EVACUATION STATION
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.
This application claims the benefit of priority to U.S. Provisional Application Ser. No. 63/228,399, filed Aug. 2, 2021, the content of which is incorporated herein by reference in its entirety.
BACKGROUNDAutonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks within an environment, such as a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. Some robots can interface with a docking station automatically. The docking station can perform maintenance on the robot such as charging of batteries of the robot and evacuation of debris from a debris bin of the robot.
SUMMARYMobile 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.
The above discussion is intended to provide an overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The description below is included to provide further information about the present patent application.
In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.
The docking station 100 can include a canister 108 and a base 110. The canister 108 can include an outer wall 112 and a door 114. The base 110 can include a platform 116 including include tracks 118a and 118b including respective wheel wells 120a and 120b. The platform 116 can also include a vacuum port 122. The docking station 100 can also include a docking port 124 configured to at least partially receive the mobile cleaning robot 102 therein. For example, the mobile cleaning robot 102 can move into the docking port 124 by traversing over the tracks 118a and 118b until drive wheels of the mobile cleaning robot 102 rest in the wheel wells 120, which can align the vacuum port 122 with a debris port of the robot and can align charging contacts 126 of the dock with contacts of the mobile cleaning robot 102, along with other features of the mobile cleaning robot 102 and the docking station 100.
The components of the docking station 100 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 102 can be a mobile cleaning robot including wheels, extractor, a debris bin, a controller, and various sensors. The robot 102 can be configured to perform autonomous cleaning missions or routines within an environment.
The base 110 can be a ramped member including the platform 116 and the tracks 118a and 118b, where the base 110 can be configured to receive the mobile cleaning robot 102 thereon for maintenance, such as charging and emptying debris from the mobile cleaning robot. The tracks 118 can be configured to receive wheels of the robot 102 to guide the robot 102 onto the base 110 for charging and debris evacuation using contacts 126. The contacts 126 can be (or can be part of) an electrical power interface configured to provide electrical power to the mobile cleaning robot 102. The platform 116 and the tracks 118 can be sloped toward the front portion to help allow the mobile robot 102 to dock on the station 100.
When the robot 102 is positioned on the base 110, such as when wheels of the robot 102 are in wheel wells 120, the vacuum port 122 can be aligned with a vacuum outlet of the robot 102. The vacuum port 122 can extend through the base 110 and can connect to the vacuum inlet of the canister 108.
The canister 108 can be an upper portion of the docking station 100 connected to a rear portion of the base 110 and can extend upward therefrom, such that the canister 108 can be located at least partially above the base 110. The outer wall 112 of the canister 108 can have a shape of a substantially rectangular hollow prism with rounded corners where the outer wall 112 can define a front portion of the canister 108 that is open. The outer wall 112 can at least partially enclose the debris bin and a fan compartment.
The door 114 can be connected to the outer wall 112 (such as by hinges or other fasteners), such as at a side portion of the door 114. The door 114 can be releasably securable to the outer wall 112, such as at a side portion of the door 114 and the outer wall 112 (such as via a friction/interference fit, latch, or the like). Removal of the door 114 or opening of the door 114 from the front portion of the canister 108 can provide access to debris bin and can optionally provide access to the fan compartment.
The canister 108 can further include various storage compartments for storing one or more user-replaceable components of the mobile cleaning robot 102. For example, the door 114 can include a door compartment 136 connected to and extending from a top portion of the door 114. The door compartment 136 can be movable or rotatable with the door 114 such that the door compartment 136 is exposed when the door 114 is in the open position, as shown in
The canister 108 can also include an upper shelf 140 that can be defined at least in part by the outer wall 112 and inner walls of the canister 108. The upper shelf 140 can be accessible or exposed when the door 114 is in the open position, as shown in
The canister 108 can also include a side shelf 142 that can be defined at least in part by the outer wall 112 and inner walls of the canister 108. The side shelf 142 can be accessible or exposed when the door 114 is in the open position, as shown in
As also shown in
The docking station 100 of
As shown in
The fill spout 166 and the actuator 168 of
As the actuator 168 continues to rotate, it can interact with an end 190 of the fill spout 166, such that the actuator 168 can move the fill spout 166 from the position shown in
More specifically, as the actuator 168 rotates through its position, the biasing portion 192 of the actuator 168 and the contoured portion 194 of the fill spout 166 can come into alignment. A detent 196 in the contoured portion 194 can force deflection of the torsion spring 188, resulting in a reliable position of the fill spout 166. A force A can be created by the detent 196 interacting with the torsion spring 188, causing the fill spout 166 to pivot about a pin axis of a pin 198 of the fill spout 166. This can result in a force B forcing the fill spout 166 down into a hard stop 199 of the docking station 100, helping to hold the fill spout 166 in a fill position. The interaction between the detent 196 of the biasing portion 192 (cam profile) and the biasing portion 192 can help to provide a mechanism that is robustly positioned allowing the mobile cleaning robot 102 to back into the fill spout 166 while limiting movement of the fill spout 166 and while helping to limit damage to the fill spout 166.
More specifically, the 1500 can include a fill spout 1566 including a rack 1501 connected to or integrated with the fill spout 1566, such as on a bottom portion thereof. The docking station 1500 can also include a pinion 1503, which can be connected to a motor to rotate the pinion 1503. The pinion 1503 can be engaged with the rack 1501 such that rotation of the pinion 1503 can cause translation of the rack 1501 and therefore the fill spout 1566, such that the fill spout 1566 can translate between an extended position (such as for filling of a tank of the mobile cleaning robot 1502) and a retracted position (when the robot is not docked).
The wheel switches 1513 can be independently engageable by respective drive wheels when the drive wheels are positioned in respective ones of the wheel wells 1520 such as to produce independent docking signals that can be transmitted to one or more controllers, e.g., within the docking station 1500. Because the switches 1513 can be independently actuated by their respective drive wheels, the switches 1513 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.
The docking station 1500 of
For example,
In operation, when the supports or bases 1523 are secured to (the underside of) the base 1510 of the dock 1500, the biasing elements 1527 can engage the base 1510 and the linkages 1521 such as to bias the linkages 1521 (and therefore the contacts 1526) to a retracted position. Then, when the contact switch 1511 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 1526 to an extended position, such as for engaging charging contacts of the robot. In this way, the contacts 1526 can be protected within the base 1510 until the robot is fully docked on the base 1510.
As shown in
A fluid segment 1937 can be connected to the evacuation segment 1935 and can include a clean fluid tank 1930 and a dirty fluid tank 1939. The clean fluid tank 1930 can be configured to deliver cleaning fluid to a robot and the dirty fluid tank 1939 can be configured to receive dirty fluid from the robot. Optionally, the fluid segment 1937 can be removably connected to the evacuation segment 1935 such that the evacuation segment 1935 can be used for docking stations not including a fluid segment 1937 and can be used for docking stations including the fluid segment 1937.
The docking station 1900 can also optionally include a pad washing system 1941 connected to the 1910. The pad washing system 1941 can 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 1941 can connect to the clean fluid tank 1930 and the dirty fluid tank 1939 for use of the fluids during pad washing operations.
The docking station 2000 can include a debris compartment 2032 and a bag drawer 2034 slidably movable therein. The debris compartment 2032 and the bag drawer 2034 can be similar to the debris compartment 132 and the bag drawer 134 discussed above.
The fill valve 2051 can also include a plunger biasing element 2073 engaged with the plunger 2075 to bias the plunger 2075 to a closed position. When the force applied by the tube 2069 on the plunger 2075 is sufficient to overcome a biasing force of the biasing element 2073 of the fill valve 2051, the plunger 2075 can move to an open position, allowing fluid to flow out of the tank 2030 and through the fill port 2049 such as to fill a tank of a robot (e.g., the mobile cleaning robot 102). In this way, the fill port 2049 can be configured to automatically open the fill valve 2051 when the tank 2030 is fully or properly inserted into the tank compartment 2028.
As shown in
A fluid segment 2537 can be connected to the evacuation segment 2535 and can include a fluid tank 2530. Optionally, the fluid segment 2537 can be removably connected to the evacuation segment 2535 such that the evacuation segment 2535 can be used for docking stations not including a fluid segment 2537 and can be used for docking stations including the fluid segment 2537. The fluid tank 2530 can be insertable into a tank compartment 2528, which can be configured to receive the tank 2530, which can be horizontally oriented. The horizontally oriented tank can help to reduce a total height of the fluid segment 2537. For example, the fluid tank 2530 can be configured to extend across 60 percent to 95 percent of a width W of the fluid segment 2537. Optionally the fluid tank 2530 can extend across about 80 percent of the width W.
As shown in
An evacuation segment 2635 can be connected to the base segment 2633 and can be configured to support or include a bag drawer and a fan system. Optionally, the evacuation segment 2635 can be removably connected to the base segment 2633 such that the base segment 2633 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 2634 insertable into a bag debris compartment 2632, and a fan system).
A fluid segment 2637 can be connected to the evacuation segment 2635 and can include a fluid tank 2630. Optionally, the fluid segment 2637 can be removably connected to the evacuation segment 2635 such that the evacuation segment 2635 can be used for docking stations not including the fluid segment 2637 and can be used for docking stations including the fluid segment 2637. The fluid tank 2630 can be insertable into a tank compartment 2628, which can be configured to receive the tank 2630 therein. The tank 2630 can be horizontally oriented.
Notes and ExamplesThe 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 1 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 2, the subject matter of Example 1 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 3, the subject matter of Example 2 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 4, the subject matter of any one or more of Examples 1-3 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 5, the subject matter of Example 4 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 6, the subject matter of Example 5 optionally includes wherein the dock charging contacts are biased to the retracted position.
In Example 7, the subject matter of Example 6 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 8, the subject matter of any one or more of Examples 4-7 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 9, the subject matter of any one or more of Examples 1-8 optionally include a fluid tank connected to the canister to deliver cleaning fluid to the mobile cleaning robot.
In Example 10, the subject matter of Example 9 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 11, the subject matter of any one or more of Examples 9-10 optionally include wherein the fluid tank is insertable through a front portion of the canister.
In Example 12, the subject matter of Example 11 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 13, the subject matter of Example 12 optionally includes wherein the port of the canister is secured by a brace.
In Example 14, the subject matter of any one or more of Examples 1-13 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 15, the subject matter of Example 14 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 16 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 17, the subject matter of Example 16 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 18, the subject matter of Example 17 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 19, the subject matter of Example 18 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 20, the subject matter of Example 19 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 21, the apparatuses or method of any one or any combination of Examples 1-20 can optionally be configured such that all elements or options recited are available to use or select from.
The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.
In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.
In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.
The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims
1. 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.
2. The docking station of claim 1, 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.
3. The docking station of claim 2, further comprising:
- 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.
4. The docking station of claim 1, 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.
5. The docking station of claim 4, further comprising:
- a switch connected to the base and engageable with the mobile cleaning robot to move the dock charging contacts to the extended position.
6. The docking station of claim 5, wherein the dock charging contacts are biased to the retracted position.
7. The docking station of claim 6, wherein the switch is engageable with a wheel of the mobile cleaning robot to overcome bias of the dock charging contacts.
8. The docking station of claim 4, further comprising:
- a pair of magnets associated with respective ones of the dock charging contacts and attractable to the robot charging contacts, respectively.
9. The docking station of claim 1, further comprising:
- a fluid tank connected to the canister to deliver cleaning fluid to the mobile cleaning robot.
10. The docking station of claim 9, further comprising:
- 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.
11. The docking station of claim 9, wherein the fluid tank is insertable through a front portion of the canister.
12. The docking station of claim 11, further comprising:
- 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.
13. The docking station of claim 12, wherein the port of the canister is secured by a brace.
14. The docking station of claim 1, further comprising:
- 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.
15. The docking station of claim 14, further comprising:
- 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.
16. 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.
17. The docking station of claim 16, further comprising:
- 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.
18. The docking station of claim 17, further comprising:
- 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.
19. The docking station of claim 18, 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.
20. The docking station of claim 19, further comprising:
- 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.
Type: Application
Filed: Aug 1, 2022
Publication Date: Feb 2, 2023
Inventors: Brian W. Doughty (Framingham, MA), Leo Torrente (Somerville, MA), Travis Gschrey (Billerica, MA), Scott Thomas Burnett (Windham, NH), Douglas Dell'Accio (Boston, MA), Willy Chung (Wakefield, MA)
Application Number: 17/878,411