Patent Publication Number: US-11641991-B2

Title: Cleaning bin for cleaning robot

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of and claims priority to U.S. application Ser. No. 15/388,776, filed on Dec. 22, 2016, the entire contents of which are hereby incorporated by reference. 
    
    
     TECHNICAL FIELD 
     This specification relates to a cleaning bin for a cleaning robot, in particular, an autonomous cleaning robot. 
     BACKGROUND 
     Cleaning robots include mobile robots that autonomously perform cleaning tasks within an environment, e.g., a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. The cleaning robots can autonomously navigate about the environment and ingest debris as they autonomously navigate the environment. The ingested debris are often stored in cleaning bins that can be manually removed from the cleaning robots so that debris can be emptied from the cleaning bins. In some cases, an autonomous cleaning robot may be designed to automatically dock with evacuation stations for the purpose of emptying its cleaning bin of ingested debris. 
     SUMMARY 
     In one aspect, a cleaning bin mountable to an autonomous cleaning robot operable to receive debris from a floor surface includes an inlet positioned between lateral sides of the cleaning bin defining an interior width of the cleaning bin. The cleaning bin further includes an outlet configured to connect to a vacuum assembly operable to direct an airflow from the inlet of the cleaning bin to the outlet of the cleaning bin and a debris compartment to receive a first portion of debris separated from the airflow. The cleaning bin also includes an air channel positioned above the debris compartment and defined by a top surface of the debris compartment tilted relative to an inner surface of a top wall of the cleaning bin. The air channel spans the interior width of the cleaning bin and receives the airflow from the debris compartment through the top surface of the debris compartment. The cleaning bin includes a particulate compartment to receive a second portion of debris separated from the airflow. The cleaning bin also includes a debris separation cone having an inner conduit defining an upper opening and lower opening. The upper opening receives the airflow from the air channel. The inner conduit tapers from the upper opening to the lower opening such that the airflow forms a cyclone within the inner conduit. 
     In another aspect, an autonomous cleaning robot includes a body, a drive operable to move the body across a floor surface, and a vacuum assembly carried in the body. The vacuum assembly is operable to generate an airflow to carry debris from the floor surface as the body moves across the floor surface. The robot further includes a cleaning bin mounted to the body. The cleaning bin includes an inlet, an outlet connected to the vacuum assembly such that the airflow containing the debris is directed from the inlet to the outlet, a debris compartment to receive a first portion of the debris separated from the airflow, a particulate compartment to receive a second portion of the debris separated from the airflow, and a debris separation cone configured to receive the airflow from the debris compartment to form a cyclone that separates the second portion of the debris from the airflow and directs the second portion of the debris toward the particulate compartment. 
     In some implementations, the inlet spans a length between 75% and 100% of the interior width of the cleaning bin. 
     In some implementations, the top surface of the debris compartment includes a first filter. In some cases, the first filter is sized to inhibit debris having a width between 100 and 500 microns from passing into the air channel. In some cases, a filtering surface of the first filter and a horizontal plane through the cleaning bin forms an angle between 5 and 45 degrees. 
     In some implementations, the top surface of the debris compartment and a longitudinal axis of the debris separation cone define an angle between 85 and 95 degrees. The top surface of the debris compartment, for example, slopes downward toward the debris separation cone. 
     In some implementations, the air channel spans a length between 95% and 100% of the interior width of the cleaning bin. 
     In some implementations, the cleaning bin includes an evacuation port configured to connect to another vacuum assembly operable to direct an airflow from the outlet to the evacuation port. The cleaning bin also includes, for example, a first flap covering an open area pneumatically connected the debris compartment and the particulate compartment. The first flap is, for example, configured to open when a pressure on a side of the first flap facing the debris compartment is less than a pressure on a side of the first flap facing the particulate compartment. In some cases, the cleaning bin includes a second flap covering an open area between the debris compartment and the particulate compartment. The open area covered by the first flap is, for example, larger than the open area covered by the second flap, and the first flap is positioned farther from the evacuation port than the second flap. 
     In some implementations, a longitudinal axis of the debris separation cone defines an angle with a vertical axis through the cleaning bin between 5 and 25 degrees such that the upper opening the debris separation cone is tilted away from the inlet of the cleaning bin. 
     In some implementations, the inner conduit is a conical structure defining a slope that forms an angle with a center axis of the conical structure, the angle being between 15 and 40 degrees. 
     In some implementations, a diameter of the upper opening of the inner conduit is between 20 and 40 millimeters, and a diameter of the lower opening of the inner conduit is between 5 and 20 millimeters. 
     In some implementations, the debris separation cone is a first debris separation cone, and the inner conduit of the first debris separation cone receives a first portion of the airflow. The cleaning bin includes, for example, a second debris separation cone adjacent the first debris separation cone. The second debris separation cone has, for example, an inner conduit defining an upper opening and lower opening. The upper opening receives, for example, a second portion of the airflow from the air channel. The inner conduit, for example, tapers from the upper opening to the lower opening such that the second portion of the airflow forms a cyclone within the inner conduit. 
     In some implementations, the debris separation cone is one of a set of debris separation cones arranged linearly and having coplanar longitudinal axes angled away from the inlet such that upper openings of the debris separation cones are tilted away from the inlet. 
     In some implementations, the top surface of the debris compartment includes a first filter, and the cleaning bin further includes a second filter positioned between the debris separation cone and the outlet. 
     In some implementations, the outlet spans the interior width of the cleaning bin. 
     In some implementations, the cleaning bin further includes an inlet duct pneumatically connected to the air channel and pneumatically connected to the inner conduit of the debris separation cone. The inlet duct includes, for example, a minimum width that is between 5% and 15% of a width of the inlet. 
     In some implementations, the cleaning bin further includes an outlet duct to direct the airflow from the inner conduit of the debris separation cone toward the outlet. The outlet duct is, for example, tapered toward the inner conduit of the debris separation cone. 
     In some implementations, the cleaning bin further includes a door defining a bottom surface of the debris compartment and a bottom surface of the particulate compartment. The door is, for example, configured to be manually opened to enable debris in both the debris compartment and the particulate compartment to be removed from the cleaning bin. 
     In some implementations, a maximum height of the cleaning bin is less than 80 millimeters. 
     In some implementations, the robot further includes a cleaning roller rotatably mounted to the body. The cleaning roller is, for example, configured to engage the debris to move the debris toward the inlet of the cleaning bin. The inlet of the cleaning bin, for example, spans a length between 60% and 100% of a length of the cleaning roller. 
     Advantages of the foregoing may include, but are not limited to, those described below and herein elsewhere. The cleaning bin can separate debris in multiple stages such that less debris reaches the filter positioned immediately before the vacuum assembly. In one regard, debris is less likely to reach the filter and is thus less likely to impede airflow through the filter. As a result, the overall amount of power drawn by the vacuum assembly to generate an airflow is less than the overall amount of power drawn by vacuum assemblies that do not separate most of the debris from the airflow prior to the airflow reaching the filter. In another respect, because less debris reaches the filter during a cleaning operation, the filter does not need to be cleaned or replaced as often. The robot can ingest a greater amount of debris before the filter needs to be cleaned or replaced. 
     Furthermore, the cleaning bin achieves multiple stages of debris separation in a relatively compact profile, e.g., a profile having a lower height. As a result, the cleaning bin is usable with autonomous cleaning robots having relatively compact profiles, e.g., profiles having lower heights relative to the floor surface. In this regard, the autonomous cleaning robot to which the cleaning bin is mounted can occupy a small amount of the space in the environment and be less obtrusive in the environment. The cleaning robot can also fit in smaller spaces, e.g., under furniture and other obstacles, because of its smaller profile. In some examples, the cleaning bin includes multiple debris separation cones that are linearly arranged rather than being positioned in a circular arrangement. The linear arrangement of the debris separation cones can allow the overall height of the cleaning bin to be smaller compared to heights of cleaning bins in which debris separation cones are circularly arranged. 
     The details of one or more implementations of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other potential features, aspects, and advantages will become apparent from the description, the drawings, and the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a right side cross-sectional view of an autonomous cleaning robot and a cleaning bin during a cleaning operation. 
         FIG.  2    is a bottom view of the autonomous cleaning robot of  FIG.  1   . 
         FIG.  3 A  is a top-front perspective view of a cleaning bin for the autonomous cleaning robot of  FIG.  1   . 
         FIG.  3 B  is a right side cross-sectional view of the cleaning bin of  FIG.  3 A . 
         FIG.  3 C  is a top cutaway view of the cleaning bin of  FIG.  3 A  with a top side of the cleaning bin removed. 
         FIG.  4 A  is a front perspective view of a debris separator for the cleaning bin of  FIG.  3 A . 
         FIGS.  4 B and  4 C  are rear cross-sectional views of the debris separator of  FIG.  4 A . 
         FIG.  5 A  is a right side cross-sectional view of the cleaning bin of  FIG.  3 A  connected to a vacuum assembly of the autonomous cleaning robot of  FIG.  1   . 
         FIG.  5 B  is a right side cross-sectional view of the cleaning bin of  FIG.  5 A  disconnected from a vacuum assembly of the autonomous cleaning robot of  FIG.  1    and with a door in an open position. 
         FIG.  6    is right side cross-sectional view of the cleaning bin of  FIG.  3 A  when the autonomous cleaning robot carrying the cleaning bin is docked at an evacuation station. 
         FIG.  7    is a front perspective cutaway view of a debris compartment of the cleaning bin of  FIG.  3 A  with a front side and a lateral side of the cleaning bin removed. 
     
    
    
     Like reference numbers and designations in the various drawings indicate like elements. 
     DETAILED DESCRIPTION 
     Referring to  FIG.  1   , a cleaning bin  100  is mounted to a cleaning robot  102 . The cleaning bin  100  receives debris  104  ingested by the robot  102  during a cleaning operation of a floor surface  106 . During the cleaning operation, a vacuum assembly  108  of the robot  102  generates an airflow  110  to lift debris  104  from the floor surface  106  toward the vacuum assembly  108 . 
     The airflow  110  draws the debris  104  from the floor surface  106  through a plenum  112 . The airflow  110  is then directed through an inlet  114  of the cleaning bin  100 , through a debris compartment  116 , through a top surface  118  of the debris compartment  116 , into an air channel  120 , through a debris separation cone  122 , and then through a filter  124  at an outlet  126  of the cleaning bin  100 . As the airflow  110  containing the debris  104  travels through the cleaning bin  100 , the debris  104  is separated from the airflow  110  and is deposited within the cleaning bin  100 . 
     The cleaning bin  100  is a multi-compartment bin that includes multiple stages of debris separation to separate debris from the airflow  110  as the airflow  110  progresses through each stage during the cleaning operation. In one or more stages of debris separation, a portion  104   a  of the debris  104  is deposited within the debris compartment  116 . In another stage of debris separation, another portion  104   b  of the debris  104  is deposited within a particulate compartment  128 . In a further stage of debris separation, an additional portion  104   c  of the debris  104  is deposited on the filter  124 . 
     In the stage in which the debris  104  is deposited within the particulate compartment  128 , the debris separation cone  122  receives the airflow  110  and causes the airflow  110  to form a cyclone  121 . The cyclone  121  facilitates separation of the portion  104   b  of the debris  104  contained within the airflow  110 . The portion  104   b  in turn is deposited within the particulate compartment  128 . The multiple stages of debris separation before the filter  124  can reduce the amount of debris  104  that reaches the filter  124 . Because a smaller portion  104   c  of the debris  104  reaches the filter  124 , the open area at the filter  124  available for the vacuum assembly  108  to generate the airflow  110  remains higher during cleaning operations. As a result, power requirements for the vacuum assembly  108  can be lower during cleaning operations, thereby improving overall energy efficiency of the vacuum assembly  108 . 
     In some implementations, the cleaning robot  102  is an autonomous cleaning robot that autonomously traverses the floor surface  106  while ingesting debris from the floor surface  106 . In the examples depicted in  FIGS.  1  and  2   , the robot  102  includes a body  200  movable across the floor surface  106 . As shown in  FIG.  2   , in some implementations, the body  200  includes a front portion  202   a  that has a substantially rectangular shape and a rear portion  202   b  that has a substantially semicircular shape. The front portion  202   a  includes, for example, two lateral sides  204   a ,  204   b  that are substantially perpendicular to a front side  206  of the front portion  202   a.    
     The robot  102  includes a drive system including actuators  208   a ,  208   b  operable with drive wheels  210   a ,  210   b . The actuators  208   a ,  208   b  are mounted in the body  200  and are operably connected to the drive wheels  210   a ,  210   b , which are rotatably mounted to the body  200 . The drive wheels  210   a ,  210   b  support the body  200  above the floor surface  106 . The robot  102  includes a controller  212  that operates the actuators  208   a ,  208   b  to autonomously navigate the robot  102  about the floor surface  106  during a cleaning operation. The actuators  208   a ,  208   b  are operable to drive the robot  102  in a forward drive direction  130  (shown in  FIG.  1   ). In some implementations, the robot  102  includes a caster wheel  211  that supports the body  200  above the floor surface  106 . The caster wheel  211 , for example, supports the rear portion  202   b  of the body  200  above the floor surface  106 , and the drive wheels  210   a ,  210   b  support the front portion  202   a  of the body  200  above the floor surface  106 . 
     The vacuum assembly  108  is also carried within the body  200  of the robot  102 , e.g., in the rear portion  202   b  of the body  200 . The controller  212  operates the vacuum assembly  108  to generate the airflow  110  and enable the robot  102  to ingest the debris  104  during the cleaning operation. The robot  102  includes, for example, a vent  213  at the rear portion  202   b  of the body  200 . The airflow  110  generated by the vacuum assembly  108  is exhausted through the vent  213  into an environment of the robot  102 . In some implementations, rather than being exhausted by a vent at the rear portion  202   b  of the body, the airflow  110  generated by the vacuum assembly  108  is exhausted through a conduit connected to a cleaning head of the robot  102 . The cleaning head includes, for example, one or more rollers that engage the floor surface  106  and sweep the debris  104  into the cleaning bin  100 . The airflow  110  exhausted to the cleaning head can further improve pickup of debris from the floor surface  106  by increasing an amount of airflow proximate the cleaning head to agitate the debris  104  on the floor surface  106 . 
     In some cases, the cleaning robot  102  is a self-contained robot that autonomously moves across the floor surface  106  to ingest debris. The cleaning robot  102 , for example, carries a battery to power the vacuum assembly  108 . The improved energy efficiency can reduce the required sizes of components of the cleaning robot  102 , thereby reducing the overall size and/or height of the cleaning robot  102 . For example, the improved energy efficiency of the vacuum assembly  108  can reduce the size of the vacuum assembly  108  required to ingest debris  104  from the floor surface  106 . In turn, the size of the battery can also be smaller to meet the power requirements of the vacuum assembly  108 . 
     In the example depicted in  FIGS.  1  and  2   , the cleaning head of the robot  102  includes a first roller  212   a  and a second roller  212   b . The rollers  212   a ,  212   b  are positioned forward of the cleaning bin  100 , which is positioned forward of the vacuum assembly  108 . The rollers  212   a ,  212   b  are operably connected to actuators  214   a ,  214   b , and are each rotatably mounted to the body  200 . In particular, the rollers  212   a ,  212   b  are mounted to an underside of the front portion  202   a  of the body  200  so that the rollers  212   a ,  212   b  engage debris  104  on the floor surface  106 . The rollers  212   a ,  212   b  are rotatable about axes parallel to the floor surface  106 . The rollers  212   a ,  212   b  include, for example, brushes or flaps that engage the floor surface  106  to collect the debris  104  on the floor surface  106 . The rollers  212   a ,  212   b  each have a length between, for example, 10 cm and 50 cm, e.g., between 10 cm and 30 cm, 20 cm and 40 cm, 30 cm and 50 cm. The rollers  212   a ,  212   b  span substantially the entire width of the front portion  202   a  between the lateral sides  204   a ,  204   b.    
     During the cleaning operation, the controller  212  operates the actuators  214   a ,  214   b  to rotate the rollers  212   a ,  212   b  to engage the debris  104  on the floor surface  106  and move the debris  104  toward the plenum  112 . The rollers  212   a ,  212   b , for example, counter rotate relative to one another to cooperate in moving debris  104  toward the plenum  112 , e.g., one roller rotates counterclockwise while the other rotates clockwise. The plenum  112  in turn guides the airflow  110  containing the debris  104  into the cleaning bin  100 . As described herein, during the travel of airflow  110  through the cleaning bin  100  toward the vacuum assembly  108 , the debris  104  is deposited in different compartments of the cleaning bin  100 . 
     In some implementations, to sweep debris  104  toward the rollers  212   a ,  212   b , the robot  102  includes a brush  214  that rotates about a non-horizontal axis, e.g., an axis forming an angle between 75 degrees and 90 degrees with the floor surface  106 . The robot  102  includes an actuator  216  operably connected to the brush  214 . The brush  214  extends beyond a perimeter of the body  200  such that the brush  214  is capable of engaging debris  104  on portions of the floor surface  106  that the rollers  212   a ,  212   b  typically cannot reach. During a cleaning operation, the controller  212  operates the actuator  216  to rotate the brush  214  to engage debris  104  that the rollers  212   a ,  212   b  cannot reach. In particular, the brush  214  is capable of engaging debris  104  near walls of the environment and brushing the debris  104  toward the rollers  212   a ,  212   b  to facilitate ingestion of the debris  104  by the robot  102 . 
     When the debris  104  is ingested by the robot  102 , the cleaning bin  100  stores the ingested debris  104  in multiple compartments. The cleaning bin  100  is mounted to the body  200  of the robot  102  during the cleaning operation so that the cleaning bin  100  receives debris  104  ingested by the robot  102  and so that the cleaning bin  100  is in pneumatic communication with the vacuum assembly  108 . Referring to  FIGS.  3 A and  3 B , the cleaning bin  100  includes a body  300  defining the inlet  114 , the debris compartment  116 , the air channel  120 , the debris separation cone  122 , and the outlet  126 . The body  300  includes lateral sides  302   a ,  302   b , a front side  304 , a rear side  306 , a top side  308 , and a bottom side  310 . As shown in  FIG.  3 C , the lateral sides  302   a ,  302   b  define an interior width W 1  of the cleaning bin  100 . The interior width W 1  is, for example, between 15 cm and 45 cm, e.g., between 15 cm and 25 cm, 25 cm and 35 cm, 35 cm and 45 cm, etc. The interior width W 1  is, for example, 65% to 100% of the length of the rollers  212   a ,  212   b , e.g., 65% to 75%, 75% to 85%, 85% to 100% of the length of the rollers  212   a ,  212   b.    
     In some implementations, the front side  304 , the rear side  306 , and the lateral sides  302   a ,  302   b  define a rectangular horizontal cross section of the cleaning bin  100 . The geometry of the horizontal cross section can vary in other implementations. In some examples, a portion of the geometry of the cleaning bin  100  matches with a portion of the geometry of the robot  102 . For example, if the robot  102  includes circular or semicircular geometry, in some cases, one of the sides the cleaning bin  100  tracks the circular or semicircular geometry of the robot  102 . The side, for example, includes an arced portion such that the horizontal cross section of the cleaning bin  100  tracks the circular or semicircular geometry of the robot  102 . 
     In some implementations, the lateral sides  302   a ,  302   b , the top side  308 , and the bottom side  310  define a rectangular vertical cross section of the cleaning bin  100 . The geometry of the vertical cross section of the cleaning bin  100  can vary in other implementations. In some examples, the vertical cross section has an elliptical shape, a trapezoidal shape, a pentagonal shape, or other appropriate shape. The lateral sides  302   a ,  302   b , in some cases, are parallel to one another, while in other cases, the lateral sides  302   a ,  302   b  extend along axes that intersect with one another. Similarly, in some cases, the top side  308  and the bottom side  310  are parallel to one another, while in other cases, the top side  308  and the bottom side  310  extend along axes that intersect with one another. In some cases, the lateral sides  302   a ,  302   b , the top side  308 , and/or the bottom side  310  include one or more curved portions. 
     As described herein, in addition to storing debris  104 , the cleaning bin  100  includes multiple stages of debris separation to separate different sizes of debris from the airflow  110 . As shown in  FIG.  3 B , despite having the functions of both debris storage and debris separation, the cleaning bin  100  can have a relatively small height H 1 . The height H 1  of the cleaning bin  100  is, for example, between 50 mm and 100 mm, e.g., less than 100 mm, less than 80 mm, less than 60 mm. The height of the portion of the cleaning bin  100  between the inlet  114  and the outlet  126  is, for example, less than or equal to the height H 1 . 
     The inlet  114  of the cleaning bin  100  is an opening through the front side  304  of the cleaning bin  100 . The inlet  114  is positioned between the lateral sides  302   a ,  302   b  of the cleaning bin  100 . The inlet  114  is pneumatically connected to the plenum  112  and the debris compartment  116 . In some implementations, a seal is positioned on an outer surface of the front side  304  of the cleaning bin  100  so that the cleaning bin  100  forms a sealed engagement with the body  200  of the robot  102  when the cleaning bin  100  is mounted in the body  200  of the robot  102 . In this regard, the inlet  114  directs the airflow  110  containing the debris  104  from the plenum  112  into the debris compartment  116  during the cleaning operation. 
     The inlet  114  spans a length L 1 , for example, between 75% and 100% of the interior width W 1  of the cleaning bin  100 , e.g., 75% to 85%, 80% to 90%, 85% to 95% of the interior width W 1 . The inlet  114  spans, for example, 60% to 100% of the length of the rollers  212   a ,  212   b , e.g., 60% to 70%, 70% to 80%, 80% to 90%, 90% and 100%, etc., of the length of the rollers  212   a ,  212   b . Because the inlet  114  spans across substantially an entire length of the rollers  212   a ,  212   b , the airflow  110  generated by the vacuum assembly  108  can draw the airflow  110  from along the entire length of the rollers  212   a ,  212   b . As a result, the airflow  110  can facilitate ingestion of debris  104  at locations across the entire length of the rollers  212   a ,  212   b.    
     The debris compartment  116  is defined by the front side  304 , the bottom side  310 , the lateral sides  302   a ,  302   b , a rear surface  314  of the debris compartment  116 , and the top surface  118  of the debris compartment  116 . The debris compartment  116  stores larger debris ingested by the robot  102 . The debris compartment  116  typically stores a majority of volume of the debris  104  ingested by the robot  102 . In this regard, the debris compartment  116  has a volume between 25 and 75%, e.g., 25 to 50%, 40 to 60%, and 50% to 75%, etc., of the overall volume of the cleaning bin  100  defined by the lateral sides  302   a ,  302   b , the front side  304 , the rear side  306 , the top side  308 , and the bottom side  310 . 
     From the perspective shown in  FIG.  3 B , the vertical cross section of the debris compartment  116  has a trapezoidal shape. In some cases, the rear surface  314  and the front surface of the debris compartment  116  are substantially parallel, e.g., forming an angle between 0 and 15 degrees with respect to one another. The front surface, for example, corresponds to an inner surface of the front side  304  of the cleaning bin  100 . The top surface  118  of the debris compartment  116  is angled relative to the front side  304  defining the inlet  114 . The top surface  118  of the debris compartment  116  is, for example angled relative to a direction of the airflow  110  into the debris compartment  116  and/or angled relative to a direction of the airflow  110  through the top surface  118  of the debris compartment  116 . The top surface  118  and the direction of the airflow  110  into the debris compartment  116  forms an angle, for example, between 5 and 45 degrees, e.g., between 5 and 25 degrees, 15 and 35 degrees, 25 and 45 degrees. The top surface  118  of the debris compartment  116  is also angled relative to an interior surface of the top side  308  of the cleaning bin  100 . In some examples, the top surface  118  is angled in a manner such that the airflow  110  travelling through the inlet  114  is directed horizontally toward the top surface  118 . The top surface  118  and the front side  304 , for example, form an acute angle, e.g., an angle less than 90 degrees. The top surface  118  is, for example, angled relative to a horizontal plane passing through the cleaning bin  100 . The top surface  118  and the horizontal plane forms an angle between 5 and 45 degrees, e.g., between 5 and 25 degrees, 15 and 35 degrees, 25 and 45 degrees. 
     The top surface  118  includes a filtering surface  118   a  surrounded by a blocking surface  118   b . The filtering surface  118   a  is a filter, such as a pre-filter or a screen that allows the airflow  110  to travel from the debris compartment  116  into the air channel  120 . The filtering surface  118   a  is, in some cases, removable and washable. In some cases, the filtering surface  118   a  is disposable filter. The filtering surface  118   a  is, for example, a porous surface. The filtering surface  118   a  is sized to inhibit debris having a width between 100 and 500 microns from passing into the air channel  120 . The filtering surface  118   a  is positioned along the top surface  118  such that horizontally directed debris  104  and airflow  110  from the inlet is directed toward the filtering surface  118   a  and into the air channel  120 . 
     The blocking surface  118   b  is positioned relative to the filtering surface  118   a  and the inlet  114  to block the airflow  110  in certain portions of the debris compartment  116 . The filtering surface  118   a  is positioned between a portion  316  of the blocking surface  118   b  and the inlet  114 . The portion  316  of the blocking surface  118   b  is positioned between the filtering surface  118   a  and the rear surface  314  of the debris compartment  116 . The portion  316  of the blocking surface  118   b  is, for example, a non-horizontal surface that inhibits the airflow  110  from entering into a dead zone  318  below the portion  316  of the blocking surface  118   b . As a result, any of the debris  104  that enters the dead zone  318  is separated from the airflow  110 . The debris  104  that enters the dead zone  318  is, for example, debris  104  that is too large to pass through the filtering surface  118   a . While some of this debris  104  is stored within the debris compartment  116 , in some cases, the debris  104  continues recirculating around the debris compartment  116  during the cleaning operation while the airflow  110  is being generated. The blocking surface  118   b  and the resulting dead zone  318  can prevent the debris  104  from impeding the airflow  110  through the filtering surface  118   a.    
     The air channel  120  receives the airflow  110  from the debris compartment  116  through the filtering surface  118   a , e.g., after the filtering surface  118   a  has separated a portion of the debris  104  from the airflow  110 . The air channel  120  is positioned above the debris compartment  116  and defined by the top surface  118  of the debris compartment  116 , the interior surface of the top side  308  of the cleaning bin  100 , and the lateral sides  302   a ,  302   b  of the cleaning bin  100 . A bottom surface of the air channel  120 , for example, corresponds to the top surface  118  of the debris compartment  116 . In some cases, the air channel  120  substantially spans an entire length of the interior width W 1  of the cleaning bin  100 , e.g., spans between 95% and 100% of the interior width W 1  of the cleaning bin  100 . The air channel  120  has, for example, a substantially triangular shape or trapezoidal shape. In particular, a vertical cross section of the air channel  120  has a substantially triangular shape. The bottom surface of the air channel  120  forms an angle with a top surface of the air channel  120  between, for example, 5 and 45 degrees, e.g., between 5 and 25 degrees, 15 and 35 degrees, 25 and 45 degrees, etc. The bottom surface of the air channel  120  slopes downward toward the debris separation cone  122 . 
     Referring also to  FIG.  4 A , the cleaning bin  100  includes a debris separator  320  including a housing  322 , a vortex finder  324 , and the debris separation cone  122 . The housing  322  defines an inlet duct  326  to receive the airflow  110  from the air channel  120 . In some examples, the bottom surface of the inlet duct  326  is parallel to the bottom surface of the air channel  120 . The inlet duct  326  is pneumatically connected to the air channel  120  and pneumatically connected to an interior volume  328  of the debris separator  320  shown in  FIG.  4 B . The interior volume  328  of the debris separator  320  includes an upper inner conduit  328   a  defined by the housing  322  and the vortex finder  324 . The interior volume  328  further includes a lower inner conduit  328   b  defined by the debris separation cone  122 . The interior volume  328  is a continuous interior volume formed by the upper inner conduit  328   a  and the lower inner conduit  328   b.    
     In some examples, as shown in  FIGS.  4 C , an overall height H 2  of the debris separator  320  is between 40 mm and 80 mm, e.g., between 40 and 60 mm, 50 and 70 mm, 60 and 80 mm. The overall height H 2  of the debris separator  320  is, for example, between 50% and 90% of the overall height of the cleaning bin  100 , e.g., between 50% and 60%, 60% and 70%, 70% and 80%, 80% and 90%, etc., of the overall height of the cleaning bin  100 . 
     In some examples, a minimum cross-sectional area of the inlet duct  326  is between 50 mm 2  and 300 mm 2  or larger, e.g., between 50 and 200 mm 2 , 200 and 300 mm 2 , or larger, etc. In a further example, a minimum height H 3  of the inlet duct  326  is between 10 mm and 25 mm, e.g., between 10 and 20 mm, 15 and 25 mm, etc. In some cases, the minimum height H 3  of the inlet duct  326  is a percent of the overall height H 2  of the debris separator  320 . The minimum height H 3  is, for example, 15% to 40% of the overall height H 2  of the debris separator  320 , e.g., 15% to 30%, 20% to 35%, 25% to 40% of the overall height H 2 . 
     The inlet duct  326  is pneumatically connected to the upper inner conduit  328   a  defined by the housing  322 . The housing  322  is secured to the debris separation cone  122  and to the vortex finder  324 . The housing  322  receives the vortex finder  324  such that an outlet duct  334  of the vortex finder  324  extends through the upper inner conduit  328   a . As shown in  FIG.  4 C , in some examples, the housing  322  has a cylindrical shape, and the upper inner conduit  328   a  also has a cylindrical shape. In some examples, the housing  322  has a height H 4  between 10 mm and 30 mm, e.g., between 10 and 20 mm, 15 and 25 mm, 20 and 30 mm, etc. 
     As shown in  FIGS.  3 C and  4 A , the inlet duct  326  of the debris separator  320  includes a first vane  330  tangential to a surface of the upper inner conduit  328   a  and a second vane  332  angled relative to the first vane  330 . In some cases, the height H 4  is a percent of the overall height H 2  of the debris separator  320 . The height H 4  is, for example 15% to 40% of the overall height H 2  of the debris separator  320 , e.g., 15% to 30%, 20% to 35%, 25% to 40% of the overall height H 2 . In some examples, the height H 4  of the housing  322  is substantially equal to the minimum height H 3  of the inlet duct  326 . In some implementations, a height of the upper inner conduit  328   a  is equal to the height of the housing  322  minus a wall thickness of the vortex finder  324 . In some examples, a diameter D 1  of the upper inner conduit  328   a  is between 20 mm and 40 mm, e.g., between 20 and 30 mm, 25 and 35 mm, 30 mm and 40 mm, etc. The height of the upper inner conduit  328   a  is, for example, 0.5 mm to 2 mm less than the height H 4  of the housing  322 . 
     The second vane  332  and the first vane  330  form an angle between, for example, 10 degrees and 40 degrees, e.g., between 10 degrees and 20 degrees, 20 degrees and 30 degrees, 30 degrees and 40 degrees, etc. In some implementations, the inlet duct  326  has a minimum width W 2  between 5 and 20 mm, e.g., between 5 and 15 mm, between 10 and 20 mm, etc. The minimum width W 2  is between, for example, 5% and 15% of a width of the inlet  114  of the cleaning bin  100 , e.g., between 5% and 10%, 10% and 15%, etc., of the width of the inlet  114 . The diameter D 2  is, for example, between 70% and 95% of the diameter D 1 , e.g., between 70% and 85%, 75% and 90%, and 80% and 95%, etc., of the diameter D 1 . By being sized in this manner, abrupt narrowing of the flow area of the airflow  110  between the inlet  114  and the outlet  126  can be minimized, thus decreasing overall power drawn by the vacuum assembly  108 . 
     The upper inner conduit  328   a  is pneumatically connected to the lower inner conduit  328   b  defined by the debris separation cone  122 . The debris separation cone  122  defines an upper opening  346  of the lower inner conduit  328   b  and a lower opening  348  of the lower inner conduit  328   b . The upper opening  346  pneumatically connects the lower inner conduit  328   b  to the upper inner conduit  328   a . The lower opening  348  connects the lower inner conduit  328   b  to the particulate compartment  128  so that, as described herein, the particulate compartment  128  can receive debris  104  from the debris separator  320 . 
     The debris separation cone  122  has a frustoconical shape. In this regard, the lower inner conduit  328   b  also has a frustoconical shape. A height H 5  of the debris separation cone  122  and the upper inner conduit  328   a  is between, for example, 30 mm and 60 mm, e.g., between 30 and 40 mm, 40 mm and 50 mm, 50 mm and 60 mm. In some cases, the height H 5  is a percent of the overall height H 2  of the debris separator  320 . The height H 5  is, for example 60% to 90% of the overall height H 2  of the debris separator  320 , e.g., 60% to 80%, 65% to 85%, 70% to 90% of the overall height H 2 . 
     Referring back to  FIG.  4 B , because the debris separation cone  122  and the lower inner conduit  328   b  have frustoconical shapes, they can be defined by an angle A 1  relative to a central axis  336  of the frustoconical shape. The central axis  336  of the lower inner conduit  328   b  corresponds to a central axis of the frustocone, e.g., the debris separation cone  122 , defined by the lower inner conduit  328   b . The angle A 1  corresponds to an angle between a slope and the central axis  336  of the debris separation cone  122 . The angle A 1  is, for example, between 7.5 and 20 degrees, e.g., between 7.5 and 15 degrees, 10 degrees and 17.5 degrees, 12.5 and 20 degrees. 
     In some examples, a diameter D 2  of the lower opening  348  of the lower inner conduit  328   b  is between 5 mm and 20 mm, e.g., between 5 and 10 mm, 10 and 15 mm, 15 and 20 mm, etc. A diameter of the upper opening  346  of the lower inner conduit  328   b  is, for example, equal to the diameter D 1  of the upper inner conduit  328   a . The diameter D 2  is, for example, between 10% to 50% of the diameter D 1 , e.g., between 10% and 30%, 20% and 40%, 30% and 50%, etc., of the diameter D 1 . 
     Referring to  FIGS.  3 B and  4 B , in some examples, the debris separator  320  and the debris separation cone  122  are tilted within the cleaning bin  100 . In some implementations, a vertical axis  349  through the cleaning bin  100  and the central axis  336  of the debris separation cone  122  form an angle A 2  between 0 and 45 degrees, e.g., between 0 and 10 degrees, 5 and 25 degrees, 10 and 40 degrees, 15 and 45 degrees, etc. The vertical axis  349  is, for example, perpendicular to the floor surface  106 . In some cases, the vertical axis  349  is parallel to the front side  304  and/or the rear side  306 . 
     In some examples, the central axis  336  is substantially perpendicular to the top surface  118  of the debris compartment  116  and/or the bottom surface of the air channel  120 . The central axis and the bottom surface of the air channel  120  form an angle between, for example, 85 degrees and 95 degrees, e.g., between 87 and 93 degrees, 89 and 91 degrees, etc. Because the debris separation cone  122  is tilted relative to the vertical axis  349 , a depth of the debris separation cone  122  can be greater without requiring the height H 1  of the cleaning bin  100  to increase to accommodate the separation cone  122 . As a result, the cleaning bin  100  can still effectively form the cyclone  121  to separate the debris  104  while maintaining a compact height H 1 . 
     The vortex finder  324  includes an outlet duct  334  through which the airflow  110  exits the interior volume  328  of the debris separator  320 . The outlet duct  334  pneumatically connects the lower inner conduit  328   b  to an outlet channel  340  preceding the filter  124 . The upper inner conduit  328   a  is pneumatically connected to the lower inner conduit  328   b , and the lower inner conduit  328   b  is pneumatically connected to the outlet duct  334 . A lower opening  342  of the outlet duct  334  is positioned within the lower inner conduit  328   b . In this regard, the outlet duct  334  extends through the upper inner conduit  328   a  and terminates within the lower inner conduit  328   b . Because the debris separator  320  and the debris separation cone  122  are tilted, the airflow  110  directed out of the outlet duct  334  can be less restricted. In particular, the tilt of the debris separator  320  reduces restrictions in the airflow  110  at the outlet duct  334  that could occur if the outlet duct  334  were oriented to direct the airflow vertically out of the debris separator  320 . 
     In some examples, the outlet duct  334  tapers toward the lower inner conduit  328   b . As shown in  FIG.  4 B , an inner wall surface of the outlet duct  334  and the central axis  336  of the lower inner conduit  328   b  forms an angle A 3  between, for example, 5 and 30 degrees, e.g., between 5 and 20 degrees, 10 and 25 degrees, 15 and 30 degrees, etc. In some cases, both an outer wall surface of the outlet duct  334  and the inner wall surface of the outlet duct  334  form the angle A 3  with the central axis  336 . The lower opening  342  of the outlet duct  334  has a diameter D 3  between 10 mm and 30 mm, e.g., between 10 mm and 20 mm, 20 mm and 30 mm, etc. The diameter D 3  is, for example, 25% to 75% of the diameter D 1 , e.g., between 25% and 50%, 40% and 60%, 50% and 75%, etc., of the diameter D 1 . An upper opening  344  of the outlet duct  334  has a diameter greater than the diameter D 3  of the lower opening  342 , e.g., 0.5 to 5 mm greater than the diameter of the lower opening  342 . The tapering of the outlet duct  334  can increase the depth of the cyclone  121  formed within the lower inner conduit  328   b . In particular, during the cleaning operation, the lowermost point of the cyclone  121  can extend farther downward toward the lower opening  348  of the lower inner conduit  328   b . The tapering of the outlet duct  334  can increase the air path out of the outlet duct  334 , thereby reducing constrictions to the airflow  110 . In this regard, the tapering of the outlet duct  334  can reduce power consumption by the vacuum assembly  108 . 
     In some example, a length L 2  of the outlet duct  334  is sufficient such that the lower opening  342  of the outlet duct  334  is positioned within the lower inner conduit  328   b . The length L 2  is, for example, between 10.5 mm and 30.5 mm, e.g., between 11 mm and 26 mm, 16 mm and  30 , etc. The length L 2  is, for example, 0.5 mm to 5 mm greater than the height H 4  of the housing  322 . 
     Referring to  FIG.  3 B , the particulate compartment  128  is positioned below the debris separator  320 . The particulate compartment  128  is defined by the bottom side  310  of the cleaning bin  100 , the lateral sides  302   a ,  302   b  of the cleaning bin  100 , a wall  350  of the particulate compartment  128 , and a separation wall  352  between the particulate compartment  128  and the debris compartment  116 . The wall  350  defines an upper surface of the particulate compartment  128 . The particulate compartment  128  has a substantially triangular or a substantially trapezoidal shape. In this regard, the wall  350  is angled relative to the bottom side  310  of the cleaning bin  100 . The wall  350 , for example, forms an angle with the bottom side  310  of the cleaning bin  100  similar to the angle formed between the bottom surface of the air channel  120  and the top side  308  of the cleaning bin  100 . 
     The separation wall  352  inhibits airflow between the debris compartment  116  and the particulate compartment  128  and hence also inhibits the debris  104  from moving between the compartments  116 ,  128 . The particulate compartment  128  receive smaller sized debris, e.g., particulate, because the larger size debris is separated at the filtering surface  118   a  and is deposited within the debris compartment  116 . The particulate compartment  128  typically stores less of the debris  104  than the debris compartment  116 . In this regard, the volume of the particulate compartment  128  is between 1 and 10% of the volume of the debris compartment  116 , e.g., 1 to 5%, 4 to 8%, and 5% to 10%, etc., of the volume of the debris compartment  116 . The volume of the debris compartment  116  is between, for example, 600 and 1000 mL, e.g., between 600 and 800 mL, 700 and 900 mL, 750 mL and 850 mL, 800 mL and 1000 mL, etc. The volume of the particulate compartment is between, for example, 20 mL and 100 mL, e.g., between 20 mL and 50 mL, 30 mL and 70 mL, 40 mL and 60 mL, 45 mL and 55 mL, 60 mL and 100 mL, etc. 
     The outlet channel  340  preceding the filter  124  is defined by the top side  308  of the cleaning bin  100 , the lateral sides  302   a ,  302   b  of the cleaning bin  100 , the debris separator  320 , the filter  124 , and the wall  350  of the particulate compartment  128 . The filter  124  is positioned on the rear side  306  of the cleaning bin  100  at the outlet  126  of the cleaning bin  100 . In some cases, the filter  124  is removably attached to the rear side  306  of the cleaning bin  100 . The filter  124  enables the airflow  110  to pass through the outlet  126  of the cleaning bin  100  and toward the vacuum assembly  108  of the robot  102 . In some examples, the filter  124  is a high-efficiency particulate air (HEPA) filter. In some cases, the filter  124  is removable, replaceable, disposable, and/or washable. 
     In some cases, the outlet  126  spans the entire interior width W 1  of the cleaning bin  100 . In addition, the filter  124  spans the entire interior width W 1  of the cleaning bin  100 , and the outlet channel  340  spans the entire interior width W 1  of the cleaning bin  100 . The outlet  126  spans, for example, 90% to 100% the length of the interior width W 1 . If the outlet  126  spans the entire interior width W 1  of the cleaning bin  100 , the rear side  306  of the cleaning bin  100  corresponds to the outlet  126 . 
     While a single debris separator  320  has been described, referring to  FIGS.  3 A and  3 C , in some examples, the debris separator  320  is one of a set of several debris separators  320   a - 320   f . In the example depicted in  FIGS.  3 A and  3 C , the debris separator  320 ,  320   a  is one of six debris separators  320   a - 320   f . In some implementations, fewer or more debris separators  320   a - 320   f  are present within the cleaning bin  100 , e.g., 1-5, or 7 or more debris separators. In some implementations, the cleaning bin  100  includes 2 to 16 debris separators, e.g., 2 to 4 debris separators, 4 to 8 debris separators, 4 to 12 debris separators, 4 to 16 debris separators, etc. In some cases, the debris separators  320   a - 320   f  are linearly arranged. The debris separators  320   a - 320   f  are arranged along a horizontal axis  356  through the cleaning bin  100 . The horizontal axis  356  is parallel to the front side  304  of the cleaning bin  100 . The set of the debris separators  320   a - 320   f  are arranged across the interior width W 1  of the cleaning bin  100 . The debris separators  320   a - 320   f , for example, span the entire interior width W 1  of the cleaning bin  100 . The debris separators  320   a - 320   f  are arranged such that the airflow  110  is directed into each of the debris separators  320   a - 320   f  in the same direction. In particular, portions of the airflow  110  received by the debris separators  320   a - 320   f  are each directed rearwardly toward the rear side  306  of the cleaning bin  100 . Similarly, the portions of the airflow  110  exhausted from the debris separators  320   a - 320   f  are directed toward the rear side  306  of the cleaning bin  100 . 
     Each of the debris separators  320   a - 320   f  includes structures and conduits similar to those described with respect to the debris separator  320 , e.g., as shown in  FIGS.  4 A- 4 C . Inlet ducts  326   a - 326   f  of the debris separators  320   a - 320   f  are each pneumatically connected to the air channel  120  to receive a portion of the airflow  110 . The inlet ducts  326   a - 326   f  direct the airflow  110  into the debris separators  320   a - 320   f  in the same direction toward the rear side  306  of the cleaning bin  100 , e.g., along parallel axes toward the rear side  306  of the cleaning bin  100 . The inlet ducts  326   a - 326   f  can be shaped to funnel air into the debris separators  320   a - 320   f  in a manner that reduces the overall power increase that may be required by the vacuum assembly  108  to draw air into the debris separators  320   a - 320   f  In particular, the flow paths through the inlet ducts  326   a - 326   f  can be shaped to reduce air constrictions along the flow paths. In this regard, even though the inlet ducts  326   a - 326   f  may have a combined width less than a width of the air channel  120 , the shapes of the inlet ducts  326   a - 326   f  can reduce the power increase that can be caused by the narrowing of the flow path for the airflow  110  at the inlet ducts  326   a - 326   f.    
     Outlet ducts  334   a - 334   f  of the debris separators  320   a - 320   f  are each pneumatically connected to the outlet channel  340 . The outlet ducts  334   a - 334   f  direct the airflow  110  from the debris separators  320   a - 320   f  in the same direction both rearwardly toward the rear side  306  of the cleaning bin  100  and upwardly toward the top side  308  of the cleaning bin  100 , e.g., along parallel axes rearwardly toward the rear side  306  of the cleaning bin and upwardly toward the rear side  306  of the cleaning bin  100 . 
     The longitudinal axes of the debris separators  320   a - 320   f  are parallel to one another. In some cases, the longitudinal axes of the debris separators  320   a - 320   f , e.g., the central axes of the debris separation cones of the debris separators  320   a - 320   f , are coplanar. The longitudinal axes are angled away from the inlet  114  of the cleaning bin  100  such that upper openings of the debris separation cones of the debris separators  320   a - 320   f  are tilted away from the inlet  114 . The lower openings of the debris separation cones of the debris separators  320   a - 320   f  are each connected to the particulate compartment  128  to deposit smaller sized debris separated from the airflow  110  in the particulate compartment  128 . 
     In some cases, the debris separators  320   a ,  320   c ,  320   e  differ from the debris separators  320   b ,  320   d ,  320   f  in that the inlet ducts  326   a ,  326   c ,  326   e  are positioned to direct the airflow  110  in a clockwise direction (from the perspective shown in  FIG.  3 C ) within the inner conduits of the debris separators  320   a ,  320   c ,  320   e . In contrast, the inlet ducts  326   b ,  326   d ,  326   f  are positioned to direct the airflow  110  in a counterclockwise direction (from the perspective shown in  FIG.  3 C ) within the inner conduits of the debris separators  320   b ,  320   d ,  320   f  In some cases, the debris separators  320   a - 320   f  are arranged in pairs such that every inlet duct  326   a - 326   f  is adjacent to one of the other inlet ducts  326   a - 326   f  In this regard, the air channel  120  does not need to include a separate conduit for each of the inlet ducts  326   a - 326   f . Rather, as shown in  FIG.  3 C , the air channel  120  includes three separate conduits  354   a - 354   c  to guide the airflow  110  from the air channel  120  into the inlet ducts  326   a - 326   f  In some cases, each clockwise-oriented debris separator  320   a ,  320   c ,  320   e  is positioned between (i) a counterclockwise-oriented debris separator  320   b ,  320   d ,  320   f  and another counterclockwise-oriented debris separator  320   b ,  320   d ,  320   f  or (ii) a counterclockwise-oriented debris separator  320   b ,  320   d ,  320   f  and one of the lateral sides  302   a ,  302   b  of the cleaning bin  100 . In addition, each counterclockwise-oriented debris separator  320   b ,  320   d ,  320   f  is positioned between (i) a clockwise-oriented debris separator  320   a ,  320   c ,  320   e  and another clockwise-oriented debris separator  320   a ,  320   c ,  320   e  or (ii) a clockwise-oriented debris separator  320   a ,  320   c ,  320   e  and one of the lateral sides  302   a ,  302   b.    
     Referring to  FIG.  5 A , the outlet  126  is configured to be connected to a housing  500  of the vacuum assembly  108  of the robot  102  such that the airflow  110  containing the debris is directed from the inlet  114  to the outlet  126 . The housing  500  and the outlet  126  form a sealed engagement when connected to ensure that the airflow  110  generated by the vacuum assembly  108  travels through the cleaning bin  100 . Referring back to  FIG.  1   , during a cleaning operation, the vacuum assembly  108  is operated to draw air from near the cleaning rollers  212   a ,  212   b , through the cleaning bin  100 , and toward the vacuum assembly  108  to form the airflow  110 . 
     The airflow  110  containing the debris  104  is directed through the plenum  112  of the robot  102  and then into the cleaning bin  100  through the inlet  114  of the cleaning bin  100 . In particular, the airflow  110  is directed into the debris compartment  116 . In some implementations, the inlet  114  directs the airflow  110  into the debris compartment  116  in a manner such that the debris  104  contained within the airflow  110  is directed toward the top surface  118  of the debris compartment  116 . 
     The debris  104  that is too large to pass through the filtering surface  118   a  remains within the debris compartment  116 . The filtering surface  118   a  functions as a stage of debris separation that causes separated debris to be retained within the debris compartment  116 . A portion  104   a  of the debris  104  that is too large to pass through the filtering surface  118   a  contacts the filtering surface  118   a . This portion  104   a  of the debris  104  is moved toward a rearward portion of the debris compartment  116  due to the airflow  110  and the downward angle of the top surface  118  of the debris compartment  116  relative to the top side  308  of the cleaning bin  100 . In addition, because the airflow  110  is directed tangentially along the filtering surface  118   a  as it travels through the air channel  120 , the airflow  110  shears the portion  104   a  of the debris  104  that accumulates along the filtering surface  118   a . In some implementations, the airflow  110  moves the debris  104  that has accumulated along the filtering surface  118   a  toward the blocking surface  118   b . When the debris  104  reaches the blocking surface  118   b , the debris  104  is separated from the filtering surface  118   a  and is thereby separated from the airflow  110 . The debris  104  then falls into the debris compartment  116 . The shearing of the debris  104  can thereby preventing the debris  104  from blocking the filtering surface  118   a  and impeding the airflow  110  through the filtering surface  118   a . This portion  104   a  of the debris  104  is then directed toward the dead zone  318  of the debris compartment  116 , thereby separating from the filtering surface  118   a  and dropping within the debris compartment  116 , e.g., due to gravity. The debris compartment  116  stores this separated portion  104   a  of the debris  104  during the cleaning operation. 
     In some cases, the portion  104   a  of the debris  104  stored in the debris compartment  116  corresponds to debris separated from the airflow  110  during multiple stages. Alternatively or additionally, the debris compartment  116  functions as a stage of debris separation in which debris  104  that is too heavy to travel with the airflow  110  falls toward the bottom of the debris compartment  116  due to the force of gravity. In some examples, the filtering surface  118   a  functions as another stage of debris separation, as described herein. The debris compartment  116  receives the debris  104  separated from the airflow  110  during both of these stages of debris separation. 
     The portion  104   a  of the debris  104  that is separated from the airflow  110  is distinct from the portion  104   b  that is separated from the airflow  110  through the cyclone  121 , as described herein. In particular, the portion  104   a  of the debris  104  is separated through a portion  110   a  of the airflow  110  that is non-cyclonic. The portion  110   a  of the airflow  110  that travels through the debris compartment  116 , for example, travels along a loop across the top surface  118 , along the rear surface of the debris compartment  116 , along the bottom surface of the debris compartment  116 , along the front surface of the debris compartment  116 , and then through the top surface  118 . In some examples, some of the portion  110   a  of the airflow  110  travels directly from the inlet  114 , through the debris compartment  116 , and then through the top surface  118  of the debris compartment  116 . The portion  110   a  of the airflow  110  does not form a cyclone. In this regard, the debris compartment  116  separates the portion  104   a  from the airflow  110  absent a cyclone being formed. 
     After the airflow  110  travels through the debris compartment  116 , the airflow  110  is directed out of the debris compartment  116  through the filtering surface  118   a . The airflow  110  is then directed through the air channel  120 , which directs the airflow  110  toward the debris separators  320   a - 320   f . The airflow  110  forms a cyclone, e.g., the cyclone  121 , in each of the debris separators  320   a - 320   f .  FIG.  5 A  shows a single debris separator  320  in which the cyclone  121  is formed. The debris separator  320  receives a portion  110   b  of the airflow  110  and causes the portion  110   b  of the airflow  110  to form the cyclone  121 . In particular, the portion  110   b  of the airflow  110  rotates about the interior volume  328  of the debris separator  320 . As the portion  110   b  of the airflow  110  continues to rotate about the interior volume  328 , the diameter of the path followed by the portion  110   b  of the airflow  110  decreases. The path, for example, includes multiple substantially circular loops, and the circular loops are decreasing in diameter toward the bottom of the interior volume  328 . In this regard, the portion  110   b  of the airflow  110  forms the cyclone  121 . While a single cyclone  121  is depicted, each of the debris separators  320   a - 320   f  receives a distinct portion of the airflow  110  and causes the corresponding portion of the airflow  110  to form a cyclone distinct from the cyclones formed by the other debris separators  320   a - 320   f.    
     The debris separators  320   a - 320   f  serve as another stage of debris separation that separates a portion  104   b  of debris  104  and deposits the portion  104   b  in the particulate compartment  128 . Because the filtering surface  118   a  separates the portion  104   a  of the debris  104  from the airflow  110  before the airflow  110  reaches the debris separators  320   a - 320   f , the debris  104  that reaches the airflow  110  can tend to be smaller. The filtering surface  118   a  also can separate fibrous or filament debris from the airflow  110 . This can reduce the likelihood that large debris or filament debris becomes stuck in the relatively small space within the debris separators  320   a - 320   f . In some implementation, as described with respect to the debris separator  320  in  FIGS.  4 A- 4 C , the airflow  110  is directed through the inlet duct  326  of the debris separator  320  and into the interior volume  328 . In particular, the airflow  110  is directed into the upper inner conduit  328   a . In some cases, the debris  104  contained in the airflow  110  directed into the upper inner conduit  328   a  strikes an outer surface of the vortex finder  324  as the debris  104  enters into the upper inner conduit  328   a . As a result, the debris  104  loses velocity and begins to fall downward toward the lower inner conduit  328   b.    
     In addition, because the upper inner conduit  328   a  is pneumatically connected to the lower inner conduit  328   b , the airflow  110  containing the debris  104  is also directed from the upper inner conduit  328   a  toward the lower inner conduit  328   b . When the airflow  110  travels through the interior volume  328 , the airflow  110  forms the cyclone  121 . The vortex finder  324  facilitates formation of the cyclone  121  as the airflow travels through the upper inner conduit  328   a . The conical shape of the lower inner conduit  328   b  further facilitates formation of the cyclone  121  as the airflow  110  flows through the lower inner conduit  328   b . The cyclone  121  extends through at least a portion of the lower inner conduit  328   b.    
     The vacuum assembly  108  tends to draw the airflow  110  through the outlet duct  334  at the top of the debris separator  320 , thereby applying a vacuum force counter to the downward flow direction of the cyclone  121 . In some implementations, the vacuum force creates a lower pressure zone toward a central portion of the debris separator  320 , causing the airflow  110  to move rapidly around the lower pressure zone in the form of the cyclone  121 . The debris  104  contained in the airflow  110  contacts the wall of the lower inner conduit  328   b , causing the debris  104  to slow down relative to the airflow  110  and migrate downward along the sloped surface of the wall of the lower inner conduit  328   b . The friction between the debris  104  and the wall can further reduce the velocity of the debris  104 . Due to gravity, the debris  104  is forced downward toward the particulate compartment  128 . In this regard, the portion  104   b  of the debris  104  is separated from the airflow  110  due to the cyclone  121  formed in the debris separator  320 . The lower opening  348  is positioned relative to the particulate compartment  128  such that the particulate compartment  128  receives the debris  104  that travels through the lower inner conduit  328   b . The debris  104  that separates from the airflow  110  is forced by gravity through the lower inner conduit  328   b  toward the lower opening  348  and into the particulate compartment  128 . 
     While described with respect to the debris separator  320 , the flow dynamics are applicable to each of the debris separators  320   a - 320   f . In particular, the debris separators  320   a - 320   f  each receive a portion of the airflow  110  to form a cyclone within their respective inner conduits. Each of the debris separators  320   a - 320   f  separates a portion of the ingested debris  104  from the airflow  110  and deposits the separated debris into the particulate compartment  128 . 
     The airflow  110 , proceeding the cyclones formed by the debris separators  320   a - 320   f , is drawn through the outlet ducts of the debris separators  320   a - 320   f . Because the envelope of the cleaning bin  100  is short, e.g., the height H 1  is short, the debris separators  320   a - 320   f  are tilted such that the portions of the airflow  110  out of the debris separators  320   a - 320   f  through the outlet ducts are less constricted. The portions of the airflow  110  from the debris separators  320   a - 320   f  are recombined in the outlet channel  340 . The combined airflow  110  is drawn through the outlet channel  340 , which directs the airflow  110  through the outlet  126  and the filter  124 . The filter  124  serves as an additional stage of debris separation for the cleaning bin  100 . The filter  124  separates debris  104  from the airflow  110  larger than a predetermined size, e.g., debris  104  having a width larger than between about 0.1 and about 0.5 micrometers. In some cases, the vacuum assembly  108  then exhausts the airflow  110  into the environment of the robot  102  through the vent  213 . In other examples, the airflow  110  is exhausted to the cleaning head to increase agitation of debris on the floor surface  106 . 
     In this regard, in one specific example, the cleaning bin  100  facilitates separation of debris  104  in four distinct stages. Separation of debris  104  from the airflow  110  facilitated by gravity is the first stage of separation. Separation of debris  104  from the airflow  110  facilitated by the filtering surface  118   a  is the second stage of separation. Separation of debris  104  from the airflow  110  facilitated by the debris separation cone  122  is the third stage of separation. Separation of debris  104  from the airflow  110  facilitated by the filter  124  is the fourth stage of separation. 
     After the cleaning operation, the debris  104  that remains within the debris compartment  116  corresponds to a first portion  104   a  of the debris  104  that is deposited within the cleaning bin  100 . A second portion  104   b  of the debris  104  is deposited within the particulate compartment  128 , and a third portion  104   c  of the debris  104  is deposited at the filter  124  at the outlet  126  of the cleaning bin  100 . The airflow  110  is then directed through an inlet  114  of the cleaning bin  100 , through a debris compartment  116 , through a top surface  118  of the debris compartment  116 , into an air channel  120 , through a debris separation cone  122 , and then through a filter  124  at an outlet  126  of the cleaning bin  100 . Whereas the debris  104  in the debris compartment  116  includes generally larger debris, e.g., having a width of 100 microns to 500 microns or larger, the debris  104  in the particulate compartment  128  includes smaller debris having a width of 100 microns to 500 microns or smaller. 
     In some implementations, the cleaning bin  100  is removably mounted to the body  200  of the robot  102  and is removed from the robot  102  after the cleaning operation. In particular, referring to  FIG.  5 B , the cleaning bin  100  is disconnected from the housing  500  of the vacuum assembly  108  to enable removal of the debris  104  stored within the cleaning bin  100 . The vacuum assembly  108  is, for example, part of the robot  102 . In some cases, the housing and the vacuum assembly  108  are attached to the cleaning bin  100 , and the cleaning bin  100 , the vacuum assembly  108 , and the housing  500  are removed as a unit to enable removal of the debris  104  from the cleaning bin  100 . In some cases, debris removed from the cleaning bin  100  when the cleaning bin  100  is still mounted to the body  200  of the robot  102 . The bottom side  310  of the cleaning bin  100  includes a door  502  that defines the bottom surface of the debris compartment  116  and the bottom surface of the particulate compartment  128 . The door  502 , when opened, enables the debris  104  in both the debris compartment  116  and the particulate compartment  128  to be removed from the cleaning bin  100 . such that the door  502 . The door  502  is rotatably attached to the cleaning bin  100 . A user manually rotates the door  502  away from the compartments  116 ,  128  to enable the debris  104  to be emptied from the compartments  116 ,  128 . Alternatively, the door  502  is slidably attached to the cleaning bin  100 , or is attached in some other manner that enables the door  502  to be manually opened to access the debris  104  in both the debris compartment  116  and the particulate compartment  128 . 
     In some cases, in addition to emptying the contents of the debris compartment  116  and the particulate compartment  128 , the user removes the cleaning bin  100  from the robot  102 , and then removes the filter  124  from the cleaning bin  100 . The user then cleans the filter  124  and repositions the filter  124  in the cleaning bin  100 . In some cases, the user disposes of the filter  124  and repositions a new filter in the cleaning bin  100 . In some cases, the filtering surface  118   a  is removed, cleaned, and repositioned, or the filtering surface  118   a  is disposed and replaced with a new filtering surface. 
     In some implementations, after the cleaning operation, the robot  102  is docked at an evacuation station  600  (schematically shown in  FIG.  6   ) that includes a vacuum assembly. The evacuation station  600  performs an evacuation operation in which the vacuum assembly is operated to generate an airflow  602  through the cleaning bin  100  toward the evacuation station  600 .  FIG.  6    shows the vacuum assembly  108  of the robot  102  for context but does not show the other components of the robot  102  for simplicity. Furthermore, the evacuation station  600  is schematically depicted. Examples of evacuation stations to which the robot  102  is capable of docking are described with respect to U.S. Pat. No. 9,462,920, issued on Oct. 11, 2016, and titled “Evacuation Station,” the contents of which are incorporated herein by reference in its entirety. 
     During the evacuation operation, the airflow  602  directs the debris  104  within the cleaning bin  100  toward the evacuation station  600 . The evacuation station  600 , for example, forms a seal with the cleaning rollers  212   a ,  212   b  such that the vacuum assembly of the evacuation station  600 , when operated, draws air through the vent  213  of the robot  102 , thereby generating the airflow  602  shown in  FIG.  6   . The airflow  602  carries the debris  104  contained within the debris compartment  116  and the particulate compartment  128  into the evacuation station  600 . In this regard, the user does not need to manually empty the debris  104  from the cleaning bin  100 . 
       FIG.  7    depicts a cutaway perspective view of the debris compartment  116  with the lateral side  302   b  and the front side  304  of the cleaning bin  100  removed so that the inside of the debris compartment  116  is visible. To enable air to be drawn by the vacuum assembly of the evacuation station  600 , the cleaning bin  100  includes an evacuation port  700  configured to connect to the vacuum assembly of the evacuation station  600 . The vacuum assembly of the evacuation station  600  is operable to direct the airflow  602  from the outlet  126  of the cleaning bin  100  to the evacuation port  700 . The airflow  602  is directed from the environment through the vent  213 , through the outlet  126 , through the outlet channel  340 , and into the debris separators  320   a - 320   f . A portion  602   a  of the airflow  602  from the debris separators  320   a - 320   f  is directed through the air channel  120 , and then through the top surface  118  of the debris compartment  116  into the debris compartment  116 . In some cases, the portion  602   a  of the airflow  110  carries debris within the debris compartment  116  at the filtering surface  118   a  toward the evacuation port  700 , thereby reducing debris accumulation that may impede airflow through the filtering surface  118   a . Another portion  602   b  of the airflow  602  from the debris separators  320   a - 320   f , as described herein, is directed through the particulate compartment  128 , and then through the separation wall  352  into the debris compartment  116 . The portion  602   b  of the airflow  602  carries the portion  104   b  of the debris  104  in the particulate compartment  128  toward the evacuation port  700 . The portions  602   a ,  602   b  are recombined in the debris compartment  116  and then directed through the evacuation port  700  into the evacuation station  600 . 
     To enable the particulate compartment  128  to be evacuated by the evacuation station  600 , the separation wall  352  includes open area  704   a , open area  704   b , and open area  704   c  between the debris compartment  116  and the particulate compartment  128 . The open areas  704   a ,  704   b ,  704   c  pneumatically connect the debris compartment  116  and the particulate compartment  128 . As depicted in  FIG.  7   , the open area  704   a  corresponds to a set of discontinuous open areas between the particulate compartment  128  and the debris compartment  116 . In other cases, the open areas  704   a ,  704   b ,  704   c  are each a single continuous open area discontinuous from the other open areas  704   a ,  704   b ,  704   c . In other implementations, fewer or more open areas are present along the separation wall  352 . 
     The open areas  704   a ,  704   b ,  704   c  are covered by openable flaps  706   a ,  706   b ,  706   c . The flaps  706   a ,  706   b ,  706   c  are configured to open when a pressure on a side of the flaps  706   a ,  706   b ,  706   c  facing the debris compartment  116  is less than a pressure on a side of the flaps  706   a ,  706   b ,  706   c  facing the particulate compartment  128 . In some implementations, top portions of the flaps  706   a ,  706   b ,  706   c  are secured to the separation wall  352 , e.g., adhered to the separation wall  352 , while bottom portions of the flaps  706   a ,  706   b ,  706   c  are loose and movable away from the separation wall  352  under the above-noted pressure conditions. The flaps  706   a ,  706   b ,  706   c  are formed of a deformable and resilient material. The flaps  706   a ,  706   b ,  706   c  deform into an open position in response to the presence of the higher pressure on the side of the flaps  706   a ,  706   b ,  706   c  facing the particulate compartment  128 . When the higher pressure is released and the pressure on either side is equalized, the flaps  706   a ,  706   b ,  706   c  resiliently return to a closed position. 
     In some cases, the open areas  704   a ,  704   b ,  704   c  positioned farther from the evacuation port  700  are larger than the open areas  704   a ,  704   b ,  704   c  positioned closer to the evacuation port  700 . The open area  704   a  is, for example, larger than the open area  704   b , which is larger than the open area  704   c . The open area  704   a  is positioned farther from the evacuation port  700  than the open area  704   b , and the open area  704   b  is positioned from farther from the evacuation port  700  than the open area  704   c . Accordingly, the flap  706   a  is longer than the flap  706   b , and the flap  706   b  is longer than the flap  706   c . Relative sizes of the open areas  704   a ,  704   b ,  704   c  and relative distances to the evacuation port  700  determine the relative portion of the airflow  602  that flows through each of the open areas  704   a ,  704   b ,  704   c . As a result, the relative sizes and relative distances can be selected such that a similar amount of the airflow  602  flows through each of the open areas  704   a ,  704   b ,  704   c , enabling the debris  104  from the particulate compartment  128  and the debris compartment  116  to be more uniformly evacuated into the evacuation station  600 . In particular, by increasing the size of the open area  704   a  farthest from the evacuation port  700 , the debris  104  located at portions of the particulate compartment  128  and the debris compartment  116  farthest from the evacuation port  700  can be more easily evacuated from the cleaning bin  100  during the evacuation operation. The multiple entry points of the airflow  602  into the debris compartment  116  from the particulate compartment  128  can facilitate a swirling motion of the combined airflow  602  in the debris compartment  116 , thereby agitating debris  104  and improving evacuation of debris  104  from the debris compartment  116 . 
     When the flaps  706   a ,  706   b ,  706   c  are in the open position (as shown in  FIG.  6   ), the debris compartment and the particulate compartment  128  are pneumatically connected. As a result, the airflow  602  containing debris  104  is allowed to flow between the debris compartment  116  and the particulate compartment  128 . In particular, the portion  602   b  of the airflow  602  flows through the debris separators  320   a - 320   f , into the particulate compartment  128 , and then into the debris compartment  116 , thereby enabling the evacuation station  600  to evacuate the debris  104  from the particulate compartment  128 . When the evacuation station  600  performs the evacuation operation to cause the vacuum assembly to generate the airflow  602 , the operation of the vacuum assembly decreases the pressure at the side of the flaps  706   a ,  706   b ,  706   c  facing the debris compartment  116 , thereby causing the flaps  706   a ,  706   b ,  706   c  to deform into the open position. 
     When the flaps  706   a ,  706   b ,  706   c  are in the closed position (as shown in  FIG.  7   ), the open areas  704   a ,  704   b ,  704   c  do not pneumatically connect the debris compartment  116  and the particulate compartment  128 . As a result, air cannot flow directly from the particulate compartment  128  to the debris compartment  116  through the open areas  704   a ,  704   b ,  704   c . When the vacuum assembly  108  of the robot  102  is operating during the cleaning operation, the pressure at the side of the flaps  706   a ,  706   b ,  706   c  facing the debris compartment  116  is greater than the pressure at the side of the flaps  706   a ,  706   b ,  706   c , thereby causing the flaps  706   a ,  706   b ,  706   c  to remain in the closed position. As a result, the debris  104  deposited into the debris compartment  116  and the debris  104  deposited into the particulate compartment  128  remain in their respective compartments during the cleaning operation. 
     A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made. Accordingly, other implementations are within the scope of the claims.