Patent Description:
Mobile cleaning robots can include a variety of components that require maintenance or interaction between missions or during missions. For example, vacuuming robots that extract debris from an environment may need to empty their debris bins during missions or between missions. Some robots can automatically or autonomously evacuate their debris bins at a docking station. Further, mopping robots require filling of the robot with a cleaning solution, such as before every mopping mission commences or during a long mopping mission. Two-in-one (or mopping and vacuuming robots) may require both of these actions (evacuation and tank filling) to be performed before, during, or after a cleaning mission of the robot, which can necessitate a docking station including a variety of components to support debris evacuation, tank filling, and charging of the mobile cleaning robot.

This disclosure helps to support these operations by including a docking station with a filling spout for filling the robot with cleaning fluid. The docking station can also include wheel well switches to indicate when the robot has docked before evacuation, refilling, or charging is commenced. The docking station can further include a front-access panel for access to the fluid tank, the docking station debris bag, and storage compartments for storing accessories. The docking station can further include retracting contacts to limit interaction between the body of the robot and the contacts.

For example, a docking station for a mobile cleaning robot can include a base and a canister. The base can be configured to receive at least a portion of the mobile cleaning robot thereon. The base can include an electrical power interface configured to provide electrical power to the mobile cleaning robot. The canister can be connected to the base and can be located at least partially above the base. The canister can include a debris bin to receive debris from the mobile cleaning robot. A docking station according to the preamble of claim <NUM> is already known e.g. from <CIT>.

The above discussion is intended to provide an overview of subject matter of the present patent application. The description below is included to provide further information about the present patent application.

<FIG> illustrates an isometric view of a docking station <NUM> for a mobile cleaning robot <NUM>. The mobile cleaning robot can be a vacuuming robot, a mopping robot, or a combination thereof (two-in-one) mobile cleaning robot configured to perform mopping and cleaning operations in an environment. The mobile cleaning robot <NUM> can include a body <NUM> and a mopping system <NUM> connected to the body <NUM>. The mopping system can include a retractable mopping pad tray and pad as discussed in<CIT>.

The docking station <NUM> can include a canister <NUM> and a base <NUM>. The canister <NUM> can include an outer wall <NUM> and a door <NUM>. The base <NUM> can include a platform <NUM> including include tracks 118a and 118b including respective wheel wells 120a and 120b. The platform <NUM> can also include a vacuum port <NUM>. The docking station <NUM> can also include a docking port <NUM> configured to at least partially receive the mobile cleaning robot <NUM> therein. For example, the mobile cleaning robot <NUM> can move into the docking port <NUM> by traversing over the tracks 118a and 118b until drive wheels of the mobile cleaning robot <NUM> rest in the wheel wells <NUM>, which can align the vacuum port <NUM> with a debris port of the robot and can align charging contacts <NUM> of the dock with contacts of the mobile cleaning robot <NUM>, along with other features of the mobile cleaning robot <NUM> and the docking station <NUM>.

The components of the docking station <NUM> can be rigid or semi-rigid components made of materials such as one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. Materials of some components are discussed in further detail below. The mobile robot <NUM> can be a mobile cleaning robot including wheels, extractor, a debris bin, a controller, and various sensors. The robot <NUM> can be configured to perform autonomous cleaning missions or routines within an environment.

The base <NUM> can be a ramped member including the platform <NUM> and the tracks 118a and 118b, where the base <NUM> can be configured to receive the mobile cleaning robot <NUM> thereon for maintenance, such as charging and emptying debris from the mobile cleaning robot. The tracks <NUM> can be configured to receive wheels of the robot <NUM> to guide the robot <NUM> onto the base <NUM> for charging and debris evacuation using contacts <NUM>. The contacts <NUM> can be (or can be part of) an electrical power interface configured to provide electrical power to the mobile cleaning robot <NUM>. The platform <NUM> and the tracks <NUM> can be sloped toward the front portion to help allow the mobile robot <NUM> to dock on the station <NUM>.

When the robot <NUM> is positioned on the base <NUM>, such as when wheels of the robot <NUM> are in wheel wells <NUM>, the vacuum port <NUM> can be aligned with a vacuum outlet of the robot <NUM>. The vacuum port <NUM> can extend through the base <NUM> and can connect to the vacuum inlet of the canister <NUM>.

The canister <NUM> can be an upper portion of the docking station <NUM> connected to a rear portion of the base <NUM> and can extend upward therefrom, such that the canister <NUM> can be located at least partially above the base <NUM>. The outer wall <NUM> of the canister <NUM> can have a shape of a substantially rectangular hollow prism with rounded corners where the outer wall <NUM> can define a front portion of the canister <NUM> that is open. The outer wall <NUM> can at least partially enclose the debris bin and a fan compartment.

The door <NUM> can be connected to the outer wall <NUM> (such as by hinges or other fasteners), such as at a side portion of the door <NUM>. The door <NUM> can be releasably securable to the outer wall <NUM>, such as at a side portion of the door <NUM> and the outer wall <NUM> (such as via a friction/interference fit, latch, or the like). Removal of the door <NUM> or opening of the door <NUM> from the front portion of the canister <NUM> can provide access to debris bin and can optionally provide access to the fan compartment.

<FIG> illustrates an isometric view of the docking station <NUM>. The docking station <NUM> can be consistent with the docking station <NUM> discussed above, <FIG> shows additional details of the docking station <NUM>. For example, <FIG> shows the door <NUM> in an open position, exposing internal compartments of the docking station <NUM>, such as a tank compartment <NUM>, which can be at least partially formed into the outer canister <NUM>, such as by the outer wall <NUM> and one or more inner walls of the canister <NUM>. The tank compartment <NUM> can be configured to removably receive a fluid tank <NUM> therein for delivery of cleaning fluid to the mobile cleaning robot <NUM>. The fluid tank <NUM> can be slidably insertable into (or removable from) the tank compartment <NUM> when the door <NUM> is in the open configuration.

<FIG> also shows a debris compartment <NUM> that can be at least partially formed into the outer canister <NUM>, such as by the outer wall <NUM> and one or more inner walls of the canister <NUM>. The debris compartment <NUM> can be configured to removably receive a bag drawer <NUM> therein for receiving a debris bag therein. The bag drawer <NUM> can be slidably insertable into (or removable from) the debris compartment <NUM> such as between an open position and a closed position (shown in <FIG>) when the door <NUM> is in the open configuration. Optionally, the bag drawer <NUM> can be entirely removable from the debris compartment <NUM> and the canister <NUM>.

The canister <NUM> can further include various storage compartments for storing one or more user-replaceable components of the mobile cleaning robot <NUM>. For example, the door <NUM> can include a door compartment <NUM> connected to and extending from a top portion of the door <NUM>. The door compartment <NUM> can be movable or rotatable with the door <NUM> such that the door compartment <NUM> is exposed when the door <NUM> is in the open position, as shown in <FIG>, and such that the door compartment <NUM> can be concealed within the canister <NUM> when the door <NUM> is in the closed position, as shown in <FIG>. Optionally, the door compartment <NUM> can be configured (e.g., sized or shaped) to hold or support user-replaceable components, such as a mopping pad <NUM>.

The canister <NUM> can also include an upper shelf <NUM> that can be defined at least in part by the outer wall <NUM> and inner walls of the canister <NUM>. The upper shelf <NUM> can be accessible or exposed when the door <NUM> is in the open position, as shown in <FIG>. The upper shelf <NUM> can be configured (e.g., sized or shaped) to hold or support user-replaceable components, such as a replacement filter, rollers, side brush, or the like.

The canister <NUM> can also include a side shelf <NUM> that can be defined at least in part by the outer wall <NUM> and inner walls of the canister <NUM>. The side shelf <NUM> can be accessible or exposed when the door <NUM> is in the open position, as shown in <FIG>. The side shelf <NUM> can be configured (e.g., sized or shaped) to hold or support user-replaceable components, such as a debris bag. Optionally, the side shelf <NUM> can be located in front of a fan system, shown in <FIG>. The canister <NUM> can optionally include more or fewer storage compartments.

<FIG> illustrates an isometric view of the fluid tank <NUM> of the docking station <NUM>. <FIG> illustrates an isometric view of the docking station docking station <NUM> and a mobile cleaning robot <NUM>. <FIG> and <FIG> are discussed together below. The docking station <NUM> and the fluid tank <NUM> can be consistent with the docking station <NUM> and the fluid tank <NUM> discussed above. <FIG> shows additional details of the fluid tank <NUM>. For example, <FIG> shows that the fluid tank <NUM> can include a body <NUM>, which can be defined by walls (e.g., <NUM> or more walls) to define a volume configured to contain or hold cleaning fluid therein. The fluid tank <NUM> can also include a handle <NUM> that can be user-graspable, such as to slidably insert or remove the fluid tank <NUM> from the tank compartment <NUM>. For example, as shown in <FIG>, the fluid tank <NUM> can be slidably removable (or insertable) through a front portion of the canister, such as using the handle <NUM>.

As also shown in <FIG>, the fluid tank <NUM> can include a fluid port <NUM>, which can be connected to the body <NUM>. The fluid port <NUM> can be fluidly connectable to one or more lines in the docking station <NUM> to connect the fluid tank <NUM> to the docking station <NUM> when the fluid tank <NUM> is fully inserted into the tank compartment <NUM> of the docking station <NUM>. The fluid port <NUM> can optionally include valve (fill valve <NUM>), as discussed in further detail below.

<FIG> illustrates an isometric view of the docking station <NUM> with the bag drawer <NUM> in an open position. <FIG> illustrates an isometric view of the docking station <NUM> with the bag drawer <NUM> in an open position and a debris bag <NUM> partially removed from the <NUM>. <FIG> and <FIG> are discussed together below.

The docking station <NUM> of <FIG> and <FIG> can be consistent with the docking station <NUM> discussed above; <FIG> and <FIG> show additional details of operation of the docking station <NUM>. For example, <FIG> shows that the bag drawer <NUM> can be slid, translated, or otherwise moved forward to the open position when the door <NUM> is in the open position. Then, as shown in <FIG>, when the bag drawer <NUM> is in the open position, the debris bag <NUM> can be moved upward relative to the bag drawer <NUM> to remove the debris bag <NUM> from the bag drawer <NUM> and the canister <NUM>. Following removal of a dirty debris bag <NUM>, a clean or new debris bag can be inserted (downward) into the bag drawer <NUM> when the bag drawer <NUM> is in the open position. The bag drawer <NUM> can then be translated or slid to rearward to the closed position before the door <NUM> is closed allowing operations (such as evacuation of the docking station <NUM>) to continue.

<FIG> illustrates an exploded isometric view of the docking station <NUM>. <FIG> illustrates an exploded isometric view of the docking station <NUM>. The docking station <NUM> of <FIG> and <FIG> can be consistent with the docking station <NUM> discussed above; <FIG> and <FIG> show additional details of the docking station <NUM>. For example, <FIG> shows a fan system <NUM> (including an evacuation fan), which can be an exhaust fan connected to the debris compartment <NUM> and the bag drawer <NUM> and can be located in a fan compartment <NUM> of the canister <NUM>. The fan system <NUM> can be operable to draw debris through the docking station <NUM> via the vacuum port <NUM> and into the debris bag <NUM> in the bag drawer <NUM> where the debris can be captured by the debris bag <NUM>. Exhaust air from the fan system <NUM> can be exhausted through an exhaust opening <NUM> into the docking port <NUM>, such as through an internal wall of the canister <NUM>. By discharging the exhaust air into the docking port <NUM> and toward the base <NUM>, the discharge can be directed away from a rear or side portion of the canister <NUM>, helping to reduce occurrence of exhausting onto items within an environment.

<FIG> also shows that the fluid tank <NUM> and the bag drawer <NUM> can be removable from a front portion of the canister <NUM>, such as when the door <NUM> is in the open position. <FIG> further shows that a front panel <NUM> can be optionally removable from a chassis <NUM> of the canister <NUM>, such as for maintenance of components within the canister <NUM>. Similarly, as shown in <FIG>, any of panels 162a-162c (together, panels <NUM>) can be removable from the chassis <NUM> of the canister <NUM>, such as for access or service of any components therein. Also, a lid <NUM> can be user-removable from a top portion of the canister <NUM> such as for cosmetic replacement. Optionally, removal of the lid <NUM> can provide access to the fan system <NUM> or high voltage components <NUM>. The components <NUM> can be connected to the fan system <NUM> and can be connected to any of the sensors or components of the canister <NUM>, such as to distribute power to components of the canister <NUM>.

<FIG> illustrates an enlarged side cross-sectional view of the docking station <NUM> and the mobile cleaning robot <NUM>. <FIG> illustrates an enlarged side cross-sectional view of the docking station <NUM> and the mobile cleaning robot. The docking station <NUM> of <FIG> and <FIG> can be consistent with the docking station <NUM> discussed above; <FIG> show additional details of the docking station <NUM>. For example, <FIG> and <FIG> show an image capture device <NUM>, which can interface with docking tags, as discussed below with reference to <FIG>.

<FIG> and <FIG> also show a fill spout <NUM>, which can be connected to the canister <NUM> and can be movable (e.g., rotatable) with respect to the canister <NUM>. Also shown is an actuator <NUM>, which can optionally be a rotating cam. The actuator <NUM> can be optionally driven by a motor to rotate with respect to the canister <NUM>. In operation of some examples, as shown in <FIG>, the fill spout <NUM> can be in a stored position, such as within the canister <NUM>. When the docking station <NUM> is fully docked on the base <NUM>, the actuator <NUM> can be operated to rotate the fill spout <NUM> to extend from the canister <NUM> and insert into the mobile cleaning robot <NUM>, as shown in <FIG>. For example, the fill spout <NUM> can engage a door <NUM> of the mobile cleaning robot <NUM>, causing the door <NUM> to open to allow the <NUM> to enter a tank <NUM> of the mobile cleaning robot <NUM>, and allowing fluid to be discharged from the canister <NUM> (e.g., the fluid tank <NUM>) into the door <NUM> of the mobile cleaning robot <NUM>. The door <NUM> can optionally be biased toward the closed position (<FIG>) such as to help limit fluid from escaping through the door <NUM> during a mission. Optionally, the fill spout <NUM> can be extended as (or prior to) the mobile cleaning robot <NUM> is moved into its final docking position.

<FIG> illustrates a front view of the docking station <NUM>. The docking station <NUM> of <FIG> can be consistent with the docking station <NUM> discussed above; <FIG> shows additional details of the docking station <NUM>. For example, <FIG> shows that the docking station <NUM> can include a docking sensor <NUM> located within the docking port <NUM> and connected to the base <NUM> or the canister <NUM>. The sensor <NUM> can be an optical sensor, such as an infrared (IR) sensor configured to detect a proximity of the mobile cleaning robot <NUM> relative to the canister <NUM>, such as for use by the robot <NUM> for guidance during docking onto the base <NUM>. <FIG> also shows that the door <NUM> can include a tab <NUM>, which can be a rigid or semi-rigid member, such as a small handle. The tab <NUM> can be user-graspable such as to allow a user to open and close the door <NUM>.

<FIG> also shows that the base <NUM> or the canister <NUM> can include identification (ID) tags 176a-176c, which can be April tags, QR tags, or the like. The tags <NUM> can be used by the image capture device <NUM> of the mobile cleaning robot <NUM> for navigating onto the base <NUM> (along with the sensor <NUM>) properly for docking of the mobile cleaning robot <NUM>, such as to allow for maintenance of the mobile cleaning robot <NUM> to be performed by the docking station <NUM>.

<FIG> illustrates an enlarged side cross-sectional view of the docking station <NUM> and the mobile cleaning robot <NUM>. The docking station <NUM> of <FIG> can be consistent with the docking station <NUM> discussed above; <FIG> shows additional details of the docking station <NUM>. For example, <FIG> shows that the door <NUM> can rotate about a pivot <NUM> when engaged by the fill spout <NUM> such as to move the door <NUM> to an open or fill position. The door <NUM> or the pivot <NUM> can include a biasing element (such as a torsion spring) that can be configured to bias the door <NUM> to the closed position when the fill spout <NUM> is removed or not in contact with the door <NUM>. <FIG> also shows that the mobile cleaning robot <NUM> can include a seal <NUM> engageable with the door <NUM> to seal the tank <NUM> when the door <NUM> is in the closed position.

<FIG> illustrates an enlarged side cross-sectional view of the docking station <NUM> and the mobile cleaning robot <NUM>. <FIG> illustrates an enlarged side cross-sectional view of the docking station <NUM> and the mobile cleaning robot <NUM>. <FIG> and <FIG> are dThe docking station <NUM> of <FIG> and <FIG> can be consistent with the docking station <NUM> discussed above; <FIG> and <FIG> show additional details of the docking station <NUM>. For example, <FIG> and <FIG> show that the fill spout <NUM> can include a magnetic component <NUM> (such as a magnet or electromagnet) and show that the door <NUM> can include a sensor <NUM> (such as a Hall effect sensor or the like).

As shown in <FIG>, the sensor <NUM> can produce a field F1 and the magnetic component <NUM> can produce a field F2. When in the position of <FIG>, the filed F2 of the magnetic component <NUM> can be outside the field F1 before the fill spout <NUM> is inserted into the mobile cleaning robot <NUM>. As shown in <FIG>, when the fill spout <NUM> is inserted into the mobile cleaning robot <NUM> past the seal <NUM>, the field F2 can interact with the field F1, allowing the sensor <NUM> to detect the presence of the magnetic component <NUM> and therefore to detect the presence of the fill spout <NUM> within the robot <NUM>. A controller can be connected to the sensor <NUM> and can receive a signal therefrom to indicate that the fill spout <NUM> is fully inserted into the mobile cleaning robot <NUM> such that filling of liquid through the fill spout <NUM> can commence.

<FIG> illustrates an enlarged side view of the fill spout <NUM> and the actuator <NUM> in a first condition. <FIG> illustrates an enlarged side view of the fill spout <NUM> and the actuator <NUM> in a second condition. <FIG> illustrates an enlarged side view of the fill spout <NUM> and the actuator <NUM> in a third condition. <FIG> illustrates an enlarged side view of the fill spout <NUM> and the actuator <NUM> in a fourth condition. <FIG> are discussed together below.

The fill spout <NUM> and the actuator <NUM> of <FIG> can be consistent with the fill spout <NUM> and the actuator <NUM> discussed above; <FIG> show additional details of operation of the fill spout <NUM> and the actuator <NUM>. For example, <FIG> shows that shows the actuator <NUM> (which can be a cam) can clear or pass a counter element <NUM> of the fill spout <NUM> allowing a torsion spring <NUM> to apply a force on the fill spout <NUM> to rotate the fill spout <NUM> to a stowed, vertical position, as shown in <FIG>.

As the actuator <NUM> continues to rotate, it can interact with an end <NUM> of the fill spout <NUM>, such that the actuator <NUM> can move the fill spout <NUM> from the position shown in <FIG> to the position shown in <FIG>. As the actuator <NUM> rotates beyond the end <NUM> of the fill spout <NUM>, a biasing portion <NUM> (a portion of a profile of the actuator <NUM>) can engage a contoured portion <NUM> of the fill spout <NUM>, limiting movement of the fill spout <NUM> for a significant portion of rotation of the actuator <NUM>, such as between <NUM> degrees and <NUM> degrees of rotation of the actuator <NUM>. <FIG> shows a final portion of engagement of the actuator <NUM> with the fill spout <NUM> prior to the actuator <NUM> disengaging with the fill spout <NUM> and allowing the torsion spring <NUM> to return the fill spout <NUM> to a stowed vertical position.

<FIG> illustrates an enlarged side view of fill spout <NUM> and the actuator <NUM>, showing additional details of the engagement between the fill spout <NUM> and the actuator <NUM>. For example, <FIG> shows engagement between the fill spout <NUM> and the actuator <NUM>, which can result in a reliable interface yielding reliable positioning of the fill spout <NUM> with respect to a rear robot door.

More specifically, as the actuator <NUM> rotates through its position, the biasing portion <NUM> of the actuator <NUM> and the contoured portion <NUM> of the fill spout <NUM> can come into alignment. A detent <NUM> in the contoured portion <NUM> can force deflection of the torsion spring <NUM>, resulting in a reliable position of the fill spout <NUM>. A force A can be created by the detent <NUM> interacting with the torsion spring <NUM>, causing the fill spout <NUM> to pivot about a pin axis of a pin <NUM> of the fill spout <NUM>. This can result in a force B forcing the fill spout <NUM> down into a hard stop <NUM> of the docking station <NUM>, helping to hold the fill spout <NUM> in a fill position. The interaction between the detent <NUM> of the biasing portion <NUM> (cam profile) and the biasing portion <NUM> can help to provide a mechanism that is robustly positioned allowing the mobile cleaning robot <NUM> to back into the fill spout <NUM> while limiting movement of the fill spout <NUM> and while helping to limit damage to the fill spout <NUM>.

<FIG> illustrates an enlarged side cross-sectional isometric view of a docking station <NUM>. The docking station <NUM> can be similar to the docking station and mobile cleaning robot discussed above; the <NUM> can include a fill spout that uses a rack and pinion mechanism. Any of the docking stations discussed above or below can be modified to include the features of the docking station <NUM>.

More specifically, the <NUM> can include a fill spout <NUM> including a rack <NUM> connected to or integrated with the fill spout <NUM>, such as on a bottom portion thereof. The docking station <NUM> can also include a pinion <NUM>, which can be connected to a motor to rotate the pinion <NUM>. The pinion <NUM> can be engaged with the rack <NUM> such that rotation of the pinion <NUM> can cause translation of the rack <NUM> and therefore the fill spout <NUM>, such that the fill spout <NUM> can translate between an extended position (such as for filling of a tank of the mobile cleaning robot <NUM>) and a retracted position (when the robot is not docked). <FIG> also shows that the fill spout <NUM> can include a fitting <NUM> connected to a tube or pipe within the docking station <NUM> to connect the fill spout <NUM> to a fluid tank.

<FIG> further shows that a base <NUM> of the <NUM> can include charging contacts 1526a and 1526b, which can extend at least partially through the base <NUM>, such as to engage a robot for charging of the robot. <FIG> also shows that the contacts <NUM> can be connected to a contacts mechanism <NUM> that can be operable to move the contacts <NUM> with respect to the base <NUM>. The charging contacts <NUM> can be movable between a retracted position and an extended position, such that the dock charging contacts <NUM> can be engageable with robot charging contacts when in the extended position and when the mobile cleaning robot is docked on the base <NUM>, as discussed in further detail below.

<FIG> also shows a docking switch <NUM> that can be configured to engage a mobile cleaning robot (e.g., the mobile cleaning robot <NUM> or <NUM> [discussed below]). The docking switch <NUM> can be connected to a controller (or in communication therewith) such as to indicate that the robot is properly or completely docked on the base <NUM>.

<FIG> illustrates an isometric view of a portion of the docking station <NUM>, which can be consistent with the docking station <NUM> discussed above with respect to <FIG>. <FIG> shows additional details of the docking station <NUM>. For example, <FIG> shows that the docking switch <NUM> can extend at least partially into the docking station <NUM>, such as into a canister <NUM> or the base <NUM>.

<FIG> also shows that the docking station <NUM> can include a contact switch <NUM>. The contact switch <NUM> can be connected to the base <NUM> and can be engageable with the mobile cleaning robot to move the dock charging contacts to the extended position (shown in <FIG>), as discussed in further detail below with regard to <FIG>.

<FIG> also shows that the base <NUM> can include tracks 1518a and 1518b including respective wheel wells 1520a and 1520b, which can be similar to the tracks <NUM> and the wheel wells <NUM> of the docking station <NUM>. The wheel wells <NUM> can be configured to receive respective drive wheels of the mobile cleaning robot therein to align robot charging contacts of the mobile cleaning robot with the electrical power interface of the base <NUM> (e.g., the contacts <NUM>).

<FIG> further shows that the base <NUM> can include a pair of wheel switches 1513a and 1513b located in the pair of wheel wells 1520a and 1520b, respectively. The switches <NUM> can each extend at least partially through their respective wheel wells <NUM> such as to be engageable by respective drive wheels of the robot. The switches <NUM> can be break beam sensors, mechanical push switches, or the like.

The wheel switches <NUM> can be independently engageable by respective drive wheels when the drive wheels are positioned in respective ones of the wheel wells <NUM> such as to produce independent docking signals that can be transmitted to one or more controllers, e.g., within the docking station <NUM>. Because the switches <NUM> can be independently actuated by their respective drive wheels, the switches <NUM> can help to reduce an occurrence of failure to detect docking when proper docking has occurred, which may be more likely to occur with a single switch.

<FIG> illustrates an enlarged cross-sectional isometric view of the docking station <NUM>. <FIG> illustrates an enlarged bottom cross-sectional isometric view of the docking station <NUM>. <FIG> and <FIG> are discussed together below.

The docking station <NUM> of <FIG> and <FIG> can be consistent with the docking station <NUM> discussed above. <FIG> and <FIG> show additional details of the docking station <NUM>. For example, <FIG> shows that the contact switch <NUM> of the contacts mechanism <NUM> can extend through an opening <NUM> in the base <NUM>, which can be located between the contacts <NUM>. The opening <NUM> can allow the contact switch <NUM> to extend above a surface of the base <NUM> to allow for engagement with the robot.

<FIG> shows that the contacts mechanism <NUM> can be located, at least in part, on an underside of the base <NUM> and can be connected thereto. <FIG> also shows that the contact switch <NUM> can be connected to an arm <NUM>. The arm <NUM> can be located on an underside of the base <NUM> and can be connected to a biasing element, such as a spring (e.g., a torsion spring). The spring can be connected to as support <NUM>, where the support or base <NUM> can be configured to secure the contacts mechanism <NUM> to the base <NUM>.

<FIG> illustrates an isometric view of the contacts mechanism <NUM>. <FIG> illustrates an isometric view of a portion of the contacts mechanism <NUM>. <FIG> are discussed together below. The contacts mechanism <NUM> can be consistent with the contacts mechanism <NUM> discussed above; <FIG> show additional details of the contacts mechanism <NUM>.

For example, <FIG> shows that the charging contacts 1526a and 1526b can be connected to armatures 1519a and 1519b, respectively. The armatures <NUM> can support the contacts <NUM> and can connect the contacts <NUM> to respectively linkages 1521a and 1521b. The linkages 1521a and 1521b can each be connected to supports 1523a and 1523b, respectively, such that the linkages 1521a and 1521b can be rotatable or pivotable with respect to the supports 1523a and 1523b, respectively. The supports 1523a and 1523b can be secured tot the base <NUM> as shown in <FIG>.

<FIG> also shows that the bases <NUM> can be configured to receive fasteners <NUM> to secure the bases or supports <NUM> to the base <NUM>. The fasteners <NUM> can be screws, rivets, or the like. <FIG> further show that the linkages 1521a and 1521b can be connected to arms arm 1517a and 1517b by pins 1525a and 1525b, respectively. Also shown are biasing elements 1527a and 1527b, which can be secured to the pins 1525a and 1525b, respectively, and engaged with the linkages 1521a and 1521b, respectively.

In operation, when the supports or bases <NUM> are secured to (the underside of) the base <NUM> of the dock <NUM>, the biasing elements <NUM> can engage the base <NUM> and the linkages <NUM> such as to bias the linkages <NUM> (and therefore the contacts <NUM>) to a retracted position. Then, when the contact switch <NUM> is engaged by the robot during docking, such as a caster of the robot, the arms 1517a and 1517b can move, overcoming a biasing force of the biasing elements 1527a and 1527b. When the biasing force is overcome, the linkages 1521a and 1521b can be caused to rotate or pivot, resulting in moving of the contacts <NUM> to an extended position, such as for engaging charging contacts of the robot. In this way, the contacts <NUM> can be protected within the base <NUM> until the robot is fully docked on the base <NUM>.

<FIG> also shows a magnetic element <NUM> (location shown in <FIG>), which can be configured to attract a charging contact of the robot to help ensure the 1526a is in contact the charging contact of the robot. The charging contact 1526b can optionally include a similar magnetic element.

<FIG> also shows a tab <NUM> that can be connected to the contact 1526a. The tab <NUM> can connect the contact <NUM>, such as to electrically, to a power supply of the dock <NUM>. Optionally, the tab <NUM> can complete a circuit only when the contacts <NUM> are in an extended position, such that the tab <NUM> moves to break the circuit as the contacts <NUM> move to the retracted position.

<FIG> illustrates an isometric view of a portion of a docking station <NUM>. The docking station <NUM> can be similar to the docking stations discussed above; the docking station <NUM> can differ in that it can be divided into segments. Any of the docking stations discussed above or below can include the features of the docking station <NUM>.

As shown in <FIG>, the docking station <NUM> can include a base segment <NUM> that can include a docking port <NUM> and can include or be connected to a base <NUM> (which can be similar to the docking port <NUM> and the base <NUM> discussed above). An evacuation segment <NUM> can be connected to the base segment <NUM> and can be configured to support or include a bag drawer <NUM> and a fan system <NUM> (which can be similar to the bag drawer <NUM> and the fan system <NUM> discussed above). Optionally, the evacuation segment <NUM> can be removably connected to the base segment <NUM> such that the base segment <NUM> can be used for docking stations having only a base <NUM> and can be used for docking stations including evacuation components (such as the bag drawer <NUM> and the fan system <NUM>).

A fluid segment <NUM> can be connected to the evacuation segment <NUM> and can include a clean fluid tank <NUM> and a dirty fluid tank <NUM>. The clean fluid tank <NUM> can be configured to deliver cleaning fluid to a robot and the dirty fluid tank <NUM> can be configured to receive dirty fluid from the robot. Optionally, the fluid segment <NUM> can be removably connected to the evacuation segment <NUM> such that the evacuation segment <NUM> can be used for docking stations not including a fluid segment <NUM> and can be used for docking stations including the fluid segment <NUM>.

The docking station <NUM> can also optionally include a pad washing system <NUM> connected to the <NUM>. The pad washing system 1941can be a roller engageable with a pad of a robot and operable (e.g., rotatable) to agitate and clean a dirty pad, such as following a mopping mission or during a mopping mission. Optionally the pad washing system <NUM> can connect to the clean fluid tank <NUM> and the dirty fluid tank <NUM> for use of the fluids during pad washing operations.

<FIG> illustrates an enlarged side cross-sectional view of a docking station <NUM>. The docking station <NUM> can be similar to the docking stations discussed above; the docking station <NUM> can differ in that it can include a drawer with a seal. Any of the docking stations discussed above or below can include the features of the docking station <NUM>.

The docking station <NUM> can include a debris compartment <NUM> and a bag drawer <NUM> slidably movable therein. The debris compartment <NUM> and the bag drawer <NUM> can be similar to the debris compartment <NUM> and the bag drawer <NUM> discussed above. <FIG> shows that the bag drawer <NUM> can include a seal <NUM> connected to an inner front face <NUM> of the bag drawer <NUM>. The seal <NUM> can be engageable with the bag or debris compartment <NUM> such as to seal the bag drawer <NUM> when the bag drawer <NUM> is in the closed position, as shown in <FIG>. In such a configuration, the seal <NUM> can be compressed between the bag drawer <NUM> and the debris compartment <NUM> to create a sealed compartment within the debris compartment <NUM>. Optionally, the bag drawer <NUM> can include a retainer <NUM>. The retainer <NUM> can be connected to the inner face <NUM>. The retainer <NUM> can extend inward from the inner front face <NUM> and can be configured to mechanically retain the seal <NUM> to the bag drawer <NUM>. Optionally, the seal <NUM> can be secured to the bag drawer <NUM> using one or more fasteners or adhesive.

<FIG> illustrates an enlarged side cross-sectional view of a portion of the docking station <NUM>. <FIG> illustrates a front isometric view of a portion of the docking station <NUM>. <FIG> illustrates an enlarged side cross-sectional view of a portion of the docking station <NUM>. <FIG> illustrates an enlarged side cross-sectional view of a portion of the docking station <NUM>. <FIG> are discussed together below. The docking station <NUM> can be consistent with the docking station <NUM> discussed above and can be similar to the docking stations discussed above or below. Any of the features of the docking station <NUM> can be incorporated into the docking stations discussed above or below.

<FIG> show that a tank compartment <NUM> of the docking station <NUM> can include a fill port <NUM>, which can be connected to and located in a rear portion of the tank compartment <NUM>. As shown in <FIG>, the fill port <NUM> can be configured to interface with a fill valve <NUM> of a tank <NUM>. As discussed below with respect to <FIG>, engagement of the fill valve <NUM> with the fill port <NUM> when the tank <NUM> is fully inserted into the tank compartment <NUM> can cause the fill valve <NUM> to open, allowing fluid to enter the fill port <NUM> and a supply tube <NUM>, such as for supply to a mobile cleaning robot (e.g., the mobile cleaning robot <NUM>).

<FIG> also shows a support <NUM> that can be configured to engage the supply tube <NUM>, such as to limit rearward movement of the supply tube <NUM> as the tank <NUM> is inserted into the tank compartment <NUM> and the fill valve <NUM> engages the fill port <NUM>. <FIG> further show a latch <NUM> connected to a floor <NUM> of the tank compartment <NUM>. The latch <NUM> can be configured to engage a recess <NUM> of the tank <NUM>, such as to help limit translation of the tank <NUM> with respect to the tank compartment <NUM>. The latch <NUM> can be configured to release the tank <NUM> when a force large enough to overcome a biasing force of the latch <NUM> applied to the tank <NUM> is overcome. Optionally, the latch <NUM> can be user-actuatable to release the latch <NUM> from the recess <NUM> and to therefore allow the tank <NUM> to be removed from the tank compartment <NUM>.

<FIG> show additional details of the fill port <NUM> and the fill valve <NUM>. For example, <FIG> show that the fill port <NUM> can include a flange <NUM> securable to a rear wall <NUM> of the tank compartment <NUM>, such as to limit movement of the fill port <NUM> with respect to the tank compartment <NUM>.

<FIG> also show that the fill port <NUM> can include projections <NUM>, which can extend radially outward from a tube <NUM> of the fill port <NUM>. The projections <NUM> can extend outward at different lengths such that the projections <NUM> are configured to matingly engage a stopper <NUM> of the fill valve <NUM>, which can help to limit relative movement of the fill valve <NUM> with respect to the fill port <NUM> and can allow the tube <NUM> to engage a plunger <NUM> of the fill valve <NUM>.

The fill valve <NUM> can also include a plunger biasing element <NUM> engaged with the plunger <NUM> to bias the plunger <NUM> to a closed position. When the force applied by the tube <NUM> on the plunger <NUM> is sufficient to overcome a biasing force of the biasing element <NUM> of the fill valve <NUM>, the plunger <NUM> can move to an open position, allowing fluid to flow out of the tank <NUM> and through the fill port <NUM> such as to fill a tank of a robot (e.g., the mobile cleaning robot <NUM>). In this way, the fill port <NUM> can be configured to automatically open the fill valve <NUM> when the tank <NUM> is fully or properly inserted into the tank compartment <NUM>.

<FIG> illustrates an isometric view of a docking station <NUM> for a mobile cleaning robot. The docking station <NUM> can be similar to the docking stations discussed above; the docking station <NUM> can differ in that it can be divided into segments and can include a horizontal fill tank. Any of the docking stations discussed above or below can include the features of the docking station <NUM>.

As shown in <FIG>, the docking station <NUM> can include a base segment <NUM> that can include a docking port <NUM> and can include or be connected to a base. An evacuation segment <NUM> can be connected to the base segment <NUM> and can be configured to support or include a bag drawer and a fan system. Optionally, the evacuation segment <NUM> can be removably connected to the base segment <NUM> such that the base segment <NUM> can be used for docking stations having only a base and can be used for docking stations including evacuation components (such as a bag drawer and a fan system).

A fluid segment <NUM> can be connected to the evacuation segment <NUM> and can include a fluid tank <NUM>. Optionally, the fluid segment <NUM> can be removably connected to the evacuation segment <NUM> such that the evacuation segment <NUM> can be used for docking stations not including a fluid segment <NUM> and can be used for docking stations including the fluid segment <NUM>. The fluid tank <NUM> can be insertable into a tank compartment <NUM>, which can be configured to receive the tank <NUM>, which can be horizontally oriented. The horizontally oriented tank can help to reduce a total height of the fluid segment <NUM>. For example, the fluid tank <NUM> can be configured to extend across <NUM> percent to <NUM> percent of a width W of the fluid segment <NUM>. Optionally the fluid tank <NUM> can extend across about <NUM> percent of the width W.

As shown in <FIG>, the docking station <NUM> can include a base segment <NUM> that can include a docking port <NUM> and can include or be connected to a base <NUM>. The base <NUM> can include various components such as switches and contacts similar to those discussed with respect to the docking stations above, such as the docking station <NUM>.

An evacuation segment <NUM> can be connected to the base segment <NUM> and can be configured to support or include a bag drawer and a fan system. Optionally, the evacuation segment <NUM> can be removably connected to the base segment <NUM> such that the base segment <NUM> can be used for docking stations having only a base and can be used for docking stations including evacuation components (such as a bag drawer <NUM> insertable into a bag debris compartment <NUM>, and a fan system).

A fluid segment <NUM> can be connected to the evacuation segment <NUM> and can include a fluid tank <NUM>. Optionally, the fluid segment <NUM> can be removably connected to the evacuation segment <NUM> such that the evacuation segment <NUM> can be used for docking stations not including the fluid segment <NUM> and can be used for docking stations including the fluid segment <NUM>. The fluid tank <NUM> can be insertable into a tank compartment <NUM>, which can be configured to receive the tank <NUM> therein. The tank <NUM> can be horizontally oriented.

The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others.

Example <NUM> is a docking station for a mobile cleaning robot, the docking station comprising: a base configured to receive at least a portion of the mobile cleaning robot, the base including an electrical power interface configured to provide electrical power to the mobile cleaning robot; and a canister connected to the base and located at least partially above the base, the canister comprising: a debris bin to receive debris from the mobile cleaning robot.

In Example <NUM>, the subject matter of Example <NUM> optionally includes wherein the base defines a pair of wheel wells configured to receive respective drive wheels of the mobile cleaning robot therein to align robot charging contacts of the mobile cleaning robot with the electrical power interface of the base.

In Example <NUM>, the subject matter of Example <NUM> optionally includes a pair of wheel switches located in the pair of wheel wells, respectively, the pair of wheel switches independently engageable by respective drive wheels when the drive wheels are positioned in respective ones of the wheel wells to produce independent docking signals.

In Example <NUM>, the subject matter of any one or more of Examples <NUM>-<NUM> optionally include wherein the electrical power interface includes a pair of dock charging contacts connected to the base and configured to engage the robot charging contacts when the mobile cleaning robot is docked on the base, the dock charging contacts movable between a retracted position and an extended position, the dock charging contacts engageable with the robot charging contacts when in the extended position.

In Example <NUM>, the subject matter of Example <NUM> optionally includes a switch connected to the base and engageable with the mobile cleaning robot to move the dock charging contacts to the extended position.

In Example <NUM>, the subject matter of Example <NUM> optionally includes wherein the dock charging contacts are biased to the retracted position.

In Example <NUM>, the subject matter of Example <NUM> optionally includes wherein the switch is engageable with a wheel of the mobile cleaning robot to overcome bias of the dock charging contacts.

In Example <NUM>, the subject matter of any one or more of Examples <NUM>-<NUM> optionally include a pair of magnets associated with respective ones of the dock charging contacts and attractable to the robot charging contacts, respectively.

In Example <NUM>, the subject matter of any one or more of Examples <NUM>-<NUM> optionally include a fluid tank connected to the canister to deliver cleaning fluid to the mobile cleaning robot.

In Example <NUM>, the subject matter of Example <NUM> optionally includes a fill spout connected to the canister and fluidly connected to the fluid tank, the fill spout insertable into a portion of the mobile cleaning robot to deliver cleaning fluid from the fluid tank to the mobile cleaning robot.

In Example <NUM>, the subject matter of any one or more of Examples <NUM>-<NUM> optionally include wherein the fluid tank is insertable through a front portion of the canister.

In Example <NUM>, the subject matter of Example <NUM> optionally includes a fill valve connected to the fluid tank and engageable with a port of the canister to move the fill valve to an open position when the fluid tank is secured to the canister.

In Example <NUM>, the subject matter of Example <NUM> optionally includes wherein the port of the canister is secured by a brace.

In Example <NUM>, the subject matter of any one or more of Examples <NUM>-<NUM> optionally include an evacuation fan connected to the canister and connectable to the mobile cleaning robot to evacuate debris from a debris bin of the mobile cleaning robot to a debris bag of the canister.

In Example <NUM>, the subject matter of Example <NUM> optionally includes an evacuation discharge connected to a discharge side of the evacuation fan and extending through the canister, the evacuation discharge configured to discharge evacuation air toward the base.

Example <NUM> is a docking station for a mobile cleaning robot, the docking station comprising: a base configured to receive at least a portion of the mobile cleaning robot, the base including an electrical power interface configured to provide electrical power to the mobile cleaning robot; and a canister connected to the base and located at least partially above the base, the canister comprising: a debris bin to receive debris from the mobile cleaning robot, the debris bin; and a door connected the canister and movable between an open position and a closed position, a front portion of the canister user-accessible when the door is in the open position.

In Example <NUM>, the subject matter of Example <NUM> optionally includes an evacuation fan connected to the canister and connectable to the mobile cleaning robot to evacuate debris from a debris bin of the mobile cleaning robot to a debris bag of the canister.

In Example <NUM>, the subject matter of Example <NUM> optionally includes a bag drawer slidably insertable into a bag compartment of the canister between an open position and a closed position, the bag drawer configured to releasably receive the debris bag therein.

In Example <NUM>, the subject matter of Example <NUM> optionally includes wherein the bag drawer includes a seal connected to an inner front face of the bag drawer, the seal engageable with the bag compartment to seal the bag drawer when the bag drawer is in the closed position.

In Example <NUM>, the subject matter of Example <NUM> optionally includes an evacuation discharge connected to a discharge of the bag drawer and extending through the canister, the evacuation discharge configured to discharge evacuation air toward the base.

In Example <NUM>, the apparatuses or method of any one or any combination of Examples <NUM> - <NUM> can optionally be configured such that all elements or options recited are available to use or select from.

Claim 1:
A docking station (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>) for a mobile cleaning robot (<NUM>; <NUM>), the docking station comprising:
a base (<NUM>; <NUM>; <NUM>; <NUM>) configured to receive at least a portion of the mobile cleaning robot, the base including an electrical power interface configured to provide electrical power to the mobile cleaning robot; and
a canister (<NUM>) connected to the base and located at least partially above the base, the canister comprising:
a debris bin to receive debris from the mobile cleaning robot, characterized in that the docking station further comprises:
a fluid tank (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>) connected to the canister to deliver cleaning fluid to the mobile cleaning robot.