rear of the robot for assisting in moving the robot onto second surface  62 . 
     In a different embodiment, the robot  2  includes a leg  150 , a hollow body  160 , and a holder  180 . In  FIG. 8 , the leg  150  is shown as being substantially rectangular in shape, but it can be any shape. The leg  150  can have a body  152  with one edge defined with teeth  156  and a protrusion  154  extending from the body in the same direction as the teeth. In  FIG. 8 , the widths of the protrusion  154  and teeth  156  are about the same as the width or thickness of the leg  150 . However, in other embodiments, the widths of the protrusion  154  and teeth are less than the overall width of the leg  150 . In this embodiment, the protrusion  154  and teeth  156  can be positioned such that in  FIG. 11 , for example, portions of the width of the leg  150  engage the inner wall of the hollow body  160  and thereby prevent the leg  150  from moving out of the hollow body  160 . Although in this embodiment the hollow body  160  is shown, it is also within the scope of this invention that a hollow body  160  is not necessary. In such a case, a holder  180  may or may not be required either. 
     In  FIG. 9 , the edges of the hollow body  160  can be defined by a side slot  162 , a bottom slot  164 , an angled slot  168 , a solid side surface  170 , a solid top surface  172 , and a solid angled surface  174 . The hollow body  160  can also include a curved portion  166  between the side slot  162  and bottom slot  164 . As shown in  FIG. 10 , the holder  180  can include a surface partially defined with teeth  182 . The shape of the holder  180  is such that it fits along the edges of the hollow body  160 . For example, a first surface  186  of the holder can fit along the solid angled surface  174  of the hollow body  160 . A second surface  188  can fit along the angled slot  168  and a third surface  190  can fit along the solid side surface  170 . 
     In the exemplary embodiment of  FIG. 11 , the interaction of the leg  150  and hollow body  160  is shown. In particular, the hollow body  160  is coupled to the housing  4  of the robot  2  and the leg  150  can move relative to the hollow body  160 . In the embodiment of  FIG. 11 , the leg  150  is in the retracted position and substantially surrounded by the hollow body  160 . In this position, the edge of the leg  150  that includes the protrusion  154  and teeth  156  extends out of the hollow body  160  through side slot  162 . The leg  150  can be slightly smaller than the hollow body  160  so that in the retracted position the leg  150  is substantially surrounded, but in other embodiments the shapes and sizes may differ. 
     In order to move the leg  150  from the retracted position of  FIG. 11  to the extended position, a motor or power drive  50  is coupled to the leg  150  and moves the leg  150  between positions. In one embodiment, the motor or power drive  50  includes a gear assembly that meshes with the teeth  156  of the leg  150 . As the leg  150  is moved towards the extended position, the protrusion  154  acts as a stopper for stopping the leg movement in the extended position. 
     Once the leg  150  is in the extended position, to move the robot  2  to a higher step (as in  FIGS. 6-7 ) the leg  150  can tilt at an angle with respect to the surface the leg is contacting (see  FIG. 12 ). To achieve this movement, motor or power drive  52  can be coupled to the holder  180  via teeth  182  and move the holder  180  away from angled slot  168 . As the holder  180  moves away from angled slot  168 , clearance or space can be defined between the holder  180  and angled slot  168  to allow a portion of the leg  150  to extend through the angled slot  168  as it tilts. This can be important because substantial force from the weight of the robot  2  is on the leg  150 , and by moving the holder  180 , flexibility for tilting and/or retracting the leg  150  can be established. Motor or power drive  50  can initiate the tilting movement of the leg  150  and the curvature  166  allows for improved coupling between the motor or power drive  50  and teeth  156 . As the rear wheels  6  of the robot  2  in  FIG. 7  contact the second surface  62  and drive the robot  2  onto the surface, the motor or power drive  50  can retract the leg  150  back to the retracted position. Once the leg  150  returns to the retracted position, the robot  2  can then move along the second surface  62 . 
     The process of extending and retracting the leg  150  as the robot moves up a step, for example, is similar to the process for moving the robot  2  down a step. To move down a step, e.g., from second surface  62  to first surface  60  in  FIG. 6 , the front end of the robot  2  is moved to a position such that it hangs over the edge of the second surface  62 . In this position, motor or power drive  50  can move leg  150  out of the housing  4 . The driving force of the motor or power drive  50  causes the leg  150  to begin pivoting in a counter-clockwise direction. Initially, the leg  150  is prevented from pivoting by the solid side surface  170  of the hollow body  160 , and instead moves out of the housing  4  to a partially extended position. As the leg  150  continues to move out of the housing  4 , however, the edge of the body  152  opposite the teeth  156  moves out of contact with the solid side surface  170 . As such, the leg  150  can now pivot in a counter-clockwise motion until the leg  150  engages the second surface  188  of the holder  180 . 
     The motor or power drive  50  can continue to move the leg  150  out of the housing such that the edge of the leg  150  slides along the second surface  188  of the holder until the leg contacts the lower surface. The interaction between the leg  150 , solid side surface  170  of the hollow body  160 , and second surface  188  of the holder  180  is substantially similar for when the robot  2  moves down a step as well. Once the leg  150  contacts the lower surface, e.g., first surface  60 , the rear wheels  6  drive the robot  2  forward and thereby rotates the leg  150  to the substantially vertical position of  FIG. 6 . The leg  150  can be retracted into the housing  4  to complete the downward movement of the robot  2 . 
     Other embodiments can include different means for raising and lowering the robot  2  from non-planar surfaces. For example, the leg  150  can be telescopically coupled to the hollow body and through other electrical or mechanical means the leg can be extended and retracted. 
     In another embodiment, a robot  2  shown in  FIG. 13A  can have an exit port  68  positioned on the bottom of the robot  2 . The exit port  68  can be directly or indirectly coupled to the collection compartment  40  such that dust and other particles held within the collection compartment  40  can be removed from the robot through the exit port  68 . In  FIG. 13B , for example, the exit port  68  is positioned on the bottom surface  82  of the robot  2 . The exit port  68  can be closed by a flexible or pliable cap  72  and a sliding member  76 . The sliding member  76  can have a rib or protrusion  78  at one end to assist in moving the sliding member  76  and the cap  72  can be held to the bottom surface  82  of the robot  2  via a bolt, screw, or other fastener  74 . In operation, the bottom surface  82  of the robot  2  can be positioned over an inlet of a collection device  84 , for example as in  FIG. 13C , such that the exit port  68  is aligned directly above the inlet. The sliding member  76  can be moved or slid to one side and the dust and other particles can be released into the collection device  84 . In different embodiments, the sliding member  76 , bumpers  88 , and air intake  90  are missing and the inlet of collection device  84  can be made of a rubber or teflon® material that seals against the bottom surface  82 . 
     In one embodiment, air from an air supply  38  can be pumped into the collection compartment  40  to assist in moving the dust and other particles in direction  80  into the container  84 . The cap  72  can be made from an elastic material such that as the dust and other particles are released from the robot  2  into the collection device  84 , the cap  72  can elastically bend without deforming. As the air flow from the air supply  38  is shutdown, the cap  72  can return to its original position and seal off the exit port  68 . Further, the sliding member  76  can be moved back to its closed position in  FIG. 13B . In other embodiments, the exit port  68  can be closed with different types of seals and o-rings and can even include different caps. The exit port  68  needs to be substantially sealed in the closed position to prevent dust and other particles being held in the collection compartment  40  from leaking or exiting the exit port  68 . 
     In  FIG. 14 , a docking station  86  is provided and it includes a collection device  84 , a plurality of bumpers  88 , and a plurality of air intake slots  90 . In one embodiment, the docking station  86  mates with the robot  2  of  FIG. 13A  to assist in transferring dust and other particles from the collection compartment  40  to the collection device  84 . The transferring of dust and other particles from the collection compartment  40  of the robot  2  to the collection device  84  can take place due to a pressure differential, e.g., a vacuum is created between components, or a blower can blow the dust and other particles into the collection device  84 . Alternatively, the dust and other particles can be transferred via gravity into the collection device  84 . 
     As the robot  2  moves onto or into contact with the docking station  86 , the plurality of bumpers  88  can engage the rib or protrusion  78  on the sliding member  76  and move the sliding member  76  to an open position (e.g.,  FIG. 13C ). The robot  2  can be guided onto or into contact with the docking station  86  by guide members  92  (see  FIG. 15 ). Alternatively, the cover  26  can have grooves or ribs that engage with the collection device  84  and serve as guides. The robot  2  can be correctly aligned with the docking station  86  once the rear wheels  6  of the robot  2  fit into wheel alignment slots  96  of the docking station  86 . Likewise, the forward wheel  8  can fit into wheel holder  94  of the docking station  86 . Sensors  98  on the docking station  86  can also detect the robot  2  and transmit signals to the controller of the robot  2  to assist with alignment. In a different embodiment, the docking station  86  can include battery connectors  98  that couple with charger ports  36  of the robot  2  for recharging the robot&#39;s power supply. 
     The docking station  86  can also perform additional functions including deionizing and cleaning the robot. For example, the plurality of air intake slots  90  can be coupled to a vacuum for removing dust and other particles that collect on the bottom surface  82  of the robot  2 . The docking station  86  can also include a cleaning mechanism  100  and vacuum slots  102  that are positioned to remove dust, dirt, hair, and other particles that collect and entangle with the center brush  28 . In one embodiment, the cleaning mechanism is a blade that can comb through the center brush  28 , thereby releasing particles to be collected by the vacuum slots  102 . In this embodiment, the cleaning mechanism  100  can spin or rotate at various speeds to achieve this cleaning function. For example, the cleaning mechanism can rotate between 10-1000 rpm. In an alternative embodiment shown in  FIGS. 16 and 17 , the cleaning mechanism  100  has a plurality of fingers  116 , one of which has gear-like teeth  114 . The fingers  116  can be made from a plastic, rubber or metal material. In this embodiment, the cleaning mechanism  100  can rotate causing the teeth  114  to comb through the center brush  28  and a blade or razor (not shown) can move in a scissor-like manner to dislodge dust, dirt, hair, and other particles caught in the center brush  28 . The vacuum slots  102 , which are coupled to vacuum intake  112 , can then collect the loose particles from the center brush  28 . In another embodiment, the cleaning mechanism  100  can be a brush with metal bristles that interacts with the center brush  28  and releases dust, dirt, hair, and other particles caught in the brush  28 . In other embodiments, the cleaning mechanism  100  can be other types of cleaning devices for interacting with the center brush  28 . 
     The docking station  86  can also include a brush cleaning apparatus  104  for every side brush  16  of the robot  2 . As shown in  FIG. 15 , the brush cleaning apparatus  104  can include a rotatable brush  108  that has bristles  110  extending radially outward from the brush  108 . As the robot  2  is aligned with the docking station  86 , the brush cleaning apparatus  104  is positioned to clean the side brush  16  of the robot  2 . The brush cleaning apparatus  104  can spin, rotate, move toward and away from the side brush  16  to remove dust, dirt, hair, and other particles that collect within the side brush  16 . As the dust, dirt, hair, and other particles are removed from the side brush, a plurality of slots  106  positioned near the brush  108  can function as a vacuum source to collect the removed particles. A vacuum (not shown), for example, can create a pressure differential to suck loose dust, dirt, hair, and other particles from the side brush  16  through the slots  106  and into the collection device  84 . 
     One way to align the side brush  16  with the brush cleaning apparatus  104  is through an alignment tool  118  disposed on the side brush  16 . In  FIG. 18 , the side brush  16  can include a body  122 , a plurality of arms  18  and bristles  20 , and a shaft  120  for coupling the side brush  16  to a motor or power drive  46 . In this embodiment, the alignment tool  118  is positioned at or near the bottom of the side brush  16  that faces the docking station  86 . When the rear wheels  6  and forward wheel  8  of the robot  2  engage with wheel alignment slots  96  and  98 , respectively, the robot  2  sinks downward toward the docking station  86 . Alignment tool  118  can then engage or interact with corresponding alignment slots (not shown) on the docking station  86  or brush cleaning apparatus  104  to properly align the side brush  16  with the apparatus  104 . For example, the plurality of slots  106  can have integrated sensors (now shown) that can properly align the side brush  16  with the brush cleaning apparatus  104 . The alignment tool  118  can have various shapes and sizes and can connect in multiple ways with the brush cleaning apparatus  104 . Also as shown in  FIG. 18  is an outer shell  124  for coupling the motor or power drive  46  to the robot&#39;s bottom surface  82 . The outer shell  124  can absorb and/or release heat from the motor or power drive  46 . 
     In the exemplary embodiment of  FIG. 19 , a room or space  138  is shown with a robot  2  moving about an open area  148  of the room or space  138 . The room or space  138  is provided with a closet area  146  defined by a plurality of walls  144 . The moving path  140  of the robot  2  is shown as the robot moves along the room or space  138 . It should be understood that the room layout is not limited to that shown in  FIG. 19  and can include any room or space design. 
     Also disposed at a remote location from the robot  2  is a communication center  142 . As described above, sensors from the robot  2  can detect objects and obstacles as the robot  2  moves about a space and relays signals to the communication center  142  about such objects and obstacles. In particular, the communication center  142  comprises a processor, memory, communication modules, and other electronic equipment that permits the communication center  142  to communicate with the robot  2 . The communication center  142  can communicate wirelessly, e.g., via Bluetooth, WIFI, or through other communication means. 
     In one embodiment, the robot  2  can move about a room or space  138  and a robot controller  200  having a receiver and/or transmitter  212  transmits signals to a corresponding receiver/transmitter  218  of a collection device controller  214  (see  FIG. 21 ). The collection device controller  214  receives the signals and can create a layout of the space  138  such that the collection device controller  214  can locate and instruct the robot  2  about various objects and obstacles. GPS locating software is stored in a memory module of the collection device controller  214  and can load stored GPS data and/or maps prior to a cleaning operation. The collection device transmitter  218  can then transmit signals to the robot controller receiver  212  about potential obstacles or objects throughout a given room or space  138  and further instruct the robot  2  where to clean and not clean (for example, if the room or space  138  has carpeted areas and non-carpeted areas). 
     In another embodiment, the communication center  142  of the collection device  84  can be user-friendly and user-interactive. For example, the collection device controller  214  can be coupled to user interface  222  that includes a keyboard, mouse, joystick, controller, and other user interface equipment known to the skilled artisan. It may also be possible for a user to create software or edit software stored in the memory module of the collection device controller  214  such that a user can track how long it takes a robot  2  to clean a space. A user may also be able to set time of day or length of time for each cleaning operation. The user may be able to track whether the collection compartment  40  of the robot  2  is empty or full and the amount of energy remaining in a robot power source  202  (when the robot operates from battery power, for example). The user may also create software or download software that controls when the robot  2  returns to a docking station  216  to recharge or empty the collection compartment  40 . 
     Many other user options are available with the communication center  142  for controlling the operation of a robot  2 , including the type of cleaning function a robot is to perform, when that particular cleaning function is to be performed, and other functions known to the skilled artisan. In an embodiment in which a joystick or hand-operated controller are included, the user can move the robot  2  in various directions, e.g., if the robot needs to complete another sweeping operation over a small area the user can manually control the robot. In this case, through user interaction, the collection device controller  214  can instruct the collection device transmitter  218  to send a signal to the robot receiver  212  and controller  200 . The robot controller  200  can then control the drive mechanism  204 , cleaning mechanism  206  and leg(s)  210  to perform said operation. Additionally, the user can also control the cleaning functionality of the collection device  84 , including a vacuum  220  and other features built into the collection device  84 . 
     A different embodiment of the communication center  142  can include the collection device  84  and the docking station  86 . In this particular embodiment, the communication center  142  can be referred to as a “disposal facility” or collection receptacle that not only communicates with the robot  2 , but also provides docking functionality and collects dust, dirt, hair, and other particles collected by the robot  2 . The disposal facility  142  can be positioned in a space layout  138  as shown in  FIG. 19  or at another location remote from the robot  2 . For instance, the robot  2  and disposal facility  142  are not required to be positioned within the same room or a set distance apart, but rather wireless communication between the two devices can be accomplished. The robot  2  can therefore operate in an upstairs area and the disposal facility  142  can be disposed in a downstairs area. Much of this communication can be via Bluetooth, WIFI, and other known wireless communication means. 
     The disposal facility  142  can include an outer housing or body that encloses the communication center, collection device  84 , docking station  86 , user interface  222 , and vacuums  220  for assisting with the transfer of dust, dirt, hair, and other particles from the robot  2  to the collection device  84 . The disposal facility  142  can be plugged into an electric outlet to provide power to the various components or it can operate from a battery. Other forms of power can be used to operate the disposal facility. In one embodiment, the collection device  84  can include a removable bag and/or filter for collecting particles from the robot  2 . The collection device  84  can slide out of the disposal facility  142  along tracks or rails, or it can have a door that opens for removing the bag and/or filter (neither of which are shown). 
       FIG. 20  illustrates a flow diagram including a list of commands in one embodiment of software stored within a memory module of the communication center. For example, before a robot  2  begins performing a function, the communication center  142  can load a map of a room or space in which the robot  2  is going to perform the function. If the layout of the room has not been determined, an initial run by the robot  2  can assist in generating the map. The sensors from the robot  2  can detect walls, openings to closets, objects, obstacles, and any other additional information that defines a given space (e.g., pillars, steps, etc.). As the robot  2  moves about a given space, the sensors can detect the robot movement as well as the objects encountered during the movement and transmit signals to the communication center. The communication center can process and record these signals and begin organizing and creating a map of the space. In those embodiments in which the robot  2  has a webcam housed in the accessory compartment  14 , live video can be transmitted to the communication center and stored therein. As the robot  2  continues to move about an area, the robot  2  and/or communication center can calculate runtime and adjust any movements being made by the robot  2 . For example, if the robot encounters an object such as a pillar or step, the object can be placed within the layout being generated by the communication center, and during subsequent cleaning operations the robot&#39;s path  140  can be adjusted for such an object. 
     At various times, the volume of the collection compartment  40  can be analyzed to determine whether the robot  2  needs to dock and release its collected contents. Additionally, the battery power of the robot  2 , in such an embodiment in which the robot  2  has a battery, can be checked randomly, continuously, or periodically. As the robot  2  continues to move about a room or space  148 , the robot sensors continue transmitting signals to the communication center  142  to allow the communication center  142  to record and update the map of the room or space  148 . Generally, the robot  2  will begin its path along an edge or wall  144  of the room  148 . Once the perimeter of the room or space  148  is established, the communication center can begin to locate the robot  2 . In one embodiment, the communication center  142  can have a display screen that permits a user to follow the robot as it moves about a room or space  148 . Further, in those embodiments in which the communication center  142  has a user interface, the user can instruct the robot  2  which areas of the room or space  148  to move about. Therefore, user control over a given room or space  148  is possible. 
     As the robot  2  completes a cleaning operation or cycle within a room or space  138 , and the communication center  142  has created a map or room layout  138 , the robot  2  can return to a docking station. It is not always necessary for the robot  2  to return to the docking station, as there may be other rooms or spaces in which the robot  2  can move to and clean. However, in the case in which the robot  2  returns to the docking station, it can recharge its battery (if applicable) and/or empty its collection compartment  40  into the collection device  84 . Once the robot  2  has docked, emptied its collection compartment, and recharged its battery, the communication center  142  can check for any user instructions and instruct the robot  2  to perform any user-desired functions. If none exist, the robot can remain docked with the docking station until further commanded. 
     Additional functionality is possible with the communication center  142 . For example, the user can control and wirelessly communicate with the communication center  142  and/or robot  2  through a laptop or desktop computer, PDA, cell phone, or other electronic device. Communication can be via Bluetooth, WIFI, or other wireless communication. 
     While exemplary embodiments incorporating the principles of the present invention have been disclosed hereinabove, the present invention is not limited to the disclosed embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.