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

<CIT> relates to evacuating debris collected by a mobile robot.

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

The conduit of the filtering device described herein can inhibit debris from accumulating at or near an interface between the conduit of the filtering device and a conduit of an evacuation station. Debris drawn from a cleaning robot could clog a flow path for debris within the evacuation station even though the filtering device has remaining capacity to receive additional debris. The size, shape, dimensions, and other geometric attributes of the conduit of the filtering device can reduce the likelihood that the debris accumulates within the conduit of the evacuation station or near the interface between the filtering device and the conduit of the evacuation station. A clog or obstruction can thus be less likely to form proximate the conduit of filtering device.

A user can more easily remove a filtering device that has been filled with debris without a risk that a large portion of the debris is dislodged from the filtering device into an environment. With less debris accumulating at the conduit of the evacuation station, debris can be less likely to accumulate near an opening of the filtering device. As a result, when the user removes a full filtering device from the evacuation station, debris can be contained within the filtering device. The user need not engage in additional cleanup effort, e.g., to clean up debris that has escaped the filtering device into the environment, after removing the filtering device from the evacuation station.

The evacuation station can more easily detect a clog or other obstruction that can impede airflow along airflow pathways in the evacuation station. The evacuation station can also autonomously remove a detected clog or obstruction by operating an air mover of the evacuation station to remove the clog. The evacuation station can also detect when the filtering device should be replaced in response to air pressure changes proximate the filtering device. Because the filtering device conduit can inhibit the formation of clogs and obstructions proximate the conduit, the detected air pressure change can be less likely to simply be an indication of an obstruction in the filtering device or the conduit and can more likely be an indication that the filtering device has reached its capacity for debris. The evacuation station can be hence less likely to throw a false positive detection of a full filtering device.

The filtering device can increase the number of evacuations that the evacuation station can perform before the filtering device needs to be replaced. As a result, an autonomous cleaning robot from which debris is evacuated can perform more cleaning operations and can collect more debris for evacuation by the evacuation station before the filtering device should be replaced.

The present invention relates to a method executed by a controller of an evacuation station for an autonomous cleaning robot as set out in claim <NUM>, an evacuation station as set out in claim <NUM>, and a computer program product as set out in claim <NUM>. Other embodiments are described in the dependent claims.

Other potential features, aspects, and advantages will become apparent from the description, the drawings, and the claims.

An evacuation station for an autonomous cleaning robot can be used to evacuate debris collected by the robot between cleaning operations performed by the robot. After the robot performs a cleaning operation and collects debris, the evacuation station can generate an airflow to draw debris contained in the robot into a receptacle of the evacuation station, thereby enabling the robot leave the evacuation station and perform another cleaning operation to collect more debris. A conduit in the receptacle to direct debris received from the robot into the receptacle can be susceptible to clogs or other obstructions that can prevent a full debris capacity of the receptacle from being utilized. As described herein, a filtering device containing the receptacle can include a conduit that is configured to inhibit formation of clogs or other obstructions proximate the conduit.

Referring to <FIG> , an evacuation station <NUM> includes a top portion <NUM> within which a filtering device <NUM> with a receptacle <NUM> for debris is located. The filtering device <NUM> includes a filter bag <NUM> at least partially forming the receptacle <NUM>. The filtering device <NUM> further includes an inlet <NUM> and a conduit <NUM>. The inlet <NUM> is configured to interface with an outlet of one or more conduits of the evacuation station <NUM>. For example, the one or more conduits of the evacuation station <NUM> includes a conduit <NUM> that includes an outlet <NUM> configured to interface with the inlet <NUM>. The conduit <NUM> of the filtering device <NUM> is configured to pneumatically connect the inlet <NUM> of the filtering device <NUM> to the receptacle <NUM>. The conduit <NUM> extends inwardly, from the inlet <NUM> into the receptacle <NUM>. The conduit <NUM> is an example of a conduit described herein configured to inhibit accumulation of debris within the conduit and thereby inhibit the formation of clogs or obstructions proximate the conduit <NUM>.

The evacuation station <NUM> includes a housing <NUM> (shown in <FIG>). The housing <NUM> of the evacuation station <NUM> can include one or more interconnected structures that support various components of the evacuation station <NUM>, including an air mover <NUM> (shown in <FIG>), a system of airflow paths for airflow generated by the air mover <NUM>, and a controller <NUM> (shown in <FIG>).

<FIG> illustrates the evacuation station <NUM> during an evacuation operation in which the controller <NUM> operates the air mover <NUM> to generate airflow <NUM> through air pathways of the evacuation station <NUM>. Referring to <FIG> showing a system, e.g., a debris collection system, including the evacuation station <NUM> and an autonomous cleaning robot <NUM>, the evacuation station <NUM> performs an evacuation operation when the autonomous cleaning robot <NUM> and the evacuation station <NUM> are interfaced with one another. The robot <NUM> performs a cleaning operation in a room, e.g., a room of a commercial, residential, industrial, or other type of building, and collects debris from a floor surface of the room as the robot <NUM> autonomously moves about the room. The robot <NUM> includes implements that enable the robot to collect the debris from the floor surface. For example, the robot <NUM> can include an air mover <NUM> that draws air from a portion of the floor surface below the robot <NUM> and hence draws any debris on that portion of the floor surface into the robot <NUM>. The robot <NUM> can also include one or more rotatable members (not shown) facing the floor surface that engage the debris on the floor surface and mechanically moves the debris into the robot <NUM>. The one or more rotatable members can include a roller, a brush, a flapper brush, or other rotatable implements that can engage debris and direct the debris into the robot <NUM>. The debris collected from the floor surface is directed into a debris bin <NUM> of the robot <NUM>. A controller <NUM> of the robot <NUM> operates a drive system (not shown) of the robot <NUM>, e.g., including motors and wheels that are operable to propel the robot <NUM> across the floor surface, to navigate the robot <NUM> about the room and thereby clean different portions of the room.

During the cleaning operation, the controller <NUM> can determine that the debris bin <NUM> is full. For example, the controller <NUM> can determine that debris accumulated in the debris bin <NUM> has exceeded a certain percentage of the total debris capacity of the debris bin <NUM>, e.g., more than <NUM>%, <NUM>%, or <NUM>% of the total debris capacity of the debris bin <NUM>. After making such a determination, the controller <NUM> operates the drive system of the robot <NUM> to direct the robot <NUM> toward the evacuation station <NUM>. In some implementations, the robot <NUM> includes a sensor system including an optical sensor, an acoustic sensor, or other appropriate sensor for detecting the evacuation station <NUM> during the robot's navigation about the room to find the evacuation station <NUM>.

The evacuation station <NUM> can perform an evacuation operation to draw debris from the debris bin <NUM> of the robot <NUM> into the evacuation station <NUM>. To enable the evacuation station <NUM> to remove debris from the robot <NUM>, the robot <NUM> interfaces with the evacuation station <NUM>. For example, the robot <NUM> can autonomously move relative to the evacuation station <NUM> to physically dock to the evacuation station <NUM>. In other implementations, a conduit (not shown) of the evacuation station <NUM> is manually connected to the robot <NUM>. To interface with the evacuation station <NUM>, in some implementations, an underside of the robot <NUM> includes an outlet (not shown) that engages with the intake <NUM> of the evacuation station <NUM>, shown in <FIG>. For example, the outlet of the robot <NUM> can be located on an underside of the debris bin <NUM> and can be an opening that engages with a corresponding opening of the intake <NUM>.

One or both of the robot <NUM> and the evacuation station <NUM> can include a valve mechanism that opens only when the air mover <NUM> generates a negative pressure during the evacuation operation. For example, a valve mechanism (not shown) of the robot <NUM> can include a door, flap, or other openable device that only opens in response to a negative pressure on the underside of the debris bin <NUM>, e.g., a negative pressure generated by the air mover <NUM> of the evacuation station <NUM>.

While the robot <NUM> interfaces with the evacuation station <NUM>, the debris bin <NUM> is in pneumatic communication with the air mover <NUM> of the evacuation station <NUM>. In addition, in some implementations, the robot <NUM> is in electrical communication with the evacuation station <NUM> such that the evacuation station <NUM> can charge a battery of the robot <NUM> when the robot <NUM> interfaces with the evacuation station <NUM>. Thus, while interfaced with the robot <NUM>, the evacuation station <NUM> can simultaneously evacuate debris from the robot <NUM> and charge the battery of the robot <NUM>. In other implementations, the evacuation station <NUM> charges the battery of the robot <NUM> only while the evacuation station <NUM> is not evacuating debris from the robot <NUM>.

Referring also to <FIG>, during the evacuation operation while the evacuation station <NUM> is interfaced with the robot <NUM>, the airflow <NUM> generated by the evacuation station <NUM> travels through the debris bin <NUM>, through airflow pathways of the evacuation station <NUM>, and through the filtering device <NUM> while carrying debris <NUM> drawn from the robot <NUM>. The airflow pathways of the evacuation station <NUM> include the one or more conduits of the evacuation station <NUM>. In addition to including the conduit <NUM>, the one or more conduits can also include conduits <NUM>, <NUM>. The conduit <NUM> includes the intake <NUM> of the evacuation station <NUM> and is connected with the conduit <NUM>, and the conduit <NUM> is connected with the conduit <NUM>. In this regard, the airflow <NUM> travels through the one or more conduits of the evacuation station <NUM> by travelling through the conduit <NUM>, the conduit <NUM>, and conduit <NUM>. The airflow <NUM> exits the one or more conduits through the outlet <NUM> into the inlet <NUM> of the filtering device <NUM>, and then travels through the conduit <NUM>. The airflow <NUM> further travels through a wall of the filter bag <NUM> toward the air mover <NUM>. The wall of the filter bag <NUM> serves as a filtering mechanism, separating a portion of the debris <NUM> from the airflow <NUM>.

In some implementations, the evacuation station <NUM> can include a removable filter (not shown). The filter can be a small or fine particle filter. For example, particles having a width between about <NUM> to <NUM> micrometers carried by the airflow <NUM> after the airflow <NUM> exits the filtering device <NUM> are removed by the filter. The filter can be positioned between the filtering device <NUM> and the air mover <NUM>. After the airflow <NUM> exits the filtering device <NUM> and travels beyond the filter, the air mover <NUM> directs the airflow <NUM> out of the evacuation station <NUM>, in particular, through an exhaust <NUM> (shown in <FIG>). As described herein, the evacuation station <NUM> can continue to perform the evacuation operation until a sensor <NUM> (shown in <FIG> and <FIG>) of the evacuation station <NUM> detects that the receptacle <NUM> is full. In some implementations, the sensor <NUM> is positioned proximate a flow path for the flow of air. As described herein, in some implementations, the sensor <NUM> is a pressure sensor. In other implementations, the sensor <NUM> is an optical sensor, a force sensor, or other sensor that can generate one or more signal indicative of a fullness state of the filtering device <NUM>.

The filtering device <NUM> is disconnectable and removable from the evacuation station <NUM>. Referring to <FIG>, the housing <NUM> of the evacuation station <NUM> includes a cover <NUM> along the top portion <NUM> of the evacuation station <NUM>. The cover <NUM> covers a receptacle <NUM> of the evacuation station <NUM>. The receptacle <NUM> can receive the filtering device <NUM>. The cover <NUM> is movable between a closed position (shown in <FIG>) and an open position (shown in <FIG>). In the open position of the cover <NUM>, a filtering device is insertable into the receptacle <NUM> or is removable from the receptacle <NUM>. For example, the filtering device <NUM> can be placed into the receptacle to be connected with the one or more conduits of the evacuation station <NUM>. In addition, the filtering device <NUM> can be disconnected from the one or more conduits of the evacuation station and then removed from the receptacle <NUM>, thereby enabling a new filtering device to be inserted into the receptacle.

In some implementations, the conduit <NUM> of the evacuation station <NUM> is movable in response to movement of the cover <NUM>. For example, when the cover <NUM> is moved from the closed position to the open position, the conduit <NUM> moves such that the outlet <NUM> of the conduit <NUM> moves into the receptacle <NUM>. The conduit <NUM> moves from a receded position (shown in <FIG>) to a protruded position (not shown). In the receded position, the outlet <NUM> of the conduit <NUM> is recessed in the housing <NUM>. In the protruded position, the conduit <NUM> protrudes from the housing <NUM> into the receptacle <NUM> such that the outlet <NUM> moves into to the receptacle <NUM>. In some implementations, the conduit <NUM> is connected to the conduit <NUM> in a manner that allows the conduit <NUM> to pivot or flex relative to the conduit <NUM>, thereby enabling the conduit <NUM> to move relative to the housing <NUM>.

The evacuation station <NUM> includes a mechanism for triggering such movement of the conduit <NUM> in response to movement of the cover <NUM> from the open position to the closed position. For example, the mechanism includes a movable post <NUM> that is translated in response to movement of the cover <NUM> from the open positioned to the closed position. A cam (not shown) on the conduit <NUM> is configured to interface with the movable post <NUM> such that, when the movable post <NUM> moves in response to the movement of the cover <NUM>, the outlet <NUM> of the conduit <NUM> moves further into the receptacle <NUM>. As described herein, this inward movement of the outlet <NUM> causes the outlet <NUM> to engage with the inlet <NUM> of the filtering device <NUM>.

<FIG> illustrate an example of the filtering device <NUM>. Referring to <FIG>, the filtering device <NUM>, as described herein, includes the filter bag <NUM>, the inlet <NUM>, and an interface assembly <NUM>. The filtering device <NUM> can be disposable, e.g., after the debris collected in the receptacle <NUM> has exceeded a certain debris capacity of the receptacle <NUM>.

The filter bag <NUM> at least partially forms the receptacle <NUM> and is formed of a material through which air can travel. The material of the filter bag <NUM> is selected such that the filter bag <NUM> can serve as a separator that separates and filters at least a portion of the debris out of the airflow <NUM> generated by the evacuation station <NUM>. For example, the filter bag <NUM> can be formed of paper or fabric that allows air to pass through but traps dirt and debris and thereby retains the debris within the receptacle <NUM>. The material of the filter bag <NUM> is flexible, enabling the filter bag <NUM> to be folded and easily stored. In addition, the filter bag <NUM> can expand to accommodate additional debris as the filter bag <NUM> collects debris during an evacuation operation. The filter bag <NUM>, while collecting debris via filtration, is porous to permit the airflow <NUM> to exit the filter bag <NUM> with an amount of debris less than the amount of debris with the airflow <NUM> as the airflow <NUM> enters the filtering device <NUM>. For example, the filter bag <NUM> can collect debris having a width greater than <NUM> micrometer, e.g., greater than <NUM> micrometers, <NUM> micrometers, <NUM> micrometers, or more.

Referring also to <FIG>, the interface assembly <NUM> includes a collar <NUM>, a cover <NUM>, a seal <NUM>, and the conduit <NUM>. The interface assembly <NUM> is configured to interface with the one or more conduits of the evacuation station <NUM>, e.g., with the conduit <NUM> (shown in <FIG> and <FIG>). For example, when the filtering device <NUM> is disposed into the receptacle <NUM> of the evacuation station <NUM> and the conduit <NUM> of the evacuation station <NUM> is in the protruded position, the intake <NUM> is placed into pneumatic communication with the receptacle <NUM> of the filtering device <NUM>. Hence, when the robot <NUM> interfaces with the evacuation station <NUM>, the debris bin <NUM> of the robot <NUM> is also placed into pneumatic communication with the receptacle <NUM> of the filtering device <NUM>.

The seal <NUM> is attached to the collar <NUM> and is configured to engage the conduit <NUM>. In particular, the seal <NUM> is an outward facing seal, e.g., facing away from the receptacle <NUM>, that is configured to interface with the outlet <NUM> of the conduit <NUM>. For example, in implementations in which the conduit <NUM> is movable in response to the movement of the cover <NUM>, the conduit <NUM> can move into the protruded position and thereby contact the seal <NUM>. The seal <NUM> is formed of a rubber, another elastomeric material, or a combination of different materials including an elastomeric material. The seal <NUM> includes an opening <NUM> that is part of the inlet <NUM> of the filtering device <NUM>. The seal <NUM> can form a sealed engagement around an outer surface of the conduit <NUM>. The seal engagement can prevent, inhibit, or otherwise reduce airflow leakage from the conduit <NUM> when the air mover <NUM> generates the airflow <NUM> and thus can improve the efficiency of the air mover <NUM>.

The collar <NUM> is positioned along an opening <NUM> of the filter bag <NUM>. The collar <NUM> is a substantially flat plate. For example, a thickness of the collar <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>. While depicted in <FIG> as being substantially rectangular or square, in other implementations, the collar <NUM> is circular or has a polygonal shape. Referring also to <FIG>, the collar <NUM> has a width W1 that is larger than a width W2 of the cover <NUM>. For example the width of the collar <NUM> is <NUM> to <NUM> times larger than the width of the cover <NUM>. For example, the width W1 of the collar <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>, and the length W2 of the cover <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>. or <NUM> and <NUM>.

The collar <NUM> of the interface assembly <NUM> is attached directly to the filter bag <NUM>. In some implementations, the collar <NUM> is welded to the filter bag <NUM>. In other implementations, the collar <NUM> is attached to the filter bag <NUM> via a fastener, e.g., via stitches, clips, zippers, and other appropriate fasteners. The collar <NUM> is formed of a rigid polymeric material, such as polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, or another appropriate polymer.

The cover <NUM> of the interface assembly <NUM> is movably attached to the collar <NUM>. The cover <NUM> is a substantially flat plate. For example, a thickness of the cover <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>. While depicted in <FIG> as being substantially rectangular, in other implementations, the cover <NUM> is circular or has a polygonal shape. Referring also to <FIG>, the cover <NUM> has a length L2 longer than a length L1 of the collar <NUM>, e.g., <NUM> to <NUM> times longer than the length of the collar <NUM>. For example, the length L2 of the cover <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>, and the length L1 of the collar <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>.

The cover <NUM> is movable relative to the opening <NUM> of the filter bag <NUM> between an open position in which the opening <NUM> of the filter bag <NUM> is accessible and a closed position in which the opening <NUM> of the filter bag <NUM> is inaccessible. For example, referring to <FIG>, the cover <NUM> is a slider that is slidable relative to the collar <NUM>. The collar <NUM> includes clips <NUM> (shown in <FIG>) attaching the cover <NUM> to the collar <NUM> while allowing the cover <NUM> to slide relative to the collar <NUM>.

Referring to <FIG>, the cover <NUM> includes an opening <NUM> and a body <NUM>. The opening <NUM> can be a substantially circular opening in the body <NUM> of the cover <NUM>. In some implementations, the opening <NUM> includes non-circular portions, or is otherwise polygonal. When the cover <NUM> is in the open position (as shown in <FIG>), the opening <NUM> is aligned with and overlaps with the opening <NUM> of the filter bag <NUM> and the opening <NUM> defined by the seal <NUM>. When the cover <NUM> is in the closed position (not shown), the body <NUM> overlaps with and covers the opening <NUM> of the filter bag <NUM> and the opening <NUM> defined by the seal <NUM> such that debris cannot enter or exit from the receptacle <NUM> (shown in <FIG>).

The cover <NUM> is manually movable by a human user so that the user can easily close off the receptacle <NUM> to prevent debris from falling out the filtering device <NUM> when the user wishes to dispose of the filtering device <NUM>. The collar <NUM> can further include tabs <NUM> that enable a human user to more easily grasp the collar <NUM> while manually moving the cover <NUM>, and the length L2 of the cover <NUM> can be longer than the length L1 of the collar <NUM> so that the user can easily grasp the cover <NUM> and reposition the cover <NUM> relative to the collar <NUM>.

The conduit <NUM> is a hollow tube-like structure that provides an airflow pathway for the airflow generated by the air mover <NUM> of the evacuation station <NUM> when the filtering device <NUM> is connected to the evacuation station <NUM>. Referring to <FIG>, the conduit <NUM> extends inwardly from the collar <NUM> into the receptacle <NUM> of the filtering device <NUM> and away from the filter bag <NUM>. The conduit <NUM> and the collar <NUM> are attached to one another. In some implementations, referring also to <FIG>, the conduit <NUM> can include a first portion of a snap fit mechanism <NUM> attached to a second portion of the snap fit mechanism <NUM> on the collar <NUM>. For example, the first portion of the snap fit mechanism <NUM> can include multiple snaps, and the second portion of the snap fit mechanism <NUM> can include multiple slots with which the multiple snaps are engaged. Alternatively, the first portion of the snap fit mechanism <NUM> can include multiple slots, and the second portion of the snap fit mechanism <NUM> can include multiple snaps configured to engage with the multiple slots.

The conduit <NUM> is formed from a rigid polymer. For example, referring to <FIG>, the conduit <NUM> can be formed from polypropylene, polycarbonate, acrylonitrile butadiene styrene, nylon, another appropriate polymer, or a combination of materials including an appropriate polymer. The conduit <NUM> tapers inward from the opening <NUM> of the filter bag <NUM> along at least a portion of the conduit <NUM>. In some implementations, the conduit <NUM> includes a substantially frustoconical portion <NUM> that tapers away from the opening <NUM> of the filter bag <NUM>.

The conduit <NUM> includes an attached end portion <NUM> attached to the collar <NUM>, and a free end portion <NUM>. The attached end portion <NUM> has an opening (not shown) having a width greater than a width W3 of the opening <NUM> and a width W4 of the opening <NUM> defined by the seal <NUM>. The opening of the attached end portion <NUM> is positioned proximate the inlet <NUM> of the filtering device <NUM>. The free end portion <NUM> includes an opening <NUM> within the receptacle <NUM>. Referring to <FIG>, an angle <NUM> between an outer surface of the conduit <NUM> of the filtering device <NUM> and a longitudinal axis <NUM> of the conduit <NUM> of the filtering device <NUM> is between <NUM> and <NUM> degrees, e.g., between <NUM> and <NUM> degrees, <NUM> and <NUM> degrees, or <NUM> and <NUM> degrees. In some implementations, a portion <NUM> of the conduit <NUM> proximate the collar <NUM> is not tapered. For example, the portion <NUM> can be substantially cylindrical.

Referring to <FIG>, a width W3 of the opening <NUM> of the conduit <NUM> is between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>. Referring also to <FIG>, the width W3 is substantially equal to a width W4 of the opening <NUM> defined by the seal <NUM>. For example, the width W4 is between <NUM>% and <NUM>% of the width W3, e.g., between <NUM>% and <NUM>%, between <NUM>% and <NUM>%, or between <NUM>% and <NUM>% of the width W3. In implementations in which the opening <NUM> and the opening <NUM> are substantially circular, the widths W3, W4 correspond to diameters of the openings <NUM>, <NUM>. In other implementations, the openings <NUM>, <NUM> are non-circular, e.g., polygonal. Referring also to <FIG>, the width W3 is <NUM> to <NUM> times larger than a length L3 of the conduit <NUM>, e.g., <NUM> to <NUM> times, <NUM> times to <NUM> times, or <NUM> times to <NUM> times larger than the length L3. The length L3 of the conduit <NUM>, for example, corresponds to an overall distance from the opening <NUM> of the filter bag <NUM> to the opening <NUM> of the conduit <NUM>. For example, the length L3 of the conduit <NUM> can be between <NUM> and <NUM>, e.g., between <NUM> and <NUM>, <NUM> and <NUM>, or <NUM> and <NUM>.

<FIG> illustrates an example process <NUM> executed by the controller <NUM> of the evacuation station <NUM>. After the robot <NUM> has docked at the evacuation station <NUM>, the controller <NUM> at operation <NUM> initiates an evacuation process. During the evacuation process, the controller <NUM> activates the air mover <NUM>, thereby generating the airflow to evacuate debris from the debris bin <NUM> of the robot <NUM>.

In some implementations, the sensor <NUM> (shown in <FIG>) can be a pressure sensor that generates one or more signals indicative of a steady-state pressure within the receptacle <NUM> of the evacuation station <NUM>. During the evacuation process, referring to <FIG>, the controller <NUM> can transmit data indicative of the steady-state pressure to a remote computing device <NUM>, e.g., a smartphone, a personal computer, a smartwatch, smartglasses, augmented reality device, or other remote computing device. For example, the controller <NUM> can directly transmit the data to the remote computing device <NUM>, e.g., via a Bluetooth, LAN, or other appropriate wireless communication protocol, or the controller <NUM> can transmit the data to the remote computing device <NUM> via a remote server. As shown in <FIG>, the steady-state pressure can be indicative of a fullness state of the evacuation station <NUM>. Based on the steady-state pressure, the remote computing device <NUM> can present a notification <NUM> indicative of the fullness state of the evacuation station <NUM>. For example, the notification <NUM> can indicate a percentage of the total debris capacity of the filtering device <NUM> occupied by accumulated debris.

At operation <NUM>, the controller <NUM> determines a presence or absence of a clog or other obstruction within flow pathways of the evacuation station <NUM>. If the controller <NUM> determines the presence of a clog or other obstruction, the controller <NUM> at operation <NUM> can deactivate the air mover <NUM> and transmit a notification to the user to indicate that a clog or other obstruction has been detected.

At operation <NUM>, the controller <NUM> determines whether a proper sealed engagement between the seal <NUM> and the conduit <NUM> has been formed. If the controller <NUM> determines a proper sealed engagement has not been formed, the controller <NUM> at operation <NUM> can deactivate the air mover <NUM> and transmit a notification to the user to indicate that an improper sealed engagement has been detected.

At operation <NUM>, the controller <NUM> determines whether the receptacle <NUM> of the filtering device <NUM> is full. If the controller <NUM> determines the receptacle <NUM> of the filtering device <NUM> is full, the controller <NUM> at operation <NUM> can deactivate the air mover <NUM> and transmit a notification to the user to indicate that the receptacle <NUM> of the filtering device <NUM> is full.

The controller <NUM> can make the determinations in operations <NUM>, <NUM>, <NUM> using the one or more signals received from the sensor <NUM>. As described herein, the sensor <NUM> can be a pressure sensor that generates the one or more signals indicative of a steady-state pressure within the receptacle <NUM> of the evacuation station <NUM>, and this steady-state pressure can be indicative of a presence or absence of a clog or other obstruction, a proper or improper sealed engagement, or a fullness state of the filtering device <NUM>. For example, if the one or more signals is indicative of a steady-state pressure larger than an expected range for the steady-state pressure, the controller <NUM> can determine that a clog or other obstruction is present within the airflow pathways of the evacuation station <NUM>. The expected range for the steady-state pressure can be computed based on the range of steady-state pressures detected by the sensor <NUM> during previous successful evacuation processes performed by the evacuation station <NUM>. Referring to <FIG>, if the controller <NUM> determines that a clog or other obstruction is present, the controller <NUM> can transmit data indicative of the presence of this clog or other obstruction to the remote computing device <NUM>, and the remote computing device <NUM> can present a notification <NUM> indicative of the presence of this clog or other obstruction. The notification <NUM> can include an instruction for the user to check the one or more conduits of the evacuation station <NUM> to remove the clog or other obstruction.

If the one or more signals is indicative of a steady-state pressure less than the expected range for the steady-state pressure, the controller <NUM> can determine that an improper sealed engagement has been formed between the seal <NUM> and the conduit <NUM>. Referring to <FIG>, if the controller <NUM> determines that an improper sealed engagement has been formed, the controller <NUM> can transmit data indicative of the improper sealed engagement to the remote computing device <NUM>, and the remote computing device <NUM> can present a notification <NUM> indicative of the improper sealed engagement. The notification <NUM> can include an instruction to the user to check the filtering device <NUM> and ensure that the filtering device <NUM> is properly seated within the receptacle <NUM> of the evacuation station <NUM>. The notification <NUM> can alternatively or additionally include an instruction to check the cover <NUM> of the evacuation station <NUM> to ensure that the cover <NUM> is fully closed.

If the one or more signals is indicative of a steady-state pressure larger than a bag-full threshold pressure, the controller <NUM> can determine that the filtering device <NUM> is full. In some implementations, the controller <NUM> can prevent a subsequent evacuation process from being initiated in response to the sensor <NUM> detecting that the receptacle <NUM> of the filtering device <NUM> is in a full state. The controller <NUM> can provide an alert indicating that the filtering device <NUM> should be replaced in response to the sensor <NUM> detecting that the receptacle <NUM> of the filtering device <NUM> is nearing or at a full state. For example, referring to <FIG>, if the controller <NUM> determines that the filtering device <NUM> is full, the controller <NUM> can transmit data indicative of the fullness state of the filtering device <NUM> to the remote computing device <NUM>, and the remote computing device <NUM> can present a notification <NUM> indicating that the user should check the filtering device <NUM> and remove the filtering device <NUM> from the evacuation station <NUM>. In some examples, referring to <FIG>, the controller <NUM> additionally or alternatively can present a notification <NUM> indicating that the user should order one or more additional filtering devices. The notification <NUM> can include user interface elements <NUM> enabling the user to directly order a filtering device to be delivered to the user's home.

At operation <NUM>, if a predefined duration for the evacuation process has elapsed and the triggering events for operations <NUM>, <NUM>, <NUM> have not occurred, the controller <NUM> terminates the evacuation process. The controller <NUM> can deactivate the air mover <NUM> and transmit a notification to the user to indicate that the evacuation process has been complete. Referring to <FIG>, the controller <NUM> can transmit data indicative of the termination of the evacuation process to the remote computing device <NUM>, and the remote computing device <NUM> can present a notification <NUM> indicating that the evacuation process is complete. In some implementations, if the robot <NUM> continues to clean the room after the evacuation process is complete, the notification <NUM> further indicates the robot <NUM> has resumed cleaning. While <FIG> show examples of a remote computing device <NUM> presenting a visual notification indicative of status or conditions of the evacuation station <NUM> or the robot <NUM>, in other implementations, the remote computing device <NUM> can present audible, tactile, or other types of notifications.

<FIG> is a graph of steady-state pressure during various types of processes executed by the controller <NUM> to evacuate debris from the robot <NUM>. During a data trace <NUM> representing a process, the controller <NUM> activates the air mover <NUM> and operates the air mover <NUM> for a predefined duration of time, e.g., <NUM> to <NUM> seconds. The controller <NUM> then deactivates the air mover <NUM> after the predefined duration of time. The process represented by the data trace <NUM> corresponds to an evacuation process in which the controller <NUM> does not detect the presence of a clog, a poorly formed sealed engagement, or a full state of the filtering device <NUM>. In this regard, the steady-state pressure does not exceed the expected range for steady state pressures.

A data trace <NUM> represents an example of a process executed by the controller <NUM> to dislodge a detected clog or other obstruction. The controller <NUM> activates the air mover <NUM> multiple times to dislodge the clog or other obstruction. During the process represented by the data trace <NUM>, the controller <NUM> activates the air mover <NUM> and operates the air mover <NUM> for the predefined duration of time. The controller <NUM> determines that a clog or other obstruction is present in the airflow pathways of the evacuation station <NUM>. The controller <NUM> accordingly briefly deactivates the air mover <NUM> and then immediately, e.g., within <NUM> to <NUM> seconds, activates the air mover <NUM> again. The controller <NUM> operates the air mover <NUM> for the predefined duration of time. The controller <NUM> then detects a drop off <NUM> in the steady-state pressure and determines that the clog or other obstruction has been dislodged or has otherwise been neutralized. The controller <NUM> then deactivates the air mover <NUM> after the predefined duration of time. In some implementations, three or more activations of the air mover <NUM> are required to dislodge the clog or other obstruction. Alternatively, in some implementations, the controller <NUM> does not activate the air mover <NUM> more than three times. If the clog or other obstruction has not been dislodged after three activations, the controller <NUM> terminates the evacuation process and transmits a notification to the user to indicate that a clog or other obstruction has been detected and instruct the user to address the issue.

A data trace <NUM> represents an example process executed by the controller <NUM> when the filtering device <NUM> is full. The controller <NUM> activates the air mover <NUM> multiple times to ensure that the debris in the filtering device <NUM> has properly settled and that the debris capacity of the filtering device <NUM> has been reached. During the process represented by the data trace <NUM>, the controller <NUM> activates the air mover <NUM> and operates the air mover <NUM> for the predefined duration of time. The controller <NUM> determines that the filtering device <NUM> is full. The controller <NUM> accordingly briefly deactivates the air mover <NUM> and then immediately, e.g., within <NUM> to <NUM> seconds, activates the air mover <NUM> again. The controller <NUM> operates the air mover <NUM> for the predefined duration of time. The controller <NUM> again determines that the filtering device <NUM> is full. The controller <NUM> then briefly deactivates the air mover <NUM> and then immediately, e.g., within <NUM> to <NUM> seconds, activates the air mover <NUM> again. The controller <NUM> operates the air mover <NUM> for the predefined duration of time. The controller <NUM> again determines that the filtering device <NUM> is full. After three activations, the controller <NUM> deactivates the air mover <NUM> and transmits a notification to the user that the filtering device is full. While the process represented by the data trace <NUM> is described as including three activations of the air mover <NUM>, in other implementations, two, four, or more activations of the air mover <NUM> can occur in response to determination that the filtering device <NUM> is full.

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

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

Operations and processes associated with controlling the robots and evacuation stations described herein can be performed by one or more programmable processors executing one or more computer programs to perform the functions described herein. Control over all or part of the robots and the evacuation stations described herein can be implemented using special purpose logic circuitry, e.g., an FPGA (field programmable gate array) and/or an ASIC (application-specific integrated circuit).

The controllers (e.g., the controller <NUM>, the controller <NUM>) described herein can include one or more processors. Generally, a processor will receive instructions and data from a read-only storage area or a random access storage area or both. Elements of a computer include one or more processors for executing instructions and one or more storage area devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from, or transfer data to, or both, one or more machine-readable storage media, such as mass PCBs for storing data, e.g., magnetic, magneto-optical disks, or optical disks. Machine-readable storage media suitable for embodying computer program instructions and data include all forms of non-volatile storage area, including by way of example, semiconductor storage area devices, e.g., EPROM, EEPROM, and flash storage area devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. While the controller <NUM> of the evacuation station <NUM> is described as controlling the air mover <NUM> and performing other operations as described herein, in other implementations, the controller <NUM> of the robot <NUM>, a remote server, or a combination of various controllers described herein can be used to control the operations of the evacuation station <NUM>.

While the conduit <NUM> is described as being formed from a rigid polymer, in some implementations, the conduit <NUM> is formed from a flexible material. The conduit <NUM> can be a thin piece of polymeric material. The conduit <NUM> can formed from, for example, polyurethane, latex, rubber, an elastomer, another appropriate flexible material, or a combination of multiple appropriate materials that provide flexibility. The conduit <NUM> can be sufficiently flexible such that the conduit <NUM> droops when the air mover <NUM> of the evacuation station <NUM> is not operated. During operation of the air mover <NUM>, the conduit <NUM> can expand to allow the airflow generated by the air mover <NUM> to pass through the conduit <NUM>.

While the sensor <NUM> is described, in some implementations, the evacuation station <NUM> includes multiple sensors positioned along or proximate the airflow pathways of the evacuation station <NUM>. For example, the evacuation station <NUM> can include two pressure sensors, with one pressure sensor located on opposing sides of an airflow pathway. In some implementations, a first pressure sensor can be located within the canister, such as near the filtering device <NUM>, and a second pressure sensor can be located near the intake <NUM> of the evacuation station <NUM>. Based on signals from the multiple sensors, the controller <NUM> can determine a particular location along the airflow pathways of a clog or other obstruction or an air leak.

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

The cover <NUM> is described in some implementations as being slidable relative to the collar <NUM>. In some cases, as described herein, the cover <NUM> is translatable relative to the cover <NUM>. Additionally or alternatively, the cover <NUM> is rotatable relative to the cover <NUM> between the open and closed positions. In some implementations, the seal <NUM> serves as a cover for the opening <NUM> of the filter bag <NUM>. For example, the seal <NUM> can cover substantially an entirety of the opening <NUM> of the filter bag <NUM>, e.g., <NUM>% to <NUM>%. The conduit <NUM> in the protruded position can be penetrate the seal <NUM> and thereby enlarge the opening <NUM> defined by the seal <NUM>. The seal <NUM> can include several slits that impart the flexibility for allowing the conduit <NUM> to penetrate the seal <NUM>.

While the snap fit mechanism <NUM> is described as attaching the conduit <NUM> to the collar <NUM>, in other implementations, a mechanism for attaching the conduit <NUM> to the collar <NUM> includes adhesive attachment, welding, an interference fit mechanism, or other appropriate attachment mechanism.

Claim 1:
A method executed by a controller of an evacuation station (<NUM>) for an autonomous cleaning robot (<NUM>), characterized by:
detecting a clog or other obstruction within flow pathways of the evacuation station; and
autonomously removing a detected clog or other obstruction by operating an air mover (<NUM>) of the evacuation station to remove the clog.