Patent Publication Number: US-2023141469-A1

Title: Robotic cleaner debris removal docking station

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims the benefit of U.S. Provisional Application Ser. No. 62/700,973 filed on Jul. 20, 2018, entitled Robotic Vacuum Cleaner Debris Removal Docking Station, U.S. Provisional Application Ser. No. 62/727,747 filed on Sep. 6, 2018, entitled Robotic Vacuum Cleaner Debris Removal Docking Station, U.S. Provisional Application Ser. No. 62/732,274 filed on Sep. 17, 2018, entitled Robotic Vacuum Cleaner Debris Removal Docking Station, U.S. Provisional Application Ser. No. 62/748,797 filed on Oct. 22, 2018, entitled Robotic Vacuum Cleaner Debris Removal Docking Station, and U.S. Provisional Application Ser. No. 62/782,545 filed on Dec. 20, 2018, entitled Robotic Vacuum Cleaner Debris Removal Docking Station, each of which are fully incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present disclosure is generally directed to automated cleaning apparatuses and more specifically to robotic cleaners and docking stations for robotic cleaners. 
     BACKGROUND INFORMATION 
     Autonomous surface treatment apparatuses are configured to traverse a surface (e.g., a floor) while removing debris from the surface with little to no human involvement. For example, a robotic vacuum may include a controller, a plurality of driven wheels, a suction motor, a brush roll, and a dust cup for storing debris. The controller causes the robotic vacuum cleaner to travel according to one or more patterns (e.g., a random bounce pattern, a spot pattern, a wall/obstacle following pattern, and/or the like). While traveling pursuant to one or more patterns, the robotic vacuum cleaner collects debris in the dust cup. As the dust cup gathers debris, the performance of the robotic vacuum cleaner may be degraded. As such, the dust cup may need to be emptied at regular intervals to maintain consistent cleaning performance. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and other features and advantages will be better understood by reading the following detailed description, taken together with the drawings, wherein: 
         FIG.  1    shows a schematic perspective view of a docking station configured to engage a robotic vacuum cleaner, consistent with embodiments of the present disclosure. 
         FIG.  2    shows a perspective view of a docking station and a robotic vacuum cleaner configured to dock with the docking station, consistent with embodiments of the present disclosure. 
         FIG.  2 A  shows a schematic perspective view of a boot configured to receive a stiffener, consistent with embodiments of the present disclosure. 
         FIG.  2 B  shows perspective view of a portion of an example of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  3    shows a top view of the docking station of  FIG.  2   , consistent with embodiments of the present disclosure. 
         FIG.  4    shows a bottom view of the robotic cleaner of  FIG.  2   , consistent with embodiments of the present disclosure. 
         FIG.  4 A  shows a perspective bottom view of a portion of an example of a robotic cleaner dust cup, consistent with embodiments of the present disclosure. 
         FIG.  4 B  shows a perspective view of a portion of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  5    shows a top view of an example of an adjustable boot capable of being used with the docking station of  FIG.  2   , consistent with embodiments of the present disclosure. 
         FIG.  6    shows a perspective view of another example of an adjustable boot capable of being used with the docking station of  FIG.  2   , consistent with embodiments of the present disclosure. 
         FIG.  7    shows a front view of the docking station of  FIG.  2    having a docking station dust cup in a removal position, consistent with embodiments of the present disclosure. 
         FIG.  8    shows a front view of the docking station of  FIG.  2    having a docking station dust cup being removed in response to a pivotal motion, consistent with embodiments of the present disclosure. 
         FIG.  9    shows a cross-sectional view of the docking station of  FIG.  2    taken along the line IX-IX of  FIG.  2   , consistent with embodiments of the present disclosure. 
         FIG.  9 A  shows a magnified view of the docking station of  FIG.  9    corresponding to region  9 A, consistent with embodiments of the present disclosure. 
         FIG.  9 B  shows a magnified view of the docking station of  FIG.  9    corresponding to region  9 B, consistent with embodiments of the present disclosure. 
         FIG.  10    shows a cross-sectional view of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  10 A  shows a magnified view corresponding to region  10 A of  FIG.  10   , consistent with embodiments of the present disclosure. 
         FIG.  10 B  shows a magnified view corresponding to region  10 B of  FIG.  10   , consistent with embodiments of the present disclosure. 
         FIG.  11    shows a perspective cross-sectional view of an example of the docking station of  FIG.  2    taken along the line IX-IX of  FIG.  2    having a filter therein, wherein the filter is a filter medium, consistent with embodiments of the present disclosure. 
         FIG.  11 A  shows another perspective cross-sectional view of another example of the docking station of  FIG.  2    taken along the line IX-IX having a filter therein, wherein the filter is a cyclonic separator, consistent with embodiments of the present disclosure. 
         FIG.  12    shows a bottom view of the docking station of  FIG.  2   , consistent with embodiments of the present disclosure. 
         FIG.  13    shows a perspective cross-sectional view of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  14    shows another cross-sectional view of the docking station of  FIG.  13   , consistent with embodiments of the present disclosure. 
         FIG.  15    shows a perspective view of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  16    shows another perspective view of the docking station of  FIG.  15   , consistent with embodiments of the present disclosure. 
         FIG.  17    shows a perspective view of a docking station having a dust cup configured to be pivoted between an in-use and a removal position, consistent with embodiments of the present disclosure. 
         FIG.  18    shows a perspective view of the docking station of  FIG.  17    having the dust cup in the removal position, consistent with embodiments of the present disclosure. 
         FIG.  19    shows a perspective view of the docking station of  FIG.  17    having the dust cup being removed, consistent with embodiments of the present disclosure. 
         FIG.  20    shows a cross-sectional view of a docking station having a dust cup in an in-use position, consistent with embodiments of the present disclosure. 
         FIG.  21    shows a cross-sectional view of the docking station of  FIG.  20    having the dust cup being removed from a base thereof in response to a pivotal movement, consistent with embodiments of the present disclosure. 
         FIG.  22    shows a cross-sectional view of a pivot catch of the docking station of  FIG.  20   , consistent with embodiments of the present disclosure. 
         FIG.  23    shows a perspective view of an example of the pivot catch of  FIG.  22   , consistent with embodiments of the present disclosure. 
         FIG.  24    shows a cross-sectional view of a portion of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  25    shows another cross-sectional view of the portion of the docking station of  FIG.  24   , consistent with embodiments of the present disclosure. 
         FIG.  26    shows another cross-sectional view of the portion of the docking station of  FIG.  24   , consistent with embodiments of the present disclosure. 
         FIG.  27    shows a perspective view of a docking station dust cup, consistent with embodiments of the present disclosure. 
         FIG.  28    shows a perspective view of a docking station dust cup defining an internal volume within which a filter extends, consistent with embodiments of the present disclosure. 
         FIG.  29    shows an example of the filter of  FIG.  28   , consistent with embodiments of the present disclosure. 
         FIG.  30    shows a schematic view of an example of a docking station dust cup having a filter extending therein, wherein the filter is cleaned by actuation of an agitator, consistent with embodiments of the present disclosure. 
         FIG.  31    shows another schematic view of the docking station dust cup of  FIG.  30   , consistent with embodiments of the present disclosure. 
         FIG.  32    shows a schematic view of an example of a docking station dust cup having a filter extending therein, wherein the filter is cleaned by actuation of an agitator, consistent with embodiments of the present disclosure. 
         FIG.  33    shows another schematic view of the docking station dust cup of  FIG.  32   , consistent with embodiments of the present disclosure. 
         FIG.  34    shows a schematic view of an example of a docking station dust cup having a filter extending therein, wherein the filter is cleaned by actuation of an agitator, consistent with embodiments of the present disclosure. 
         FIG.  35    shows another schematic view of the docking station dust cup of  FIG.  34   , consistent with embodiments of the present disclosure. 
         FIG.  36    shows a schematic view of an example of a docking station dust cup having a filter extending therein, wherein the filter is cleaned by actuation of an agitator, consistent with embodiments of the present disclosure. 
         FIG.  37    shows another schematic view of the docking station dust cup of  FIG.  36   , consistent with embodiments of the present disclosure. 
         FIG.  38    shows a perspective view of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  39    shows a cross-sectional perspective view of the docking station of  FIG.  38    taken along the line XXXIX-XXXIX, consistent with embodiments of the present disclosure. 
         FIG.  40    shows another cross-sectional view of the docking station of  FIG.  38    taken along the line XXXIX-XXXIX, consistent with embodiments of the present disclosure. 
         FIG.  41    shows a perspective view of an agitator of the docking station of  FIG.  38   , consistent with embodiments of the present disclosure. 
         FIG.  42    shows a magnified cross-sectional perspective view of a portion of the agitator of  FIG.  41   , consistent with embodiments of the present disclosure. 
         FIG.  43    shows a perspective view of a docking station and a robotic vacuum cleaner, consistent with embodiments of the present disclosure. 
         FIG.  44    shows a perspective view of the docking station and robotic vacuum cleaner of  FIG.  43   , wherein the robotic vacuum cleaner is docked with the docking station, consistent with embodiments of the present disclosure. 
         FIG.  45    shows a schematic view of a docking station having an adjustable boot, consistent with embodiments of the present disclosure. 
         FIG.  46    shows a schematic view of another docking station having an adjustable boot, consistent with embodiments of the present disclosure. 
         FIG.  47    shows a perspective view of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  48    shows another perspective view of the docking station of  FIG.  47   , consistent with embodiments of the present disclosure. 
         FIG.  49    shows a perspective view of a docking station configured to receive a removable bag, consistent with embodiments of the present disclosure. 
         FIG.  50    shows another perspective view of the docking station of  FIG.  49   , consistent with embodiments of the present disclosure. 
         FIG.  51    shows another perspective view of the docking station of  FIG.  49   , consistent with embodiments of the present disclosure. 
         FIG.  52    shows a perspective view of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  53    shows another perspective view of the docking station of  FIG.  52    having a dust cup being removed therefrom, consistent with embodiments of the present disclosure. 
         FIG.  54    shows a perspective view of a robotic vacuum cleaner, consistent with embodiments of the present disclosure. 
         FIG.  55    shows a cross-sectional perspective view of the robotic vacuum cleaner of  FIG.  54    taken along the line LV-LV, consistent with embodiments of the present disclosure. 
         FIG.  56    shows a cross-sectional perspective view of the robotic vacuum cleaner of  FIG.  54    taken along the line LVI-LVI, consistent with embodiments of the present disclosure. 
         FIG.  57    shows a cross-sectional view of a robotic vacuum cleaner, consistent with embodiments of the present disclosure. 
         FIG.  58    shows another cross-sectional view of the robotic vacuum cleaner of  FIG.  57   , consistent with embodiments of the present disclosure. 
         FIG.  59    shows a schematic perspective view of a robotic vacuum cleaner dust cup, consistent with embodiments of the present disclosure. 
         FIG.  60    shows another schematic perspective view of the robotic vacuum cleaner dust cup of  FIG.  59   , consistent with embodiments of the present disclosure. 
         FIG.  61    shows a perspective view of a robotic vacuum cleaner dust cup and a portion of a docking station, consistent with embodiments of the present disclosure. 
         FIG.  62    shows a perspective view of the robotic vacuum cleaner dust cup engaging the portion of the docking station of  FIG.  61   , consistent with embodiments of the present disclosure. 
         FIG.  63    shows a schematic example of a latch capable of being used to engage an evacuation pivot door of the robotic vacuum cleaner dust cup of  FIG.  62   , consistent with embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure is generally directed to a docking station configured to remove debris from a dust cup of a robotic cleaner. The docking station includes a base having a suction motor, a docking station dust cup, and a fluid inlet. When the suction motor is activated, fluid is caused to flow along a flow path extending from the fluid inlet through the docking station dust cup into the suction motor such that it can be exhausted from the docking station. 
     In some instances, the docking station dust cup can be configured to pivot relative to the base such that the docking station dust cup can transition between an in-use position and a removal position in response to the pivotal movement. When in the in-use position, the docking station dust cup is in fluid communication with the suction motor and the fluid inlet and, when in the removal position, the docking station dust cup is configured to be removed (e.g., in response to further pivotal movement) from the base such that the docking station dust cup can be emptied. 
     Additionally, or alternatively, the docking station dust cup can be configured to include a filter (e.g., a filter medium and/or a cyclonic separator) extending within an internal volume of the dust cup such that a first debris collection chamber and a second debris collection chamber are defined therein. The first debris collection chamber can be configured to collect debris having a relatively large particle size when compared to debris collected in the second debris collection chamber. As such, the first debris collection chamber may generally be described as being configured to receive large debris and the second debris collection chamber may be generally described as being configured to receive small debris. 
     Additionally, or alternatively, the docking station can be configured to urge the robotic cleaner towards an aligned orientation such that the robotic cleaner can fluidly couple to the docking station. For example, the docking station can include an alignment protrusion configured to engage at least a portion of the robotic cleaner. The alignment protrusion urges the robotic cleaner towards the aligned orientation as a result of the inter-engagement between the alignment protrusion and the robotic cleaner. 
     As generally referred to herein, the term resiliently deformable may refer to an ability of a mechanical component to repeatably transition between an un-deformed and a deformed state (e.g., transition between the un-deformed and deformed state at least 100 times, 1,000 times, 100,000 times, 1,000,000 times, 10,000,000, or any other suitable number of times) without the component experiencing a mechanical failure (e.g., the component is no longer able to function as intended). 
       FIG.  1    shows a schematic view of a docking station  100 . The docking station  100  includes a base  102  and a docking station dust cup  104  configured to pivot relative to the base  102 . The base  102  includes a suction motor  106  (shown in hidden lines) fluidly coupled to an inlet  108  and the docking station dust cup  104 . When the suction motor  106  is activated, fluid is caused to flow into the inlet  108 , through the docking station dust cup  104 , and exit the base  102  after passing through the suction motor  106 . 
     The inlet  108  is configured to fluidly couple to a robotic cleaner  101  (e.g., a robotic vacuum cleaner, a robotic mop, and/or other robotic cleaner). For example, the inlet  108  can be configured to fluidly couple to a port provided in a dust cup of the robotic cleaner  101  such that debris stored in the dust cup of the robotic cleaner  101  can be transferred into the docking station dust cup  104 . When the suction motor  106  is activated, the suction motor  106  causes debris stored in the dust cup of the robotic cleaner  101  to be urged into the docking station dust cup  104 . The debris may then collect in the docking station dust cup  104  for later disposal. The docking station dust cup  104  may be configured such that the docking station dust cup  104  can receive debris from the dust cup of the robotic cleaner  101  multiple times (e.g., at least two times) before the docking station dust cup  104  becomes full (e.g., the performance of the docking station  100  is substantially degraded). In other words, the docking station dust cup  104  may be configured such that the dust cup of the robotic cleaner  101  can be emptied several times before the docking station dust cup  104  becomes full. 
     In some instances, the suction motor  106  is activated prior to the robotic cleaner  101  engaging the docking station  100 . In these instances, the suction generated by the suction motor  106  at the inlet  108  may urge the robotic cleaner  101  into engagement with the docking station  100 . As such, the suction motor  106  may help facilitate the alignment of the robotic cleaner  101  with the inlet  108 . 
     The docking station dust cup  104  is configured to be pivoted between an in-use position and a removal position. When the docking station dust cup  104  is in the in-use position, the suction motor  106  is fluidly coupled to the docking station dust cup  104  and the inlet  108 . When the docking station dust cup  104  is in the removal position, the docking station dust cup  104  is configured to be removed from the base  102 . For example, when the docking station dust cup  104  is in the removal position, the suction motor  106  may be fluidly decoupled from the docking station dust cup  104 . 
     In some instances, the robotic cleaner  101  can be configured to perform one or more wet cleaning operations (e.g., using a mop pad and/or a fluid dispensing pump). Additionally, or alternatively the robotic cleaner  101  can be configured to perform one or more vacuum cleaning operations. 
       FIG.  2    shows an example of a docking station  200  and a robotic vacuum cleaner  202 , which may be example of the docking station  100  and the robotic cleaner  101  of  FIG.  1   , respectively. As shown, the docking station  200  includes a docking station dust cup  204  and a base  206 , the docking station dust cup  204  being removably coupled to the base  206 . The docking station  200  can be configured to fluidly couple to a robotic vacuum cleaner dust cup  208  such that at least a portion of any debris stored within the robotic vacuum cleaner dust cup  208  can be urged into the docking station dust cup  204 . 
     The base  206  can define a support  210  and a suction housing  212  that extends from the support  210 . The support  210  is configured to improve the stability of the docking station  100  on a surface to be cleaned (e.g., a floor). The support  210  may also include charging contacts  214  configured to electrically couple to the robotic vacuum cleaner  202  such that one or more batteries powering the robotic vacuum cleaner  202  can be recharged. The suction housing  212  can define a docking station suction inlet  216 . The docking station suction inlet  216  is configured to fluidly couple to at least a portion of the robotic vacuum cleaner  202  such that at least a portion of any debris stored within the robotic vacuum cleaner dust cup  208  can be urged through the docking station suction inlet  216  and into the docking station dust cup  204 . For example, and as shown, the robotic vacuum cleaner dust cup  208  can include an outlet port  218  configured to fluidly couple to the docking station suction inlet  216 . 
     When the robotic vacuum cleaner  202  seeks to recharge one or more batteries and/or empty the robotic vacuum cleaner dust cup  208 , the robotic vacuum cleaner  202  can enter a docking mode. When in the docking mode, the robotic vacuum cleaner  202  approaches the docking station  200  in a manner that allows the robotic vacuum cleaner  202  to electrically couple to the charging contacts  214  and fluidly couple the outlet port  218  to the docking station suction inlet  216 . In other words, when in docking mode, the robotic vacuum cleaner  202  can generally be described as moving to align itself relative to the docking station  200  such that the robotic vacuum cleaner  202  can become docked with the docking station  200 . For example, when in docking mode, the robotic vacuum cleaner  202  may approach the docking station  200  in a forward direction of travel until reaching a predetermined distance from the docking station  200 , stop at the predetermined distance and rotate approximately 180°, and proceed in a rearward direction of travel until the robotic vacuum cleaner  202  docks with the docking station  200 . 
     When approaching the docking station  200 , the robotic vacuum cleaner  202  may be configured to detect a proximity to the docking station  200  using one or more proximity sensors. For example, the docking station  200  may be configured to generate a magnetic field (e.g., using one or more magnets  211 , shown in hidden lines schematically, embedded in the support  210 ) and the robotic vacuum cleaner  202  may include, for example, a hall effect sensor  213  (shown in hidden lines schematically) to detect the magnetic field. Upon detecting the magnetic field, the robotic vacuum cleaner  202  may rotate to reverse into the docking station  200  (or reverse a predetermined distance from the docking station  200  before rotating such that robotic vacuum cleaner  202  can reverse into the docking station  200 ). Additionally, or alternatively, for example, the docking station  200  may include a radio frequency identification (RFID) tag and the robotic vacuum cleaner  202  may include an RFID tag reader to determine proximity to the docking station  200 . Additionally, or alternatively, the robotic vacuum cleaner  202  may be configured to be wirelessly charged by the docking station  200  and proximity to the docking station  200  may be determined based on detection of wireless charging. 
     The robotic vacuum cleaner  202  may generally be described as being aligned with the docking station  200  when, for example, an outlet port central axis  220  of the outlet port  218  is collinear with a suction inlet central axis  222  of the docking station suction inlet  216 . In some instances, the docking station  200  can be configured such that the robotic vacuum cleaner  202  can dock with the docking station  200  while being misaligned. Misalignment may be measured as an angle extending between the outlet port central axis  220  and the suction inlet central axis  222  when the outlet port central axis  220  and the suction inlet central axis  222  are not colinear. An acceptable misalignment may measure, for example, in a range of 0° to 10°. By way of further example, the acceptable misalignment may measure in a range of 1° to 3°. 
     As shown, the docking station  200  can include a boot  224  that extends around the docking station suction inlet  216 . The boot  224  can be configured to engage the robotic vacuum cleaner dust cup  208  such that the boot  224  extends around the outlet port  218 . The boot  224  can be resiliently deformable such that the boot  224  generally conforms to a shape of the robotic vacuum cleaner dust cup  208 . As such, the boot  224  can be configured to sealingly engage the robotic vacuum cleaner dust cup  208 . For example, the boot  224  may be made of a natural or synthetic rubber, a foam, and/or any other resiliently deformable material. 
     In some instances, the resiliently deformable boot  224  may allow the robotic vacuum cleaner  202  to fluidly couple to the docking station suction inlet  216  while the robotic vacuum cleaner  202  is misaligned with the docking station  200  within an acceptable misalignment range. In other words, the boot  224  is configured to move in response to the robotic vacuum cleaner  202  engaging the docking station  200  (e.g., the base  206 ) in a misaligned orientation. 
     As also shown, the boot  224  can define one or more ribs  226 . The ribs  226  are configured to expand and/or compress in response to the robotic vacuum cleaner  202  engaging the boot  224 . For example, when the robotic vacuum cleaner  202  engages the boot  224  in a misaligned orientation, a portion of the ribs  226  may expand and another portion of the ribs  226  may compress. The expansion and compression of the ribs  226  may allow the boot  224  to sealingly engage the robotic vacuum cleaner dust cup  208  when the robotic vacuum cleaner  202  docks with the docking station  200  in a misaligned orientation. 
       FIG.  2 A  shows a schematic example of a stiffener  227  configured to be received within the boot  224  (shown schematically for purposes of clarity). As shown, the stiffener  227  is a continuous body having a shape that generally corresponds to that of a cross-section of the boot  224 . For example, the stiffener  227  can be configured extend along an interior surface of the boot  224  that corresponds to a respective one of the ribs  226 . By extending along one of the ribs  226  the stiffener  227  may increase a rigidity of the boot  224  along the corresponding rib  226 . For example, the stiffener  227  may extend along a distal most rib  226  from the suction housing  212 . This may improve the fluid coupling between the robotic vacuum cleaner dust cup  208  and the boot  224 . The stiffener  227  can be one or more of a metal, a plastic, a ceramic, and/or any other material. The stiffener  227  may be coupled to the boot  224  using, for example, a press-fit, an adhesive, overmolding, and/or any other form of coupling. In some instances, the rigidity of the boot  224  may be increased by a stiffener that extends along an exterior and/or interior surface of the boot  224  in a direction transverse to the one or more ribs  226 . In these instances, at least a portion of the stiffener can be configured to collapse such that the boot  224  can deform in response to engaging the robotic vacuum cleaner  202 . 
     In some instances, when the robotic vacuum cleaner  202  is engaging the docking station  200  in a misaligned orientation, the robotic vacuum cleaner  202  can be configured to pivot in place according to an oscillatory pattern. By pivoting in place, the robotic vacuum cleaner  202  may cause the outlet port  218  to align with the boot  224  such that the outlet port  218  is fluidly coupled to the docking station suction inlet  216 . 
     In some instances, and as shown, for example in  FIG.  2 B , the support  210  may define one or more stops  228 . The one or more stops  228  may be configured to engage a portion of the robotic vacuum cleaner  202  when the robotic vacuum cleaner  202  is docking with the docking station  200 . As such the one or more stops  228  may generally be described as being configured to prevent further movement of the robotic vacuum cleaner  202  towards the docking station  200  when the robotic vacuum cleaner  202  is docking with the docking station  200 . In some instances, the one or more stops  228  may define a guide surface  230  having a taper. For example, a plurality of stops  228  may be provided, each having a tapered guide surface  230  such that engagement of the robotic vacuum cleaner  202  with the guide surfaces  230  urges the robotic vacuum cleaner  202  towards an aligned orientation. In these instances, the stops  228  may generally be referred to as guides. 
       FIG.  3    shows a top view of the docking station  200  and  FIG.  4    shows a bottom view of the robotic vacuum cleaner  202 . As shown, the support  210  can define a docking station alignment feature  300  configured to engage a corresponding robotic vacuum cleaner alignment feature  400 . The docking station alignment feature  300  can include an alignment protrusion  302  and the robotic vacuum cleaner alignment feature  400  defines an alignment receptacle  402  configured to receive the alignment protrusion  302 . For example, and as shown, the alignment receptacle  402 , is defined in the robotic vacuum cleaner dust cup  208 . 
     The alignment protrusion  302  can include first and second protrusion sidewalls  304  and  306 . The first and second protrusion sidewalls  304  and  306  can be configured to converge, with increasing distance from the docking station suction inlet  216 , towards the suction inlet central axis  222 . In other words, the alignment protrusion  302  can generally be described as having a tapered profile that tapers in a direction away from the docking station suction inlet  216 . For example, and as shown, the first and second protrusion sidewalls  304  and  306  can include arcuate portions having opposing concavities that approach the suction inlet central axis  222 . 
     The alignment receptacle  402  can include first and second receptacle sidewalls  404  and  406 . The first and second receptacle sidewalls  404  and  406  can be configured to diverge in a direction away from the outlet port central axis  220  with increasing distance from a central portion of the robotic vacuum cleaner  202 . In other words, the first and second receptacle sidewalls  404  and  406  can generally be described as diverging from the outlet port central axis  220  as the first and second sidewalls  404  and  406  approach the outlet port  218 . As such, the alignment receptacle  402  can generally be described as having a tapered profile that tapers in a direction away from the outlet port  218  and towards a central portion of the robotic vacuum cleaner  202 . For example, and as shown, the first and second receptacle sidewalls  404  and  406  can include arcuate portions that extend away from the outlet port central axis  220 . 
     In operation, when the alignment receptacle  402  receives at least a portion of the alignment protrusion  302 , the first and second receptacle sidewalls  404  and  406  may engage the first and second protrusion sidewalls  304  and  306 . For example, if the robotic vacuum cleaner  202  is misaligned with the docking station  200 , the engagement between the first and second receptacle sidewalls  404  and  406  and the first and second protrusion sidewalls  304  and  306  may urge the robotic vacuum cleaner  202  towards alignment (e.g., towards an orientation having a misalignment within an acceptable misalignment range). In other words, the alignment protrusion  302  is configured to urge the robotic vacuum cleaner  202  towards an orientation in which the robotic vacuum cleaner  202  fluidly couples with the docking station suction inlet  216 . As such, the inter-engagement between the alignment receptacle  402  and the alignment protrusion  302  urges the robotic vacuum cleaner  202  towards an orientation in which the robotic vacuum cleaner  202  fluidly couples to the docking station  200 . 
     As shown, the first and second protrusion sidewalls  304  and  306  can define first and second recessed regions  308  and  310  within a portion of the support  210 . The first and second recessed regions  308  and  310  can be configured to receive at least a portion of the robotic vacuum cleaner dust cup  208 . When received within the first and second recessed regions  308  and  310 , a dust cup bottom surface  408  of the robotic vacuum cleaner dust cup  208  can be vertically spaced apart from a support top surface  312  of the support  210 . As such, the dust cup bottom surface  408  does not slideably engage the support top surface  312 . Such a configuration, may allow for improved maneuverability of the robotic vacuum cleaner  202  when docking with the docking station  200 . 
     In some instances, and as shown, for example, in  FIG.  4 A , the robotic vacuum cleaner dust cup  208  may include one or more receptacle fins  410  extending over at least a portion of and/or at least partially within the alignment receptacle  402 . The one or more receptacle fins  410  can be configured to engage a portion of the alignment protrusion  302  such that further movement of the robotic vacuum cleaner  202  when docking is prevented. As such, the inter-engagement between the one or more receptacle fins  410  and the alignment protrusion  302  may generally be described as positioning the robotic vacuum cleaner  202  at a predetermined docking distance from the docking station  200 . Additionally, or alternatively, in some instances, and as shown, for example, in  FIG.  4 B , the alignment protrusion  302  can include a protrusion fin  412  extending therefrom that is configured to engage at least a portion of the alignment receptacle  402 . The inter-engagement between the protrusion fin  412  and the alignment receptacle  402  may generally be described as positioning the robotic vacuum cleaner  202  at a predetermined docking distance from the docking station  200 . 
       FIG.  5    shows a top view of a boot  500 . The boot  500  may be used in the docking station  200  (e.g., in addition to or in the alternative to the boot  224 ). As shown, the boot  500  may include a contoured surface  502  having a shape that generally corresponds to, for example, a shape of the portion of the robotic vacuum cleaner  202  that the boot  500  is configured to engage (e.g., contact). For example, and as shown, the contoured surface  502  may have an arcuate shape. A seal  504  can be configured to extend along the contoured surface  502  such that the seal  504  is configured to engage (e.g., contact) at least a portion of the robotic vacuum cleaner  202 . 
     As shown, the boot  500  can be configured to pivot about a pivot point  506 . The pivot point  506  can be centered between distal ends  508  and  510  of the boot  500 . As such, when the robotic vacuum cleaner  202  engages the adjustable boot  500  in a misaligned orientation, the boot  500  is caused to pivot about the pivot point  506  in a direction that causes the boot  500  to engage the robotic vacuum cleaner  202 . 
     As also shown, the boot  500  may include an exhaust duct  512  that extends from the boot  500  and within the docking station  200 . An evacuation duct  514  that extends within the docking station  200  fluidly couples the exhaust duct  512  to the docking station dust cup  204 . The evacuation duct  514  defines the docking station suction inlet  216 . The exhaust duct  512  can be configured to slideably engage the evacuation duct  514 . As such, as the boot  500  pivots, the exhaust duct  512  slides relative to (e.g., slides within) the evacuation duct  514 . 
     The boot  500  can be biased towards a neutral position by one or more biasing mechanisms  516  (e.g., compression springs, torsion springs, elastomeric materials, and/or any other biasing mechanism). The neutral position may correspond to a position of the boot  500 , wherein a pivot angle of the boot  500  measures substantially the same when measured from each distal end  508  and  510 . The biasing mechanisms  516  may also be configured limit pivotal rotation of the boot  500 . For example, the biasing mechanisms  516  may limit the pivotal movement of the boot  500  to about 10° in at least one direction of rotation. 
       FIG.  6    shows a perspective view of a boot  600 . The boot  600  may be used in the docking station  200  (e.g., in addition to or in the alternative to the boot  224 ). As shown, the boot  600  includes a seal  602  extending around a peripheral edge  604  of a shroud  606  and a resiliently deformable sleeve  608  extending from the shroud  606 . The seal  602  is configured to engage (e.g., contact) the robotic vacuum cleaner  202 . The resiliently deformable sleeve  608  is configured to fluidly couple the shroud  606  to an evacuation duct  610  of the docking station  200 , the evacuation duct  610  defining the docking station suction inlet  216 . 
     As shown, the resiliently deformable sleeve  608  defines a plurality of ribs  612 . The ribs  612  are configured to compress and/or expand in response to a robotic cleaner engaging the seal  602 . As such, the shroud  606  can be configured to move such that the robotic vacuum cleaner  202  can fluidly couple to the docking station suction inlet  216 . For example, when the robotic vacuum cleaner  202  engages the boot  600  in a misaligned orientation, a portion of the ribs  612  may compress and a portion of the ribs  612  may expand such that the shroud  606  moves allowing the seal  602  to engage at least a portion the robotic vacuum cleaner  202 . 
       FIGS.  7  and  8    show the docking station  200 , wherein the docking station dust cup  204  is being removed from the base  206  such that, for example, debris collected in the docking station dust cup  204  can be emptied therefrom. As shown, when removing the docking station dust cup  204  from the base  206 , the docking station dust cup  204  is configured to be pivoted relative to the base  206 . In other words, the docking station dust cup  204  is configured to be removed from the base  206  in response to a pivotal movement of the docking station dust cup  204  relative to the base  206 . 
     The docking station dust cup  204  includes a latch  702  configured to releasably engage a portion of the base  206  such that the latch  702  substantially prevents pivotal movement of the docking station dust cup  204 . As shown, the latch  702  is horizontally spaced apart from a dust cup pivot point  704  of the docking station dust cup  204 . For example, the latch  702  and the dust cup pivot point  704  can be disposed on opposing sides of the docking station suction inlet  216 . 
     At least a portion of the docking station dust cup  204  can be urged in a direction away from the base  206  in response to the latch  702  being actuated. For example, the base  206  may include a plunger  706  configured to be urged into engagement with the docking station dust cup  204 . When the latch  702  is actuated such that the latch  702  disengages the base  206 , the plunger  706  urges the docking station dust cup  204  to pivot about the dust cup pivot point  704  in a direction away from the base  206 . As such, when the latch  702  disengages the base  206 , the plunger  706  causes the docking station dust cup  204  to transition from an in-use position (e.g., as shown in  FIG.  2   ) to a removal position (e.g., as shown in  FIG.  7   ). When in the removal position, the docking station dust cup  204  can be removed from the base  206  (e.g., as shown in  FIG.  8   ). 
     As shown in  FIG.  8   , when the docking station dust cup  204  is removed from the base  206 , a premotor filter  802  is exposed. As such, the premotor filter  802  can be replaced and/or cleaned when the docking station dust cup  204  is removed from the base  206 . In some instances, the base  206  may include a sensor configured to detect the presence of the premotor filter  802  and prevent the docking station from being used without the premotor filter  802 . Additionally, or alternatively, when the premotor filter  802  is received within the base  206 , the premotor filter  802  can actuate a coupling feature that allows the docking station dust cup  204  to be recoupled to the base  206 . As such, in some instances, the docking station  200  may generally be described as being configured to prevent use without the premotor filter  802  being installed. 
       FIG.  9    shows a cross-sectional view of the docking station  200  taken along the line IX-IX of  FIG.  2   , wherein  FIGS.  9 A and  9 B  are magnified views corresponding to regions  9 A and  9 B of  FIG.  9   , respectively. As shown, the docking station dust cup  204  includes a release system  900  configured to actuate the latch  702 . The release system  900  includes an actuator  902  (e.g., a depressible button) configured to urge a push bar  904  between a first push bar position and a second push bar position. When the push bar  904  is urged between the first and second push bar positions, the latch  702  is urged between an engagement (or retaining) position and a disengagement (or release) position. When the latch  702  is in the retaining position, pivotal movement of the docking station dust cup  204  is substantially prevented and, when the latch  702  is in the release position, the docking station dust cup  204  is capable of pivotal movement. 
     As shown, the latch  702  is pivotally coupled to the docking station dust cup  204  at a latch pivot point  906  such that a latch retaining end  908  and an actuation end  910  of the latch  702  are disposed on opposing sides of the latch pivot point  906 . The latch retaining end  908  of the latch  702  is configured to releasably engage the base  206  of the docking station  200 . For example, and as shown, at least a portion of the latch retaining end  908  can be received within a retaining cavity  909  defined in the base  206 . In some instances, a latch biasing mechanism  911  (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may urge the latch retaining end  908  towards the retaining cavity  909 . As shown, the latch biasing mechanism  911  engages the latch  702  proximate the actuation end  910  such that the latch biasing mechanism  911  exerts a force on the latch  702  that causes the latch retaining end  908  to be urged towards the retaining cavity  909 . As such, the latch  702  may generally be described as being configured to be urged towards the retaining position. 
     The actuation end  910  is configured to engage the push bar  904  such that, when the push bar  904  transitions between the first and second push bar positions, the latch  702  is caused to pivot about the latch pivot point  906 . The pivotal movement of the latch  702  causes the latch retaining end  908  to move into and out of engagement with the base  206 . The actuation end  910  of the latch  702  can include an actuation taper  912 . The actuation taper  912  can be configured to encourage the latch  702  to pivot in response to movement of the push bar  904 . In some instances, the push bar  904  may include a corresponding push bar taper  914  configured to engage the actuation taper  912  of the latch  702 . 
     The latch retaining end  908  of the latch  702  may include a coupling taper  916 . The coupling taper  916  can be configured to engage the base  206  of the docking station  200  when the docking station dust cup  204  is being recoupled to the base  206 . In other words, the coupling taper  916  can be configured to encourage the latch  702  to pivot when the docking station dust cup  204  is being recoupled to the base  206  such that at least a portion of the latch retaining end  908  can be received within the retaining cavity  909 . 
     When the latch retaining end  908  of the latch  702  is urged out of engagement with the retaining cavity  909 , the plunger  706  can urge the docking station dust cup  204  in a direction away from the base  206 . As shown, the plunger  706  is slideably disposed within a plunger cavity  918  defined in the base  206 . A plunger biasing mechanism  920  (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may be disposed within the plunger cavity  918  and be configured to urge the plunger  706  in a direction of the docking station dust cup  204 . For example, and as shown, the plunger biasing mechanism  920  may be a compression spring that extends around at least a portion of the plunger  706  at a location between a flange  922  of the plunger  706  and a distal end  924  of the plunger cavity  918 . The flange  922  may also be configured to engage a portion of the base  206  to retain at least a portion of the plunger  706  within the plunger cavity  918 . 
     When the docking station dust cup  204  is coupled to the base  206 , a portion of the plunger  706  may extend from the plunger cavity  918  and into engagement with the docking station dust cup  204 . For example, the plunger  706  may engage a portion of an openable door  926  of the docking station dust cup  204 . The openable door  926  may define a plunger receptacle  928  for receiving at least a portion of the plunger  706  that extends from the plunger cavity  918  when the docking station dust cup  204  is coupled to the base  206 . 
     The docking station dust cup  204  can include a pivot catch  930  configured to engage a corresponding pivot lever  932  of the base  206 . The pivot catch  930  defines a location of the dust cup pivot point  704  of the docking station dust cup  204  relative to the base  206 . As such, the pivot catch  930  and the latch  702  may generally be described as being located proximate opposing sides of the base  206 . 
     As shown, the pivot catch  930  defines a catch cavity  934  that extends at least partially through a sidewall of the docking station dust cup  204 . The catch cavity  934  is configured to engage at least a portion of the pivot lever  932 . For example, and as shown, the pivot lever  932  includes a lever retaining end  936 , wherein at least a portion of the lever retaining end  936  extends into the catch cavity  934 . When the latch  702  is in the retaining position, the engagement between the lever retaining end  936  of the pivot lever  932  and the catch cavity  934  of the pivot catch  930  result in the docking station dust cup  204  being coupled to the base  206 . In other words, the latch  702  and the pivot catch  930  may generally be described as cooperating to couple the docking station dust cup  204  to the base  206 . 
     When the latch  702  is urged to the release position, at least a portion of the lever retaining end  936  of the pivot lever  932  may remain in engagement with the catch cavity  934 . The engagement between the lever retaining end  936  and the catch cavity  934  encourage further pivoting of the docking station dust cup  204  after the plunger  706  urges the docking station dust cup  204  to the removal position. In other words, when removing the docking station dust cup  204  from the base  206 , the engagement between at least a portion of the lever retaining end  936  and the catch cavity  934  may encourage further pivotal movement of the docking station dust cup  204  about the dust cup pivot point  704  before removing the docking station dust cup  204  from the base  206 . 
     The lever retaining end  936  of the pivot lever  932  can define a recoupling taper  938 . The recoupling taper  938  is configured to engage a portion of the docking station dust cup  204  when the docking station dust cup  204  is being recoupled to the base  206 . The engagement between the docking station dust cup  204  and the recoupling taper  938  urges the pivot lever  932  in a direction away from the catch cavity  934 . When the catch cavity  934  aligns with at least a portion of the lever retaining end  936 , at least a portion of the lever retaining end  936  is urged into the catch cavity  934 . A lever biasing mechanism  940  (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) can be configured to urge the lever retaining end  936  in a direction of the catch cavity  934  such that at least a portion of the lever retaining end  936  is received within the catch cavity  934 . For example, the pivot lever  932  can be pivotally coupled to the base  206  such that the biasing mechanism  940  urges the pivot lever  932  to pivot towards the catch cavity  934 . 
       FIG.  10    shows a cross-sectional view of a docking station  1000 , which may be an example of the docking station  100  of  FIG.  1   , wherein  FIGS.  10 A and  10 B  are magnified views corresponding to regions  10 A and  10 B of  FIG.  10   , respectively. As shown, the docking station  1000  includes a base  1002  and a docking station dust cup  1004  pivotally coupled to the base  1002 . The base includes a latch  1006  and a pivot lever  1008  configured to releasably engage the docking station dust cup  1004  such that the docking station dust cup  1004  can generally be described as being configured to be decoupled from the base  1002  at least partially in response to a pivotal movement of the docking station dust cup  1004  and recoupled to the base  1002  in response to a substantially vertical movement. Additionally, or alternatively, the docking station dust cup  1004  may be recoupled to the base  1002  at least partially in response to a pivotal movement. 
     The latch  1006  is slideably coupled to the base  1002  such that the latch  1006  can transition between a retaining position and a release position in response to actuation of a release system  1010 . When in the retaining position, the latch  1006  substantially prevents pivotal movement of the docking station dust cup  1004 . For example, the latch  1006  can be configured to engage (e.g., contact) the docking station dust cup  1004  such that pivotal movement of the docking station dust cup  1004  is substantially prevented. When the latch  1006  is in the release position, the docking station dust cup  1004  can be pivoted. For example, the latch  1006  can be configured to disengage the docking station dust cup  1004  such that the docking station dust cup  1004  can pivot. 
     As shown, the release system  1010  includes an actuator  1012  (e.g., a depressible button) and a push bar  1014 . The actuator  1012  can be biased towards an unactuated state by an actuator biasing mechanism  1016  (e.g., a compression spring, a torsion springs, an elastomeric material, and/or any other biasing mechanism). The push bar  1014  is configured to engage the latch  1006 . The latch  1006  is configured to transition between the retaining position and the release position in response to movement of the push bar  1014 . The latch  1006  can be urged towards the retaining position using a latch biasing mechanism  1018  (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism). 
     The push bar  1014  includes a latch engaging surface  1020  configured to engage (e.g., contact) a release surface  1022  of the latch  1006  such that movement of the push bar  1014  urges the latch  1006  towards the release position. For example, and as shown, the release surface  1022  can extend in a direction transverse to a longitudinal axis of the push bar  1014 . In other words, the release surface  1022  may define a taper. 
     As shown, the pivot lever  1008  is coupled to the base  1002  at a location proximate a pivot point  1009  of the docking station dust cup  1004 . The docking station dust cup  1004  can include a catch cavity  1024  that extends at least partially through a portion of the docking station dust cup  1004 . The catch cavity  1024  is configured to receive at least a portion of the pivot lever  1008  when the docking station dust cup  1004  is coupled to the base  1002 . 
     When the latch  1006  is in the release position, the docking station dust cup  1004  can be pivoted until the docking station dust cup  1004  comes out of engagement with the pivot lever  1008 . For example, the pivotal movement of the docking station dust cup  1004  can result in the pivot lever  1008  moving out of the catch cavity  1024 , allowing the docking station dust cup  1004  to be removed from the base  1002 . As such, the docking station dust cup  1004  can generally be described as being decoupled from the base  1002  at least partially in response to a pivotal movement of the docking station dust cup  1004 . 
     As shown, the pivot lever  1008  is moveably coupled (e.g., pivotally coupled) to the base  1002  such that when the docking station dust cup  1004  is recoupled to the base  1002 , the pivot lever  1008  is urged towards a center of the base  1002 . The pivot lever  1008  includes a dust cup engaging surface  1026 . The engagement between the dust cup engaging surface  1026  and the docking station dust cup  1004  urges the pivot lever  1008  towards the center of the base  1002 . When the pivot lever  1008  aligns with the catch cavity  1024 , a pivot lever biasing mechanism  1028  (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) urges the pivot lever  1008  in a direction away from the center of the base  1002  and into the catch cavity  1024 . 
     When recoupling the docking station dust cup  1004  to the base  1002 , the docking station dust cup  1004  also urges the latch  1006  towards the release position in response to engaging the release surface  1022  of the latch  1006 . The latch biasing mechanism  1018  urges the latch  1006  towards the retaining position such that, when the docking station dust cup  1004  is in the coupled position, the latch  1006  is urged into the retaining position. 
     In some instances, the docking station dust cup  1004  and/or the base  1002  may include a relief region  1032  proximate the pivot point  1009 . The relief region  1032  can be configured such that, when the docking station dust cup  1004  is pivoted, the base  1002  and docking station dust cup  1004  are prevented from engaging each other in such a way that pivotal movement about the pivot point  1009  is prevented. The relief region  1032  may include, for example, a chamfered portion, a filleted portion, and/or the like formed in one or more of the base  1002  and/or the docking station dust cup  1004  at a location proximate the pivot point  1009 . Additionally, or alternatively, one or more biasing mechanisms (e.g., compression springs, torsion springs, elastomeric materials, and/or any other biasing mechanism) may be disposed between at least a portion of the base  1002  and the docking station dust cup  1004  such that the docking station dust cup  1004  is biased in a direction away from the base  1002 . As such, when the actuator  1012  is actuated, the docking station dust cup  1004  is urged in a direction away from the base  1002  such that the docking station dust cup  1004  is separated from the base  1002  by a predetermined distance. Such a configuration may prevent the docking station dust cup  1004  and the base  1002  from engaging (e.g., contacting) each other in such a way that pivotal movement is substantially prevented. In some instances, a plurality of biasing mechanisms can be used, wherein one of the biasing mechanisms is configured to urge the docking station dust cup  1004  away from the base  1002  a greater distance than the other. 
     Additionally, or alternatively, the docking station dust cup  1004  may be configured to be decoupled and/or recoupled to the base  1002  in response to pivoting about a vertical axis extending through a midpoint of a suction motor  1034 . In some instances, the docking station dust cup  1004  can be configured to be decoupled and/or recoupled to the base  1002  in response to pivoting about an axis extending substantially parallel to a horizontal longitudinal axis of the docking station  1000 . Additionally, or alternatively, the docking station dust cup  1004  can be configured to be decoupled and/or recoupled to the base  1002  in response to a sliding movement of the docking station dust cup  1004  in a direction substantially parallel to the horizontal longitudinal axis of the docking station  1000 . 
       FIG.  11    shows a cross-sectional perspective view of the docking station  200  taken along the line IX-IX of  FIG.  2   . As shown, the docking station dust cup  204  includes a first debris collection chamber  1102  and a second debris collection chamber  1104 . A plenum  1106  is fluidly coupled to the first debris collection chamber  1102  and the second debris collection chamber  1104 . As such, the first debris collection chamber  1102  may generally be described as being fluidly coupled to the second debris collection chamber  1104 . At least a portion of the plenum  1106  is defined by at least a portion of a filter  1108  (e.g., a filter medium such as mesh screen and/or a cyclonic separator). As such, the filter  1108  may generally be described as being fluidly coupled to the first debris collection chamber  1102  and the second debris collection chamber  1104 . At least a portion of the filter  1108  can extend over and/or within at least a portion of the first debris collection chamber  1102  such that air entering the plenum  1106  passes through the filter  1108 . For example, and as shown, the filter  1108  is a filter medium such as a mesh screen that extends over at least a portion of the debris collection chamber  1102 . 
     Each of the first and second debris collection chambers  1102  and  1104  can be defined by one or more sidewalls. The openable door  926  can be configured to engage distal ends of the sidewalls defining the first and second debris collection chambers  1102  and  1104 . As such, the openable door  926  may define at least a portion of each of the first and second debris collection chambers  1102  and  1104 . In some instances, the openable door  926  may include a seal that is configured to extend along the interface between the openable door  926  and the one or more sidewalls defining the first and second debris collection chambers  1102  and  1104 . 
     The docking station dust cup  204  can include a cyclonic separator  1110  (e.g., a fine debris cyclonic separator) configured to generate one or more cyclones (e.g., an array of cyclones) in response to air flowing therethrough. The cyclonic separator  1110  can be fluidly coupled to the plenum  1106  such that air exiting the plenum  1106  passes through the cyclonic separator  1110 . The cyclonic separator  1110  includes a debris outlet  1112  fluidly coupled to the second debris collection chamber  1104  and an air outlet  1114  fluidly coupled to a suction motor  1116 . The debris outlet  1112  is configured such that debris separated from air flowing through cyclonic separator  1110  is deposited in the second debris collection chamber  1104 . An axis  1127  extending between the air outlet  1114  and the debris outlet  1112  of the cyclonic separator  1110  can extend transverse (e.g., at a non-perpendicular angle) to a vertical axis  1129  and a horizontal axis  1131  of the docking station  200 . As such, the cyclonic separator  1110  may generally be described as being arranged transverse (e.g., at a non-perpendicular angle) to the vertical axis  1129  and the horizontal axis  1131  of the docking station  200 . 
     The suction motor  1116  can be disposed within a suction motor cavity  1118  defined in the base  206  of the docking station  200 . The premotor filter  802  may be disposed within a premotor filter cavity  1120  defined in the base  206  such that air entering the suction motor  1116  passes through the premotor filter  802  before entering the suction motor  1116 . The suction motor  1116  may be fluidly coupled to an exhaust duct  1122  defined within the base  206  such that air exhausted from the suction motor  1116  can be exhausted to a surrounding environment. 
     The exhaust duct  1122  can be configured to reduce a quantity of noise generated by air being exhausted from the suction motor  1116 . For example, the exhaust duct  1122  can have a cross-sectional area that measures greater than a cross-sectional area of an exhaust outlet of the suction motor  1116  such that a velocity of air exiting the suction motor  1116  is reduced. The exhaust duct  1122  may include a post-motor filter  1124 . As shown, the post-motor filter  1124  is located at a distal end  1126  of the exhaust duct  1122  and the suction motor  1116  is located at a proximal end  1128  of the exhaust duct  1122 , the distal end  1126  being opposite the proximal end  1128 . 
     In operation, the suction motor  1116  causes air to be drawn into the docking station dust cup  204  according to a flow path  1130 . As shown, the flow path  1130  extends through the docking station suction inlet  216  and into the first debris collection chamber  1102 . In some instances, and as shown, the flow path  1130  can extend through an up-duct  1132  extending within the first debris collection chamber  1102 . The up-duct  1132  can extend from the openable door  926  in a direction of the plenum  1106  (e.g., the filter  1108 ). For example, and as shown, the up-duct  1132  can extend from the openable door  926  to the plenum  1106  (e.g., the filter  1108 ). 
     The up-duct  1132  can define an up-duct air outlet  1134  that is spaced apart from the openable door  926 . For example, the up-duct air outlet  1134  can be proximate the plenum  1106  (e.g., the filter  1108 ). A flow directer  1136  (e.g., a deflector) can extend from the up-duct air outlet  1134  and along at least a portion of the plenum  1106  (e.g., the filter  1108 ). The flow directer  1136  is configured to urge at least a portion of air flowing from the up-duct air outlet  1134  in a direction away from the plenum  1106  (e.g., the filter  1108 ) such that the flow path  1130  extends towards the openable door  926 . The suction generated by the suction motor  1116  urges air deflected towards the openable door  926  in a direction of the plenum  1106  (e.g., the filter  1108 ) such that the flow path  1130  transitions from extending in a direction towards the openable door  926  to extending in a direction towards the plenum  1106  (e.g., the filter  1108 ). The change in flow direction of air flowing along the flow path  1130  may cause at least a portion of any debris entrained within the air to fall out of entrainment such that at least a portion of the entrained debris can be deposited within the first debris collection chamber  1102 . 
     The flow path  1130  extends through the filter  1108  and into the plenum  1106 . The filter  1108  can be configured to prevent debris having a predetermined size that is entrained within air flowing along the flow path  1130  from entering the plenum  1106 . As such, the first debris collection chamber  1102  can generally be described as a large debris collection chamber. From the plenum  1106  the flow path  1130  extends through the cyclonic separator  1110 . The cyclonic separator  1110  is configured to cause air flowing within the cyclonic separator  1110  to have a cyclonic motion such that the flow path  1130  extends cyclonically therein. The cyclonic motion of the air may cause at least a portion of any remaining debris entrained within the air to fall out of entrainment with the air flowing along the flow path  1130  and be deposited within the second debris collection chamber  1104 . As such, the second debris collection chamber  1104  may generally be described as a fine debris collection chamber. 
     From the cyclonic separator  1110 , the flow path  1130  can extend through the premotor filter  802  such at least a portion of any remaining debris entrained within the air flowing through the premotor filter  802  is collected by the premotor filter  802 . Upon exiting the premotor filter  802 , the flow path  1130  extends through the suction motor  1116  and into the exhaust duct  1122 . As shown, before exiting the exhaust duct  1122  the flow path  1130  may extend through the post-motor filter  1124  such that at least a portion of any remaining debris entrained within the air is collected by the post-motor filter  1124 . 
       FIG.  11 A  shows an example of the docking station dust cup  204 , wherein the filter  1108  is a cyclonic separator (e.g., a large debris cyclonic separator) having a vortex finder  1138  extending within a cyclone chamber  1140 . The cyclone chamber  1140  extends within the first debris collection chamber  1102 . The cyclone chamber  1140  includes a cyclone chamber inlet  1142  fluidly coupled to the up-duct air outlet  1134  and a cyclone chamber outlet  1144  through which debris cyclonically separated from air flowing therein passes through. In some instances, and as shown, the cyclone chamber  1140  may include an open end  1148  that is spaced apart from the plenum  1106 . A plate  1150  may extend across at least a portion of the open end  1148 , wherein the plate  1150  is spaced apart from the cyclone chamber  1140 . The plate  1150  may be coupled to the openable door  926  via, for example, a pedestal  1152 . 
     The vortex finder  1138  defines an air channel  1146  extending therein such that the first debris collection chamber  1102  is fluidly coupled to the plenum  1106  via the air channel  1146 . At least a portion of the vortex finder  1138  may be defined by a filter medium such as, for example, a mesh screen. 
     As shown, the vortex finder  1138  and the cyclone chamber  1140  extend in a direction away from the plenum  1106  that is generally parallel the vertical axis  1129  of the docking station  200 . As such, the filter  1108  may generally be described as a vertical cyclonic separator. 
       FIG.  12    shows a bottom view of the docking station  200 . The floor facing surface  1204  may include one or more grated regions  1206  having a plurality of grate cavities  1208 . The grate cavities  1208  may be configured to receive at least a portion of a material extending from a floor (e.g., a portion of carpet). For example, when a portion of a carpet is received within the grate cavities  1208 , the stability of the docking station  200  may be improved. 
     As shown, the support  210  includes a plurality of grated regions  1206  extending around a periphery of the support  210 . For example, the grated regions  1206  may extend within a forward portion  1210  of the support  210 . The forward portion  1210  of the support  210  may generally be described as the portion of the support  210  from which the base  206  does not extend. A base plate  1212  may extend within a rearward portion  1214  of the support  210 . The rearward portion  1214  of the support  210  may generally be described as the portion of the support  210  from which the base  206  extends. In some instances, at least a portion of the base plate  1212  may extend between the grated regions  1206  extending within the forward portion  1210 . Additionally, or alternatively, the grated regions  1206  may extend substantially only within the forward portion  1210  (e.g., less than 5% of the total surface area of the grated regions  1206  extends within the rearward portion  1214 ). 
     The grate cavities  1208  can have any shape. In some instances, the grate cavities  1208  may have a plurality of shapes. For example, one or more of the grate cavities  1208  may have one or more of a hexagonal shape, a triangular shape, a square shape, an octagonal shape, and/or any other shape. In some instances, at least a portion of the grate cavities  1208  for a respective grated region  1206  may generally be described as defining a honeycomb structure. 
     As also shown, the support  210  includes a plurality of feet  1202  spaced around a periphery of a floor facing surface  1204  of the support  210 . The feet  1202  may, in some instances, may have different heights. For example, the feet  1202  may be configured such that the feet  1202  positioned in the rearward portion  1214  of the support  210  have a height that measures greater than the feet  1202  positioned within the forward portion  1210  of the support  210 . Such a configuration may improve the stability of the docking station  200  on carpeted surfaces. For example, on carpeted surfaces, the rearward portion  1214  may have a tendency to settle deeper into the carpet due to the weight of the docking station  200  being concentrated over the rearward portion  1214 . The longer feet  1202  may mitigate the amount the rearward portion  1214  settles into the carpet. 
       FIG.  13    shows a cross-sectional view of a docking station  1300 , which may be an example of the docking station  100  of  FIG.  1   . As shown, the docking station  1300  includes a base  1302  having a suction housing  1301  and a support  1310 . The suction housing  1301  defines a pre-motor filter chamber  1304 , a motor chamber  1306 , and a post-motor filter chamber  1308 . 
     The support  1310  extends from the suction housing  1301  and is configured to support a docking station dust cup  1312 . A flow path  1314  extends from the docking station dust cup  1312  into the pre-motor filter chamber  1304  through the motor chamber  1306  and the post-motor filter chamber  1308  and then is exhausted from the docking station  1300 . Debris may be entrained within air flowing along the flow path  1314 . A portion of the debris entrained in the air may be deposited in the docking station dust cup  1312  before the air enters the pre-motor filter chamber  1304 . The pre-motor filter chamber  1304  includes a pre-motor filter  1316  configured to remove at least a portion of any remaining debris entrained in the air before the air reaches a suction motor  1318 . Any debris remaining in the air after passing through the pre-motor filter  1316  passes through the suction motor  1318  and enters the post-motor filter chamber  1308 . The post-motor filter chamber  1308  includes a post-motor filter  1320  configured to remove at least a portion of any debris remaining in the air after passing through the suction motor  1318 . The post-motor filter  1320  may be a finer filter medium than the pre-motor filter  1316 . For example, the post-motor filter  1320  may be a high efficiency particulate air (HEPA) filter. In some instances, the motor chamber  1306  may include sound dampening insulation and the suction motor  1318  may have at least 750 watts of power or at least 800 watts of power. 
     As also shown, the docking station dust cup  1312  includes a cyclonic separator  1322  and a debris collector  1323 . A longitudinal axis  1324  of the cyclonic separator  1322  extends generally parallel to the support  1310  and/or transverse (e.g., perpendicular) to an axis  1325  extending through the suction motor  1318  (e.g., a central longitudinal axis of the suction motor  1318 ) and the pre-motor filter  1316 . In other words, the cyclonic separator  1322  may generally be described as a horizontal cyclonic separator. 
       FIG.  14    shows an example of the docking station dust cup  1312  being pivoted relative to the base  1302  about an axis in a direction away from the base  1302 . As shown, the docking station dust cup  1312  includes a handle  1402  that extends over a portion of the base  1302 . For example, the handle  1402  may extend over a portion of the suction housing  1301  that defines the pre-motor filter chamber  1304 , the motor chamber  1306 , and the post-motor filter chamber  1308 . In some instances, the handle  1402  may include a latch which couples the handle  1402  to the base  1302  such that the docking station dust cup  1312  doesn&#39;t inadvertently become decoupled from the base  1302 . 
     As also shown, the support  1310  includes one or more recesses  1404  configured to receive a corresponding protrusion  1406  extending from the docking station dust cup  1312 . Each protrusion  1406  engages a corresponding recess  1404  such that lateral movement of the docking station dust cup  1312  relative to the base  1302  is substantially prevented. When the docking station dust cup  1312  is pivoted relative to the base  1302 , each protrusion  1406  rotates out of each corresponding recess  1404  such that the docking station dust cup  1312  can be removed from the support  1310 . 
     When the docking station dust cup  1312  is removed from the base  1302 , the cyclonic separator  1322  and the debris collector  1323  are both removed from the base  1302 . However, in some instances, the docking station dust cup  1312  may be configured such that at least a portion of the cyclonic separator  1322  remains coupled to the base  1302 . For example, a vortex finder  1408  may remain coupled to the base  1302  when the docking station dust cup  1312  is removed from the base  1302 . 
       FIG.  15    shows an example of a docking station  1500 , which may be an example of the docking station  100  of  FIG.  1   . As shown, the docking station  1500  includes a base  1502  and a docking station dust cup  1504 . The base  1502  includes a pre-motor filter chamber  1506  configured to receive a pre-motor filter  1508 , a suction motor chamber  1510  configured to receive a suction motor  1512 , and a post-motor filter chamber  1514  configured to receive a post-motor filter  1516 . As shown, the pre-motor filter chamber  1506  and the suction motor chamber  1510  are configured such that an axis  1518  extends through both the pre-motor filter  1508  and the suction motor  1512 . 
     The docking station dust cup  1504  includes a cyclonic separator  1520  and a debris collector  1522 . As shown, a longitudinal axis  1524  of the cyclonic separator  1520  extends generally parallel to the axis  1518  extending through the pre-motor filter  1508  and the suction motor  1512 . In other words, the cyclonic separator  1520  may generally be described as a vertical cyclonic separator. 
     As shown, the docking station  1500  includes a plurality of electrodes  1526  and optical emitters  1528  (e.g., one or more light sources configured to emit optical signals to the robotic cleaner  101  such that the robotic cleaner  101  can locate and navigate to the docking station  1500 ). 
     As shown in  FIG.  16   , the docking station dust cup  1504  includes a handle  1602  extending along a top surface  1604  of the docking station dust cup  1504 . As also shown, the docking station dust cup  1504  is configured to pivot in a direction away from the base  1502  of the docking station  1500 . For example, a user may pivot the docking station dust cup  1504  away from the base  1502  such that the docking station dust cup  1504  can be removed from the base  1502 . 
     In some instances, when the docking station dust cup  1504  is being removed from the base  1502 , a user may actuate a release. Upon actuation of the release, the docking station dust cup  1504  may be urged in a substantially horizontal direction away from the base  1502 . After being urged horizontally away from the base  1502 , the user may pivot the docking station dust cup  1504  in a direction away from the base  1502 . 
       FIGS.  17 - 19    show an example of a docking station  1700 , which may be an example of the docking station  100  of  FIG.  1   . The docking station  1700  includes a base  1702  and a docking station dust cup  1704  coupled to the base  1702 . As shown, the docking station dust cup  1704  is configured to pivot about an axis  1706  extending along a hinge  1708  between an in-use (e.g., as shown in  FIG.  17   ) and a removal position (e.g., as shown in  FIG.  18   ). As also shown, the docking station dust cup  1704  is configured to pivot in a direction of the docking station base  1702  and out of engagement with a support  1701  such that the docking station dust cup  1704  comes to rest on the base  1702  in an inverted position (e.g., a removal position). 
     As shown in  FIGS.  18  and  19    a handle  1800  can be extended from the docking station dust cup  1704  such that the docking station dust cup  1704  can be removed from a coupling platform  1802  that couples the docking station dust cup  1704  to the base  1702 . The coupling platform  1802  may define a slot  1804  (e.g., a T-slot) configured to receive a corresponding rail  1806  (e.g., a T-rail) extending from the docking station dust cup  1704 . The slot  1804  and the rail  1806  may be configured to slideably engage each other such that the docking station dust cup  1704  can be removed from the coupling platform  1802  in response to a sliding movement. Additionally, or alternatively, the coupling platform  1802  may define a receptacle for receiving the docking station dust cup  1704 . In some instances, the receptacle may form a friction fit with at least a portion of the docking station dust cup  1704 . 
     When the docking station dust cup  1704  is decoupled from the coupling platform  1802 , a door  1808  can be configured to pivot open (e.g., in response to actuation of a button/trigger, a user pulling on the door  1808 , and/or the like). When the door  1808  pivots open, the docking station dust cup  1704  may be emptied of any debris stored therein. 
       FIGS.  20  and  21    show a cross-sectional view of an example of a docking station  2000 , which may be an example of the docking station  100  of  FIG.  1   . The docking station  2000  includes a base  2002  and a docking station dust cup  2004 . The docking station dust cup  2004  is configured to be decoupled from the base  2002  at least partially in response to a pivotal movement of the docking station dust cup  2004  and recoupled to the base  2002  in response to a substantially vertical movement. Additionally, or alternatively, the docking station dust cup  2004  may be recoupled to the base  2002  at least partially in response to a pivotal movement.  FIG.  20    shows an example of the docking station dust cup  2004  coupled to the base  2002  in an-use position and  FIG.  21    shows an example of the docking station dust cup  2004  being pivoted such that the docking station dust cup  2004  can be decoupled from the base  2002 . 
     As shown, the docking dust cup  2004  includes a release  2005  configured to allow the docking dust cup  2004  to pivot about a pivot point  2006  in response to actuation. After a predetermined rotation angle θ (e.g., about 5°, about 10°, about 15°, about 20°, about 25°, or any other rotation angle) the docking station dust cup  2004  may be fully decoupled from the base  2002 . 
       FIG.  22    shows a cross-sectional view of a portion of the docking station dust cup  2004  coupled to the base  2002 . As shown, a portion of the docking station dust cup  2004  is disposed between a pivot catch  2200  coupled to the base  2002 . As shown, the pivot catch  2200  extends from and is pivotally coupled to the base  2002 . In response to actuation of the release  2005 , a biasing mechanism (e.g., a compression spring, a torsion springs, an elastomeric material, and/or any other biasing mechanism) may urge the docking station dust cup  2004  away from the base  2002  such the docking station dust cup  2004  engages (e.g., contacts) the pivot catch  2200 . Once engaging (e.g., contacting) the pivot catch  2200 , the docking station dust cup  2004  can be moved along a removal axis  2202  that extends transverse to a vertical axis  2201 . To recouple the docking station dust cup  2004  to the base  2002 , the docking station dust cup  2004  can be vertically inserted onto the base  2002  such that a portion of the docking station dust cup  2004  engages (e.g., contacts) the pivot catch  2200 , causing the pivot catch  2200  to rotate. Rotation of the pivot catch  2200  allows a portion of the docking station dust cup  2004  to pass the pivot catch  2200  such that the pivot catch  2200  rotates back to a retaining position (e.g., as shown in  FIG.  22   ) when the portion of the docking station dust cup  2004  is disposed between the pivot catch  2200  and the base  2002 . A biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) can be configured urge the pivot catch  2200  towards the retaining position. In some instances, for example, a resiliently deformable seal (e.g., a natural or synthetic rubber seal) can extend between the docking station dust cup  2004  and the base  2002 . The resiliently deformable seal can be configured to be compressed when the docking station dust cup  2004  is being coupled to the base  2002  such that the pivot catch  2200  can pivot back to the retaining position. As such, when coupled to the base  2002 , the resiliently deformable seal can urge the docking station dust cup  2004  into engagement (e.g., contact) with the pivot catch  2200 . 
       FIG.  23    shows an example of the pivot catch  2200  coupled to a portion of the base  2002 . As shown, the pivot catch  2200  includes an axle  2300  rotatably coupled to the base  2002  and a lever  2302  extending from the axle  2300 . When the lever  2302  engages (e.g., contacts) the docking station dust cup  2004 , the axle  2300  is caused to rotate such that a portion of the docking station dust cup  2004  can be received within a cavity  2304  defined within the base  2002 . 
       FIGS.  24  to  26    show a cross-sectional example of a portion of a docking station  2400 , which may be an example of the docking station  100  of  FIG.  1   . The docking station  2400  includes a base  2402  and a docking station dust cup  2404  removably coupled to the base  2402 . The docking station dust cup  2404  can generally be described as being configured to be decoupled from the base  2402  at least partially in response to a pivotal movement of the docking station dust cup  2404  and recoupled to the base  2402  in response to a substantially vertical movement. Additionally, or alternatively, the docking station dust cup  2404  may be recoupled to the base  2402  at least partially in response to a pivotal movement. 
     As shown, the docking station dust cup  2404  includes a pivot catch  2406  that is configured to pivot around a pivot point  2408  defined by an axle  2410 . The pivot catch  2406  can include a protrusion  2412  configured to extend at least partially around the axle  2410 . The axle  2410  can include a cutout region  2414  (e.g., a planar portion) such that the protrusion  2412  can pass over the cutout region  2414  in response to movement along a movement axis  2416 . The protrusion  2412  comes into alignment with the cutout region  2414  in response to the pivotal movement of the docking station dust cup  2404 . The pivot catch  2406  may be configured to be resiliently deformable such that the docking station dust cup  2404  can be recoupled to the base  2402  in response to a substantially vertical movement. In other words, the pivot catch  2406  can be resiliently deformable such that, when the docking station dust cup  2404  is being recoupled to the base  2402 , the protrusion  2412  can pass over the axle  2410  without having to be aligned with the cutout region  2414 . 
       FIG.  27    shows an example of a docking station dust cup  2700 , which may be an example of the docking station dust cup  104  of  FIG.  1   , having a horizontal cyclonic separator  2702 . The docking station dust cup  2700  defines an internal volume  2704  configured to receive debris entrained within an air flow. As shown, a filter  2706  (e.g., a filter medium) extends within the internal volume  2704  such that a first debris collection chamber  2708  and a second debris collection chamber  2710  are defined therein. An airflow path is configured to extend between the first and second debris collection chambers  2708  and  2710  and through the filter  2706 . Air flowing along the airflow path can include debris having varying sizes entrained therein. 
     The filter  2706  can be configured such that larger debris does not pass through the filter  2706  while smaller debris passes through the filter  2706 . As such, larger debris is deposited in the first debris collection chamber  2708  and smaller debris passes through the filter  2706  and enters the second debris collection chamber  2710 . The filter  2706  can be, for example, a mesh screen. 
     Once the smaller debris enters the second debris collection chamber  2710 , at least a portion of the smaller debris can be separated from the air flow by cyclonic action. For example, the debris separated from the air flow can be deposited in a debris collector  2714 . The debris collector  2714  defines a debris collection region  2712  within the second debris collection chamber  2710 . As shown, the debris collector  2714  is disposed proximate a distal end region  2716  of a vortex finder  2718  that extends within the second debris collection chamber  2710 . 
     An adjustable insert  2720  can be provided adjacent the debris collector  2714 . The adjustable insert  2720  can extend along a longitudinal axis  2722  of the second debris collection chamber  2710  and slideably engage an inner surface  2724  of the second debris collection chamber  2710 . As such, the location of the adjustable insert  2720  can be adjusted relative to the debris collector  2714 . 
     The docking station dust cup  2700  is shown as having a dust cup cover removed therefrom for purposes of clarity. However, the docking station dust cup  2700  may include a dust cup cover pivotally coupled thereto such that the internal volume  2704  is enclosed. 
       FIG.  28    shows an example of a docking station dust cup  2800 , which may be an example of the docking station dust cup  104  of  FIG.  1   . The docking station dust cup  2800  includes a cyclonic generator  2802  configured to generate a plurality of horizontal cyclones. As shown, the docking station dust cup  2800  can define an internal volume  2804  having a filter  2806  (e.g., a filter medium) extending therein such that a first and a second debris collection chamber  2808  and  2810  are defined within the internal volume  2804 . As also shown, the docking station dust cup  2800  includes a dirty air inlet  2812  and a flow directer  2814  disposed above the dirty air inlet  2812 . 
     The docking station dust cup  2800  is shown as having a dust cup cover removed therefrom for purposes of clarity. However, the docking station dust cup  2800  may include a dust cup cover pivotally coupled thereto such that the internal volume  2804  is enclosed. 
       FIG.  29    shows an example of the filter  2806 . As shown, the filter  2806  may include a plurality of apertures  2900  extending therethrough. The apertures  2900  can be sized such that a desired particle size of debris can pass through the apertures  2900  while larger debris are substantially prevented from passing through the apertures  2900 . As such, the first debris collection chamber  2808  may generally be described as being configured to receive large debris and the second debris collection chamber  2810  may generally be described as being configured to receive small debris. In some instances, the filter  2806  can be a mesh screen. 
       FIG.  30    shows an example of a docking station dust cup  3000 , which may be an example of the docking station dust cup  104  of  FIG.  1   . As shown, the docking station dust cup  3000  may define an internal volume  3002 . A filter  3004  (e.g., a filter medium) can extend within the internal volume  3002  such that a first debris collection chamber  3006  and a second debris collection chamber  3008  are defined therein. An airflow path  3010  can extend from a dirty air inlet  3012  into the first debris collection chamber  3006  through the filter  3004  and into the second debris collection chamber  3008 . 
     The filter  3004  can be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. For example, the filter  3004  can be configured such that large debris collects in the first debris collection chamber  3006  and small debris collects in the second debris collection chamber  3008 . 
     When separating debris between the first and second debris collection chambers  3006  and  3008 , debris may become adhered to the filter  3004 . As a result, airflow passing through the filter  3004  may be restricted, reducing the performance of the docking station to which the docking station dust cup  3000  is coupled. Debris adhered to the filter  3004  may be removed through the action of an agitator  3014  coupled to a main body  3015  of the dust cup  3000 . 
     The agitator  3014  can be configured to engage at least a portion of the filter  3004 . As shown, the agitator  3014  can include a wiper  3016  configured to slideably engage a portion of the filter  3004 . For example, the filter  3004  can be coupled to a pivoting door  3018  that is pivotally coupled to the main body  3015  such that, as the pivoting door  3018  is transitioned from a closed (e.g., as shown in  FIG.  30   ) to an open position (e.g., as shown in  FIG.  31   ), for example, to empty the dust cup  3000 , the filter  3004  slides relative to the wiper  3016  such that the wiper removes at least a portion of any debris adhered to the filter  3004 . While the wiper  3016  is shown as engaging a surface of the filter  3004  that is facing the second debris collection chamber  3008 , the wiper  3016  can be configured to engage a surface of the filter  3004  that is facing the first debris collection chamber  3006 . In some instances, a plurality of wipers  3016  can be provided such that both surfaces of the filter  3004  can be engaged. 
       FIG.  32    shows an example of a docking station dust cup  3200 , which may be an example of the docking station dust cup  104  of  FIG.  1   . As shown, the docking station dust cup  3200  may define an internal volume  3202  that is separated into a first debris collection chamber  3204  and a second debris collection chamber  3206  by a filter  3208  (e.g., a filter medium). An airflow path  3210  can extend from a dirty air inlet  3212  into the first debris collection chamber  3204  through the filter  3208  and into the second debris collection chamber  3206 . 
     The filter  3208  can be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. As such, the first debris collection chamber  3204  may generally be described as being configured to receive large debris and the second debris collection chamber  3206  may generally be described as being configured to receive smaller debris. 
     When separating debris between the first and second debris collection chambers  3204  and  3206  debris may become adhered to the filter  3208 . As a result, airflow through the filter  3208  may be restricted, reducing the performance of the docking station to which the dust cup  3200  is coupled. As such, an agitator  3214  may be provided to remove debris from the filter  3208 . The agitator  3214  can be configured such that air can flow therethrough. 
     The agitator  3214  can be configured to engage at least a portion of the filter  3208 . As shown, the agitator  3214  can include a wiper  3216  that is configured to slideably engage at least a portion of the filter  3208 . For example, the agitator  3214  can be coupled to a pivoting door  3218  pivotally coupled to a main body  3219  of the docking station dust cup  3200  such that when the pivoting door  3218  is transitioned from a closed position (e.g., as shown in  FIG.  32   ) to an open position (e.g., as shown in  FIG.  33   ), the wiper  3216  slides relative to the filter  3208  such that at least a portion of the debris adhered to the filter  3208  are removed therefrom. While the wiper  3216  is shown as engaging a surface of the filter  3208  that is facing the second debris collection chamber  3206 , the wiper  3216  can be configured to engage a surface of the filter  3208  that is facing the first debris collection chamber  3204 . In some instances, a plurality of wipers  3216  can be provided such that both surfaces of the filter  3208  can be engaged. 
       FIG.  34    shows an example of a docking station dust cup  3400 , which may be an example of the docking station dust cup  104  of  FIG.  1   . As shown, the docking station dust cup  3400  may define an internal volume  3402 . The internal volume  3402  can include a filter  3404  (e.g., a filter medium) that separates the internal volume  3402  into a first debris collection chamber  3406  and a second debris collection chamber  3408 . An airflow path  3410  can extend from a dirty air inlet  3412  into the first debris collection chamber  3406  through the filter  3404  and into the second debris collection chamber  3408 . 
     The filter  3404  can be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. For example, the filter  3404  can be configured such that larger debris collects in the first debris collection chamber  3406  and smaller debris collects in the second debris collection chamber  3408 . As shown, the filter  3404  can include a plurality of protrusions  3414  extending therefrom. The protrusions  3414  can be configured to engage an agitator  3416  such that movement of the agitator  3416  across the protrusions  3414  can introduce vibrations into the filter  3404 . The vibrations introduced into the filter  3404  can cause debris adhered to the filter  3404  to become dislodged. The protrusions  3414  may be a strip coupled to the filter  3404 . In some instances, the protrusions  3414  may be formed from the filter  3404 . For example, the filter  3404  may be at least partially pleated. 
     As shown, the agitator  3416  can be coupled to a pivoting door  3418  that is pivotally coupled to a main body  3419  of the docking station dust cup  3400  such that the agitator  3416  is caused to move across the protrusions  3414  in response to the pivoting door transitioning from a closed position (e.g., as shown in  FIG.  34   ) to an open position (e.g., as shown in  FIG.  35   ) to, for example, empty the docking station dust cup  3400 . The agitator  3416  can be configured such that air can flow therethrough. 
       FIG.  36    shows a side cross-sectional view of a docking station dust cup  3600 , which may be an example of the docking station dust cup  104  of  FIG.  1   . As shown, the docking station dust cup  3600  may define an internal volume  3602  having a filter  3604  (e.g., a filter medium) disposed therein. The filter  3604  can separate the internal volume  3602  into a first debris collection chamber  3606  and a second debris collection chamber  3608 . An airflow path  3610  can extend from a dirty air inlet  3612  into the first debris collection chamber  3606  through the filter  3604  and into the second debris collection chamber  3608 . 
     The filter  3604  can be, for example, a mesh screen configured to prevent debris of a predetermined size from passing therethrough. For example, the filter  3604  can be configured such that larger debris collects in the first debris collection chamber  3606  and smaller debris collects in the second debris collection chamber  3608 . 
     As shown, the filter  3604  can have an arcuate shape. A concave surface  3614  of the filter  3604  can be configured to engage an agitator  3616  such that, as the agitator  3616  pivots about a pivot point  3618 , the agitator  3616  slideably engages the concave surface  3614  of the filter  3604 . As such, at least a portion of any debris adhered to the concave surface  3614  of the filter  3604  can be removed from the filter  3604 . 
     The agitator  3616  can be configured to pivot in response to, for example, the opening of a pivoting door  3620 . For example, the pivoting door  3620  can be pivotally coupled to a main body  3624  of the docking station dust cup  3600 . As shown, the pivoting door  3620  can include a protrusion  3622  that extends from the pivoting door  3620  at a location adjacent the pivot point  3618 . For example, the agitator  3616  can be biased into engagement (e.g., contact) with the protrusion  3622  such that when the pivoting door  3620  is transitioned from a closed position (e.g., as shown in  FIG.  36   ) to an open position (e.g., as shown in  FIG.  37   ) the agitator  3616  pivots about the pivot point  3618 . The agitator  3616  can be biased into engagement with the protrusion  3622  using, for example, one or more springs (e.g., torsion springs). 
     As shown, the agitator  3616  can include a cam  3617  having a protrusion engaging surface  3621  configured to engage (e.g., contact) the protrusion  3622 . For example, when the pivoting door  3620  is in the closed position, the protrusion engaging surface  3621  can extend substantially parallel to a longitudinal axis  3626  of the protrusion  3622 . Additionally, or alternatively, the protrusion engaging surface  3621  can extend transverse to a longitudinal axis  3628  of the agitator  3616 . 
       FIG.  38    shows a perspective view of a docking station  3800 , which may be an example of the docking station  100  of  FIG.  1   . As shown, the docking station  3800  includes a base  3802  having a docking station dust cup  3804  removably coupled thereto. For example, the docking station dust cup  3804  can be decoupled from the base  3802  in response to an actuation of a release  3806  and an application of a force (e.g., by a user) on a handle  3808  formed in the docking station dust cup  3804 . 
     The base  3802  can also include an air inlet  3810  configured to be fluidly coupled to the docking station dust cup  3804  and to a dust cup of a robotic vacuum cleaner such as the robotic cleaner  101  of  FIG.  1   . As such, debris stored in the dust cup of the robotic vacuum cleaner can be drawn into the docking station dust cup  3804 . The base  3802  may also include one or more charging contacts  3812  configured to supply power to a robotic vacuum cleaner to, for example, recharge one or more batteries. 
       FIG.  39    is a cross-sectional view of the docking station  3800  taken along the line XXXIX-XXXIX of  FIG.  38   . As shown, the docking station dust cup  3804  can define an internal volume  3900  having a first (or large) debris compartment (or chamber)  3902  and a second (or small) debris compartment (or chamber)  3904 . The large debris compartment  3902  can be fluidly coupled to the small debris compartment  3904  through a filter  3906  (e.g., a filter medium). For example, a separation wall  3908  can extend within the internal volume  3900  to separate the small debris compartment  3904  from the large debris compartment  3902 , wherein the separation wall  3908  defines an opening  3910  for receiving the filter  3906 . 
     In operation, air carrying debris can flow from the air inlet  3810  into the large debris compartment  3902  and through the filter  3906 . A cyclonic separator  3912  configured to cause one or more cyclones to be generated can be provided to cyclonically separate at least a portion of the debris that passes through the filter  3906  from the air flow. The separated debris can then be deposited in the small debris compartment  3904 . 
     In operation, as air passes through the filter  3906 , debris may become adhered to the filter  3906  and may be detrimental to the performance of the docking station  3800 . As such, an agitator  3914  may be provided. The agitator  3914  can be configured to rotate about a rotation axis  3916  that extends transverse to (e.g., perpendicular to) a filtering surface  3918  of the filter  3906 . As such, as the agitator  3914  rotates, at least a portion of the agitator  3914  engages (e.g., contacts) the filtering surface  3918  of the filter  3906  and dislodges at least a portion of the debris adhered to the filter  3906 . 
     The agitator  3914  can be caused to rotate, for example, in response to the decoupling (or removal) of the docking station dust cup  3804  from the base  3802 , in response to the opening of a pivoting door  3920 , at predetermined times (e.g., in response to expiration of a predetermined time period), and/or the like. In some instances, the agitator  3914  can be caused to be rotated by a motor and/or be manually rotated (e.g., by pressing a button, by removing the docking station dust cup  3804  from the base  3802 , and/or the like). 
     In some instances, the geometry of the filter  3906  can be configured such that the filter  3906  encourages self-cleaning. For example, the filter  3906  can be oriented (e.g., oriented vertically) such that, when debris is emptied from the docking station dust cup  3804 , at least a portion of the debris adhered to the filter  3906  disengages the filter  3906 . After disengaging the filter  3906 , debris may engage (e.g., contact) additional debris adhered to the filter  3906  and may cause at least a portion of the additional debris to disengage the filter  3906 . In these instances, the docking station dust cup  3804  may or may not include the agitator  3914 . 
       FIG.  40    is another cross-sectional view of the docking station  3800  taken along the line XXXIX-XXXIX of  FIG.  38   .  FIG.  40    shows an exemplary airflow  4000  extending from the large debris compartment  3902  through the filter  3906  and the cyclonic separator  3912 . After exiting the cyclonic separator  3912 , the airflow  4000  extends through a premotor filter  4002  and into a suction motor  4004 . As shown, the airflow  4000  is exhausted from the suction motor  4004  into an exhaust duct  4006 . The exhaust duct  4006  can include a post-motor filter  4008  such as, for example, a high efficiency particulate air (HEPA) filter. The exhaust duct  4006  can be configured such that the noise of the airflow  4000  as it exits an exhaust port  4010  is reduced. For example, the exhaust duct  4006  can be configured to reduce the velocity of the airflow  4000  passing therethrough by for example, increasing the size of the exhaust duct  4006  and/or by increasing a length of a path along which the airflow  4000  travels. 
       FIG.  41    shows an example of the agitator  3914 , wherein the agitator  3914  is configured to be rotated in response to the decoupling of the docking station dust cup  3804  from the base  3802 . As shown, the base  3802  can include a rack  4100  extending from the housing and configured to engage a pinion  4102  coupled to or formed from the agitator  3914 . As such, as the docking station dust cup  3804  is removed from the base  3802 , the pinion  4102  can be caused to rotate due to its engagement with the rack  4100 . The rotation of the pinion  4102  results in a corresponding rotation of the agitator  3914 . 
     In some instances, the rack  4100  can be configured to be stationary such that, as the docking station dust cup  3804  is coupled to or decoupled from the base  3802 , the pinion  4102  is urged along the rack  4100 . As such, the agitator  3914  is caused to be rotated when the docking station dust cup  3804  is coupled to and decoupled from the base  3802 . In some instances, the rack  4100  can be movable relative to the base  3802 . For example, the rack  4100  can be configured to be biased in a direction away from the base  3802  (e.g., using a biasing mechanism such as a spring). In these instances, when the docking station dust cup  3804  is being coupled to the base  3802 , the docking station dust cup  3804  can be configured to urge the rack  4100  into the base  3802 , storing energy in the biasing mechanism (e.g., a compression spring). When the docking station dust cup  3804  is coupled to the base  3802 , the rack  4100  can be configured to be retained within the base  3802  by a latching feature and, when, for example, the release  3806  is actuated, the latching feature can disengage the rack  4100  such that the rack  4100  is urged in a direction away from the base  3802  by the biasing mechanism. As such, the movement of the rack  4100  causes the agitator  3914  to rotate. 
     By way of further example, the rack  4100  may be urged into the pivoting door  3920  by a biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism). As such, when the pivoting door  3920  is opened the rack  4100  may be urged away from the docking station dust cup  3804  causing the agitator  3914  to be rotated. The closing of the pivoting door  3920  may urge the rack  4100  back into the docking station dust cup  3804  such that the biasing mechanism urges the rack  4100  into the pivoting door  3920 . In this example, the rack  4100  is separate from the base  3802  and is disposed within the docking station dust cup  3804 . 
     The pinion  4102  can be sized such that the agitator  3914  completes at least one full rotation during removal of the docking station dust cup  3804  from the base  3802 . Alternatively, the pinion  4102  can be sized such that the agitator  3914  does not complete a full rotation during removal of the docking station dust cup  3804  from the base  3802 . 
     As also shown, the agitator  3914  includes one or more arms  4104  (e.g., two, three, four, or any other number of arms  4104 ) extending from a hub  4106 , the hub  4106  being coupled to or formed from the pinion  4102 . The one or more arms  4104  are configured to engage (e.g., contact) at least a portion of the filter  3906  when rotated. For example, the one or more arms  4104  can include a plurality of bristles extending therefrom, wherein the bristles engage the filter  3906 . Additionally, or alternatively, the agitator  3914  can include one or more resiliently deformable wipers. 
       FIG.  42    shows an enlarged cross-sectional side view of the rack  4100 , pinion  4102 , and agitator  3914  of  FIG.  41   . In some instances the rack  4100  and pinion  4102  can be enclosed such that ingress of debris into the rack  4100  and pinion  4102  can be mitigated. 
       FIG.  43    shows a perspective view of a robotic vacuum cleaner  4300 , which may be an example of the robotic cleaner  101  of  FIG.  1   , reversing into a docking station  4302 , which may be an example of the docking station  100  of  FIG.  1   , and  FIG.  10    shows a perspective view of the robotic vacuum cleaner  4300  in a docked position (e.g., engaging) the docking station  4302 . As shown, the docking station  4302  includes a base  4304  coupled to a docking station dust cup  4306 . The docking station dust cup  4306  is configured to be decoupled from the base  4304  in response to a pivotal movement of the docking station dust cup  4306  in a direction away from the base  4304 . 
     As shown, the base  4304  includes a boot  4308  configured to form a seal with at least a portion of the robotic vacuum cleaner  4300 . For example, the boot  4308  may engage an outlet port defined in the dust cup of the robotic vacuum cleaner  4300 . When the boot  4308  engages the robotic vacuum cleaner  4300  the dust cup of the robotic vacuum cleaner  4300  is fluidly coupled to the docking station dust cup  4306 . 
     As also shown, the docking station dust cup  4306  may include a handle  4310  extending over at least a portion of a suction housing  4312  of the base  4304 . The handle  4310  can include a latch  4314  configured to engage with the base  4304 . When the latch  4314  is actuated, the docking station dust cup  4306  is permitted to pivot. As such, the latch  4314  can generally be described as being configured to selectively allow the pivotal movement of the docking station dust cup  4306 . 
     In some instances, and as shown, the docking station  4302  can include guides  4316  that extend in a direction away from the boot  4308 . The guides  4316  extend from the docking station  4302  on opposing sides of the boot  4308  such that, when the robotic vacuum cleaner  4300  is docked, the guides extend along opposing sides of the robotic vacuum cleaner  4300 . The guides  4316  may be configured to urge the robotic vacuum cleaner  4300  into alignment with the boot  4308 . Additionally, or alternatively, as the robotic vacuum cleaner  4300  approaches the boot  4308 , the docking station  4302  can begin generating a suction at the boot  4308  such that the suction urges the robotic vacuum cleaner  4300  into engagement with the boot  4308 . As such, the vacuum generated by the docking station  4302  can also be used to urge the robotic vacuum cleaner  4300  into engagement with the boot  4308 . 
       FIG.  45    shows a schematic view of a docking station  4500 , which may be an example of the docking station  100 , of  FIG.  1   . The docking station  4500  includes an adjustable boot  4502  configured to slide relative to a base  4504  of the docking station  4500 . The adjustable boot  4502  can be configured to slide in response to a robotic vacuum cleaner  4506  engaging the adjustable boot  4502  in a misaligned orientation (e.g., a central axis  4510  of an outlet port  4512  of the robotic vacuum cleaner  4506  is not substantially colinear with a central axis  4514  of the adjustable boot  4502 ). As such, when the adjustable boot  4502  slides in response to a misaligned orientation, the adjustable boot  4502  can engage the robotic vacuum cleaner  4506  in a substantially aligned orientation, which may allow the adjustable boot  4502  to fluidly couple a dust cup  4516  of the robotic vacuum cleaner  4506  to the docking station  4500 . 
       FIG.  46    shows a schematic view of a docking station  4600 , which may be an example of the docking station  100  of  FIG.  1   . The docking station  4600  includes a base  4602  and an adjustable boot  4604 . The adjustable boot  4604  is moveable relative to the base  4602  to, at least partially, correct for a misalignment of a robotic cleaner  4606  relative to the adjustable boot  4604 . As shown, one or more charging contacts  4608  may be coupled to the adjustable boot  4604  such that the charging contacts  4608  move in response to movement of the adjustable boot  4604 . As such, the charging contacts  4608  may electrically couple to the robotic cleaner  4606  when the robotic cleaner  4606  engages the docking station  46100  in a misaligned orientation. 
     In some instances, the charging contacts  4608  may not be coupled to the adjustable boot  4604 . In these instances, the charging contacts  4608  can be configured to electrically couple to the robotic cleaner  4606  for a range of misalignment angles. For example, the dimensions of the charging contacts  4608  may be increased to allow for greater misalignment. 
       FIGS.  47  and  48    show an example of a docking station  4700 , which may be an example of the docking station  100  of  FIG.  1   . As shown, the docking station includes a lid  4702  configured to transition between a closed position (e.g., as shown in  FIG.  47   ) and an open position (e.g., as shown in  FIG.  48   ). When the lid  4702  is in the open position, a compartment door  4704  can be pivoted in a direction towards a user and to a dust cup removal position. When the compartment door  4704  is in the dust cup removal position, a docking station dust cup  4706  can be pivoted towards the compartment door  4704  and removed from the docking station  4700 . 
       FIGS.  49 - 51    show an example of a docking station  4900  having a removable bag  4902  configured to receive debris from a dust cup  4904  of a robotic vacuum  4908 . The removable bag  4902  may be a disposable bag. In some instances, the removable bag  4902  may include a filter material such that the removable bag  4902  acts a filter. As shown, the removable bag  4902  may be expandable such that as debris is collected in the removable bag  4902  the size of the removable bag  4902  increases. 
     As also shown, the docking station  4900  defines a cavity  4910  configured to receive the removable bag  4902 , wherein the cavity  4910  includes an open end  4912  configured to be closed using a lid  4914 . A suction motor  4918  is configured to generate a vacuum within the cavity  4910  such that debris is drawn along a flow path that extends along at least partially along a duct  4916  from the dust cup  4904  of the robotic vacuum  4908  and into the removable bag  4902 . As such, in these instances, the removable bag  4902  may act as a pre-motor filter. 
       FIGS.  52  and  53    show an example of a docking station  5200  having a suction motor  5201 , a pre-motor filter  5203 , a post motor filter  5205 , a horizontal cyclonic separator  5202  extending along a longitudinal axis  5204  of the docking station  5200 , and a docking station dust cup  5206 . As shown, the docking station dust cup  5206  is configured to slideably engage at least a portion of the horizontal cyclonic separator  5202 . For example, the docking station dust cup  5206  may be configured to be slideable along the longitudinal axis  5204  such that the docking station dust cup  5206  can be removed from the docking station  5200  to be emptied. As also shown, the docking station dust cup  5206  may include a vortex finder scraper  5208  that is configured to slideably engage a vortex finder  5210  of the horizontal cyclonic separator  5202 . For example, the sliding movement of the vortex finder scraper  5208  along the vortex finder  5210  may remove debris from the vortex finder  5210 . 
       FIG.  54    shows a perspective rearward view of a robotic vacuum cleaner  202 . As shown, the robotic vacuum cleaner  202  includes a displaceable bumper  5402 , at least one drive wheel  5404 , and a side brush  5406 . At least a portion of the displaceable bumper  5402  and the robotic vacuum cleaner dust cup  208  are disposed on opposing sides of the drive wheel  5404 . As such, the displaceable bumper  5402  is positioned in a forward portion of the robotic vacuum cleaner  202  and the robotic vacuum cleaner dust cup  208  is positioned in a rearward portion of the robotic vacuum cleaner  202 . 
     As shown, the robotic vacuum cleaner dust cup  208  includes a robotic vacuum dust cup release  5408  positioned between a top surface  5410  of the robot vacuum cleaner dust cup  208  and the outlet port  218 . The robotic vacuum dust cup release  5408  can include opposing depressable triggers  5412  configured to be actuated in opposing directions. Actuation of the triggers  5412  can cause at least a portion of the robotic vacuum cleaner dust cup  208  to disengage a portion the robotic vacuum cleaner  202  such that the robotic vacuum cleaner dust cup  208  can be removed therefrom. 
     The outlet port  218  can include an evacuation pivot door  5414 . The evacuation pivot door  5414  can be configured to transition from an open position (e.g., when the robotic vacuum cleaner  202  is docked with the docking station  200 ) and a closed position (e.g., when the robotic vacuum cleaner  202  is carrying out a cleaning operation). When transitioning to the closed position, the evacuation pivot door  5414  can pivot in a direction of the robotic vacuum cleaner dust cup  208 . As such, during a cleaning operation, a suction force generated by a suction motor of the robotic vacuum cleaner  202  may urge the evacuation pivot door  5414  towards the closed position. Additionally, or alternatively, in some instances, a biasing mechanism (e.g., a compression spring, a torsion spring, an elastomeric material, and/or any other biasing mechanism) may urge the evacuation pivot door  5414  towards the closed position. When transitioning to the open position, the evacuation pivot door  5414  can pivot in a direction away from the robotic vacuum cleaner dust cup  208 . As such, when the robotic vacuum cleaner  202  is docked with the docking station  200 , the suction generated by the suction motor  1116  of the docking station  200  may urge the evacuation pivot door  5414  towards the open position. 
       FIG.  55    shows a cross-sectional perspective view of the robotic vacuum cleaner  202  taken along the line LV-LV of  FIG.  54   . As shown, the robotic vacuum cleaner dust cup  208  includes a rib  5500  having a plurality of teeth  5502 . The teeth  5502  are configured to engage a portion of a cleaning roller  5504  of the robotic vacuum cleaner  202 . The engagement between the teeth  5502  and the cleaning roller  5504  causes fibrous debris (e.g., hair) wrapped around the cleaning roller  5504  to be removed therefrom. Once removed from the cleaning roller  5504 , the fibrous debris can be deposited within a debris collection cavity  5506  of the robotic vacuum cleaner dust cup  208 . 
     In some instances, the cleaning roller  5504  can be configured to be operated in a reverse rotation direction to remove fibrous debris therefrom. The reverse rotation direction may generally correspond to a direction that is opposite to the rotation direction of the cleaning roller  5504  when the robotic vacuum cleaner  202  is performing a cleaning operation. The robotic vacuum cleaner  202  may reverse the cleaning roller  5504  when docking to the docking station  200 . For example, the robotic vacuum cleaner  202  may reverse the cleaning roller  5504  when the docking station  200  is suctioning debris from the robotic vacuum cleaner dust cup  208 . Additionally, or alternatively, the robotic vacuum cleaner  202  may reverse the cleaning roller  5504  during a cleaning operation. 
     The cleaning roller  5504  is configured to engage a surface to be cleaned (e.g., a floor). The cleaning roller  5504  may include one or more of bristles and/or flaps extending along a roller body  5508  of the cleaning roller  5504 . At least a portion of the cleaning roller  5504  can be configured to engage the surface to be cleaned such that debris residing thereon can be urged into the debris collection cavity  5506  of the robotic vacuum cleaner dust cup  208 . 
     As shown, a bottom surface  5510  of the debris collection cavity  5506  includes a tapering region  5512  that extends between a robotic cleaner dust cup inlet  5514  and the outlet port  218 . The tapering region  5512  may encourage deposition of debris at location within the debris collection cavity  5506  proximate the outlet port  218 . As such, the evacuation of the robotic vacuum cleaner dust cup  208  may be improved. In some instances, the tapering region  5512  may improve airflow through the robotic vacuum cleaner dust cup  208  when the robotic vacuum cleaner dust cup  208  is being evacuated by the docking station  200 . The tapering region  5512  may have, for example, a linear or curved profile. 
       FIG.  56    shows a cross-sectional perspective view of the robotic vacuum cleaner  202  taken along the line LVI-LVI of  FIG.  54   . As shown, the debris collection cavity  5506  tapers from a robotic vacuum cleaner dust cup inlet  5602  to the outlet port  218 , wherein the outlet port  218  is defined in a dust cup side wall  5603  extending between the top surface  5410  of the robotic vacuum cleaner dust cup  208  and the dust cup bottom surface  408 . In other words, a robotic vacuum cleaner dust cup width  5604  decreases with increasing distance from the robotic vacuum cleaner dust cup inlet  5602 . Such a configuration may increase the velocity of air flowing therethrough, cause a more linear velocity gradient to be generated therein, and/or reduce a flow separation between air flowing through the robotic vacuum cleaner dust cup  208  and the sides of the robotic vacuum cleaner dust cup  208  when the robotic vacuum cleaner dust cup  208  is being evacuated. 
     In some instances, and as shown, the robotic vacuum cleaner dust cup  208  may include constriction regions  5606  on opposing sides of the debris collection cavity  5506 . As such, constriction sidewalls  5608 , which at least partially define respective constriction regions  5606 , may define at least a portion of the taper of the debris collection cavity  5506 . In some instances, for example, the constriction sidewalls  5608  may be linear or curved. As shown, the constriction sidewalls  5608  have a convex curvature that extends inwardly into the debris collection cavity  5506  such that the debris collection cavity  5506  tapers from a robotic vacuum cleaner dust cup inlet  5602  to the outlet port  218 . 
     In some instances, the constriction regions  5606  may define an internal volume configured to receive a cleaning liquid to be applied to a surface to be cleaned. For example, the robotic vacuum cleaner  202  may be configured to carry out one or more wet cleaning operations wherein the cleaning liquid is applied to a cleaning pad engaging the surface to be cleaned. In these instances, the cleaning liquid may be replenished by a user and/or automatically when docked with the docking station  200 . 
       FIGS.  57  and  58    show a cross-sectional view of the robotic vacuum cleaner  5701 , which may be an example of the robotic cleaner  101  of  FIG.  1   . As shown, the robotic vacuum cleaner  5701  includes a suction motor  5700  fluidly coupled to a robotic vacuum cleaner dust cup  5702 . A filter medium  5704  (e.g., a HEPA filter) can be disposed within the flow path extending from the robotic vacuum cleaner dust cup  5702  and the suction motor  5700  such that at least a portion of any debris entrained within the air flowing from the robotic vacuum cleaner dust cup  5702  is captured by the filter medium  5704 . 
     A baffle  5706  can be provided between the filter medium  5704  and the suction motor  5700 . As shown, the baffle  5706  is pivotally coupled to the robotic vacuum cleaner  5701  such that, when the suction motor  5700  is activated, the baffle  5706  is pivoted towards an open position and, when the suction motor  5700  isn&#39;t activated, the baffle  5706  is pivoted towards a closed position. In other words, the baffle  5706  can generally be described as being configured to selectively fluidly couple the suction motor  5700  to the robotic vacuum cleaner dust cup  5702  of the robotic vacuum cleaner  5701 . 
     As shown, the robotic vacuum cleaner dust cup  5702  of the robotic vacuum cleaner  5701  can include an evacuation pivot door  5708  configured to be actuated when the robotic vacuum cleaner  5701  engages a docking station. For example, the docking station may include a door protrusion  5709  (shown schematically in  FIGS.  57  and  58   ) configured to cause the evacuation pivot door  5708  to pivot from a closed position (e.g., the evacuation pivot door  5708  extends over a fluid outlet  5710  of the robotic vacuum cleaner dust cup  5702 ) to an open position. As shown, the robotic vacuum cleaner dust cup  5702  can include a protrusion receptacle  5711  configured to receive at least a portion of the door protrusion  5709  such that the evacuation pivot door  5708  is urged to the open position when at least a portion of the door protrusion  5709  is disposed within the protrusion receptacle  5711 . 
     When the robotic vacuum cleaner  5701  engages the docking station, the evacuation pivot door  5708  is in the open position such that the robotic vacuum cleaner dust cup  5702  is fluidly coupled to the docking station dust cup. When the robotic vacuum cleaner dust cup  5702  is fluidly coupled to the docking station dust cup, the baffle  5706  may be in the closed position such that the suction motor  5700  is fluidly decoupled from the robotic vacuum cleaner dust cup  5702 . Such a configuration may result in more debris being removed from the robotic vacuum cleaner dust cup  5702  by increasing the suction force generated within the robotic vacuum cleaner dust cup  5702 . 
     In some instances, the robotic vacuum cleaner  5701  can include a vent  5712  configured to be in a closed position ( FIG.  57   ) when the suction motor  5700  is activated and in an open position ( FIG.  58   ) when the robotic vacuum cleaner  5701  is engaging the docking station. When the vent  5712  is in the open position, a flow path may extend from the environment surrounding the robotic vacuum cleaner  5701  through the filter medium  5704  and into the robotic vacuum cleaner dust cup  5702 . As such, when the docking station causes a suction force to be generated, debris captured in the filter medium  5704  may be entrained within an air flow flowing through the filter medium  5704 . 
       FIGS.  59  and  60    show a schematic example of a robotic vacuum cleaner dust cup  5900  having an evacuation pivot door  5902 . As shown, the robotic vacuum cleaner dust cup  5900  includes a sliding latch  5904  that slides in response to the robotic vacuum cleaner engaging a docking station. When a suction force is generated by the docking station, the evacuation pivot door  5902  may transition to an open position such that the robotic vacuum cleaner dust cup  5900  is fluidly coupled to the docking station via an outlet port  5906  of the robotic vacuum cleaner dust cup  5900 . Additionally, or alternatively, the evacuation pivot door  5902  may be biased towards an open position (e.g., as shown in  FIG.  60   ) using a biasing mechanism (e.g., using a spring, an elastic member, and/or any other biasing mechanism). In these instances, the sliding latch  5904  resists the pivotal movement of the evacuation pivot door  5902  such that, when the sliding latch  5904  moves in response to the robotic vacuum cleaner engaging the docking station, the evacuation pivot door  5902  is urged to the open position by the biasing mechanism. In some instances, the biasing mechanism may urge the evacuation pivot door  5902  towards a closed position (e.g., as shown in  FIG.  59   ). 
       FIGS.  61  and  62    show an example of a robotic vacuum cleaner dust cup  6100  having an evacuation pivot door  6102 . As shown, the evacuation pivot door  6102  includes a pivot door catch  6104  configured to engage a portion of a docking station  6106  (e.g., the docking station  100  of  FIG.  1   ). As shown, as the robotic vacuum cleaner dust cup  6100  moves over a portion of the docking station  6106 , the evacuation pivot door  6102  pivots towards the docking station  6106  such that a docking station suction inlet  6108  can fluidly couple to an outlet port  6110  of the robotic vacuum cleaner dust cup  6100 . In some instances, the evacuation pivot door  6102  may be biased towards a closed position (e.g., as shown in  FIG.  61   ) using a biasing mechanism (e.g., using a spring, an elastic member, and/or any other biasing mechanism). Additionally, or alternatively, the evacuation pivot door  6102  may engage a latch  6300  configured to hold the closure flap in the closed position until the latch is actuated by engagement with the docking station (see, e.g.,  FIG.  63   ). 
     A docking station for a robotic vacuum cleaner may include a base, a dust cup configured to pivot relative to the base, and a suction motor configured to cause air to be drawn into the dust cup. 
     In some instances, the docking station may be configured to be pivoted in a direction away from the base. In some instances, the base may define a pre-motor filter chamber having a pre-motor filter, a motor chamber having the suction motor, and a post-motor filter chamber having a post-motor filter. In some instances, the suction motor and the pre-motor filter may be aligned along an axis that passes through the suction motor and the pre-motor filter. In some instances, the dust cup is configured to generate a cyclone. In some instances, the cyclone may be a horizontal cyclone. 
     A docking system may include a robotic vacuum cleaner and a docking station. The robotic vacuum cleaner may include a robotic vacuum cleaner dust cup. The docking station may be configured to fluidly couple to the robotic vacuum cleaner dust cup. The docking station may include a base, a docking station dust cup configured to pivot relative to the base, and a suction motor configured to cause air to be drawn into the docking station dust cup. 
     In some instances, the robotic vacuum cleaner dust cup may include an outlet port configured to be in fluid communication with the docking station dust cup. In some instances, the robotic vacuum cleaner dust cup may include an evacuation pivot door configured to selectively cover the outlet port. In some instances, the evacuation pivot door may be configured to transition to an open position in response to the robotic vacuum cleaner engaging the docking station. In some instances, the docking station may include a protrusion configured to cause the evacuation pivot door to transition from a closed position to an open position. In some instances, the docking station dust cup may be configured to be pivoted in a direction away from the base. In some instances, the base may define a pre-motor filter chamber having a pre-motor filter, a motor chamber having the suction motor, and a post-motor filter chamber having a post-motor filter. In some instances, the suction motor and the pre-motor filter may be aligned along an axis that passes through the suction motor and the pre-motor filter. In some instances, the docking station dust cup may be configured to generate a cyclone. In some instances, the cyclone may be a horizontal cyclone. 
     A docking station for a robotic vacuum cleaner may include a base, a dust cup defining an interior volume, a filter disposed within the interior volume such that a first debris collection chamber and a second debris collection chamber is defined within the dust cup, and a suction motor configured to cause air to be drawn into the dust cup. 
     In some instances, the dust cup may be configured to pivot relative to the base. In some instances, the docking station may be configured to be pivoted in a direction away from the base. In some instances, the base may define a pre-motor filter chamber having a pre-motor filter, a motor chamber having the suction motor, and a post-motor filter chamber having a post-motor filter. In some instances, the suction motor and the pre-motor filter may be aligned along an axis that passes through the suction motor and the pre-motor filter. In some instances, the dust cup may be configured to generate a cyclone. In some instances, the cyclone may be a horizontal cyclone. 
     A docking station for a robotic vacuum cleaner may include a base, a dust cup defining an interior volume, a filter disposed within the interior volume such that a first debris collection chamber and a second debris collection chamber is defined within the dust cup, an agitator configured to dislodge debris adhered to the filter, and a suction motor configured to cause air to be drawn into the dust cup. 
     In some instances, the dust cup may be configured to pivot relative to the base. In some instances, the docking station may be configured to be pivoted in a direction away from the base. In some instances, the base may define a pre-motor filter chamber having a pre-motor filter, a motor chamber having the suction motor, and a post-motor filter chamber having a post-motor filter. In some instances, the suction motor and the pre-motor filter may be aligned along an axis that passes through the suction motor and the pre-motor filter. In some instances, the dust cup may be configured to generate a cyclone. In some instances, the cyclone may be a horizontal cyclone. 
     A docking station for a robotic vacuum cleaner may include a base, a dust cup disposed within the base, a boot moveably coupled to the base, the boot being configured to move in response to the robotic vacuum cleaner engaging the boot, and a suction motor configured to cause air to be drawn through the boot and into the dust cup. 
     In some instances, the boot may be configured to move when the robotic vacuum cleaner engages the boot in a misaligned orientation. 
     A docking system may include a robotic vacuum cleaner and a docking station. The robotic vacuum cleaner may include a robotic vacuum cleaner dust cup. The docking station may be configured to fluidly couple to the robotic vacuum cleaner dust cup. The docking station may include a base, a dust cup disposed within the base, a boot moveably coupled to the base, the boot being configured to move in response to the robotic vacuum cleaner engaging the boot, and a suction motor configured to cause air to be drawn through the boot and into the dust cup. 
     In some instances, the boot may be configured to move when the robotic vacuum cleaner engages the boot in a misaligned orientation. 
     A docking station for a robotic vacuum cleaner may include a base, a dust cup, a suction motor configured to cause air to be drawn into the dust cup through an inlet configured to fluidly couple to the robotic vacuum cleaner, and an alignment protrusion configured to engage an alignment receptacle on the robotic vacuum cleaner such that the robotic vacuum cleaner is urged into alignment with the inlet. 
     A docking station for a robotic cleaner may include a base, a docking station suction inlet, and an alignment protrusion. The base may include a support and a suction housing. A suction inlet may be defined in the suction housing, the docking station suction inlet being configured to fluidly couple to the robotic cleaner. The alignment protrusion may be defined in the support and may be configured to urge the robotic cleaner towards an orientation in which the robotic cleaner fluidly couples to the docking station suction inlet. 
     In some instances, the docking station may include a boot configured to engage at least a portion of the robotic cleaner, the boot being configured to move in response to the robotic cleaner engaging the base in a misaligned orientation. In some instances, the alignment protrusion may include first and second protrusion sidewalls that converge, with increasing distance from the docking station suction inlet, towards a central axis of the docking station suction inlet. In some instances, the first and second protrusion sidewalls may include respective arcuate portions. In some instances, a floor facing surface of the support may include one or more grated regions. In some instances, at least a portion of at least one of the one or more grated regions may define a honeycomb structure. 
     A robotic cleaner configured to dock with a docking station may include a robotic cleaner dust cup and an alignment receptacle. The robotic cleaner dust cup may be configured to receive debris and may include a robotic cleaner dust cup inlet and an outlet port, the outlet port may be configured to fluidly couple to the docking station. The alignment receptacle may be configured to receive a corresponding alignment protrusion defined by the docking station such that inter-engagement between the alignment receptacle and the alignment protrusion urges the robotic cleaner towards an orientation in which the robotic cleaner fluidly couples to the docking station. 
     In some instances, the alignment receptacle may be defined in the robotic cleaner dust cup. In some instances, the alignment receptacle may include first and second receptacle sidewalls that diverge from a central axis of the outlet port as the first and second receptacle sidewalls approach the outlet port. In some instances, the first and second receptacle sidewalls may include respective arcuate portions. 
     A robotic vacuum cleaning system may include a docking station and a robotic vacuum cleaner. The docking station may include a base, the base including a support and a suction housing, a docking station suction inlet defined in the suction housing, and an alignment protrusion defined in the support. The robotic vacuum cleaner may include an alignment receptacle configured to receive at least a portion of the alignment protrusion, wherein inter-engagement between the alignment receptacle and the alignment protrusion is configured to urge the robotic vacuum cleaner towards an orientation in which the robotic vacuum cleaner fluidly couples to the docking station suction inlet. 
     In some instances, the robotic vacuum cleaner may include a robotic vacuum cleaner dust cup having an outlet port, the robotic vacuum cleaner dust cup defining the alignment receptacle. In some instances, the alignment receptacle may include first and second receptacle sidewalls that diverge from an outlet port central axis of the outlet port as the first and second receptacle sidewalls extend towards the outlet port. In some instances, the first and second receptacle sidewalls may include respective arcuate portions. In some instances, the docking station may include a boot configured to engage at least a portion of the robotic vacuum cleaner, the boot being configured to move in response to the robotic vacuum cleaner engaging the base in a misaligned orientation. In some instances, the alignment protrusion may include first and second protrusion sidewalls that converge, with increasing distance from the docking station suction inlet, towards a docking station suction inlet central axis of the docking station suction inlet. In some instances, the first and second protrusion sidewalls may include respective arcuate portions. In some instances, a floor facing surface of the support may include one or more grated regions. In some instances, at least a portion of at least one of the one or more grated regions may define a honeycomb structure. In some instances, the robotic vacuum cleaner may be configured to detect a proximity of the docking station based on detection of a magnetic field extending from the support. 
     A robotic cleaning system may include a robotic cleaner having a robotic cleaner dust cup and a docking station having a docking station dust cup configured to fluidly couple to the robotic cleaner dust cup. The docking station dust cup may include a first debris collection chamber, a second debris collection chamber fluidly coupled to the first debris collection chamber, and a filter fluidly coupled to the first debris collection chamber and the second debris collection chamber. 
     In some instances, the docking station dust cup may include a cyclonic separator having a debris outlet, the debris outlet being configured such that debris separated from air flowing through the cyclonic separator is deposited in the second debris collection chamber. In some instances, the docking station dust cup may include a plenum, the plenum being fluidly coupled to the first and second debris collection chambers. In some instances, at least a portion of the plenum may be defined by at least a portion of the filter. In some instances, the docking station dust cup may include an openable door and an up-duct, the up-duct extending between the openable door and the plenum. In some instances, the up-duct may include an up-duct air outlet that is spaced apart from the openable door and a flow directer that extends from the up-duct air outlet, the flow directer being configured to urge at least a portion of air flowing from the up-duct air outlet in a direction away from the plenum. In some instances, the docking station dust cup may include an agitator configured to dislodge at least a portion of debris adhered to the filter therefrom. In some instances, the filter may be a vertical cyclonic separator. 
     A docking station for a robotic cleaner having a robotic cleaner dust cup may include a base and a docking station dust cup removably coupled to the base and configured to be fluidly coupled to the robotic cleaner dust cup. The docking station dust cup may include a first debris collection chamber, a second debris collection chamber fluidly coupled to the first debris collection chamber, and a filter fluidly coupled to the first debris collection chamber and the second debris collection chamber. 
     In some instances, the docking station dust cup may include a cyclonic separator having a debris outlet, the debris outlet being configured such that debris separated from air flowing through the cyclonic separator is deposited in the second debris collection chamber. In some instances, the docking station dust cup may include a plenum, the plenum being fluidly coupled to the first and second debris collection chambers. In some instances, at least a portion of the plenum may be defined by at least a portion of the filter. In some instances, the docking station dust cup may include an openable door and an up-duct, the up-duct extending between the openable door and the plenum. In some instances, the up-duct may include an up-duct air outlet that is spaced apart from the openable door and a flow directer that extends from the up-duct air outlet, the flow directer being configured to urge at least a portion of air flowing from the up-duct air outlet in a direction away from the plenum. In some instances, the docking station dust cup may include an agitator configured to dislodge at least a portion of debris adhered to the filter therefrom. In some instances, the filter may be a vertical cyclonic separator. 
     A dust cup for a robotic cleaner docking station may include a first debris collection chamber, a second debris collection chamber fluidly coupled to the first debris collection chamber, and a filter fluidly coupled to the first debris collection chamber and the second debris collection chamber. 
     In some instances, the dust cup may include a cyclonic separator having a debris outlet, the debris outlet being configured such that debris separated from air flowing through the cyclonic separator is deposited in the second debris collection chamber. In some instances, the dust cup may include a plenum, the plenum being fluidly coupled to the first and second debris collection chambers. In some instances, at least a portion of the plenum may be defined by at least a portion of the filter. In some instances, the dust cup may include an openable door and an up-duct, the up-duct extending between the openable door and the plenum. In some instances, the up-duct may include an up-duct air outlet that is spaced apart from the openable door and a flow directer that extends from the up-duct air outlet, the flow directer being configured to urge at least a portion of air flowing from the up-duct air outlet in a direction away from the plenum. 
     A docking station for a robotic cleaner may include a base, a docking station dust cup, a latch, and a release system. The docking station dust cup may be removably coupled to the base, wherein the docking station dust cup is removable from the base in response to a pivotal movement of the docking station dust cup relative to the base about a pivot point. The latch may be actuatable between a retaining position and a release position, the latch being horizontally spaced apart from the pivot point, wherein, when the latch is in the retaining position, pivotal movement of the docking station dust cup is substantially prevented. The release system may be configured to actuate the latch between the retaining and release positions. 
     In some instances, the release system may include an actuator and a push bar, the actuator configured to urge the push bar between a first push bar position and a second push bar position in response to the actuator being actuated, the push bar being configured to urge the latch between the retaining and release positions. In some instances, the latch may be pivotally coupled to the docking station dust cup. In some instances, the base may include a plunger, the plunger being urged into engagement with the docking station dust cup such that, when the latch is in the release position, the plunger urges the docking station dust cup pivotally away from the base. In some instances, the docking station dust cup may include an openable door, the openable door defining a plunger receptacle for receiving at least a portion of the plunger. In some instances, the docking station dust cup may include a pivot catch configured to engage a corresponding pivot lever pivotally coupled to the base. In some instances, the pivot catch may define a catch cavity configured to engage at least a portion of the pivot lever, the pivot lever being urged towards the catch cavity. In some instances, the latch may be configured to be urged towards the retaining position. In some instances, the docking station dust cup may define a relief region configured to prevent the base from preventing pivotal movement of the docking station dust cup relative to the base. In some instances, at least a portion of the docking station dust cup may be configured to be urged away from the base in response to the latch being actuated to the release position. 
     A cleaning system may include a robotic cleaner and a docking station configured to fluidly couple to the robotic cleaner. The robotic cleaner may include a base and a docking station dust cup removably coupled to the base, wherein the docking station dust cup is removable from the base in response to a pivotal movement of the docking station dust cup relative to the base about a pivot point. The docking station dust cup may include a latch actuatable between a retaining position and a release position, the latch being horizontally spaced apart from the pivot point and a release system configured to actuate the latch between the retaining and release positions. 
     In some instances, the release system may include an actuator and a push bar, the actuator configured to urge the push bar between a first push bar position and a second push bar position in response to the actuator being actuated, the push bar being configured to urge the latch between the retaining and release positions. In some instances, the latch may be pivotally coupled to the docking station dust cup. In some instances, the base may include a plunger, the plunger being urged into engagement with the docking station dust cup such that, when the latch is in the release position, the plunger urges the docking station dust cup pivotally away from the base. In some instances, the docking dust cup may include an openable door, the openable door defining a plunger receptacle for receiving at least a portion of the plunger. In some instances, the docking station dust cup may include a pivot catch configured to engage a corresponding pivot lever pivotally coupled to the base. In some instances, the pivot catch may define a catch cavity configured to engage at least a portion of the pivot lever, the pivot lever being urged towards the catch cavity. In some instances, the latch may be configured to be urged towards the retaining position. In some instances, the docking station dust cup may define a relief region configured to prevent the base from preventing pivotal movement of the docking station dust cup relative to the base. In some instances, at least a portion of the docking station dust cup may be configured to be urged away from the base in response to the latch being actuated to the release position. 
     While the principles of the invention have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation as to the scope of the invention. Other embodiments are contemplated within the scope of the present invention in addition to the exemplary embodiments shown and described herein. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present invention, which is not to be limited except by the following claims.