阅读说明：本技术 用于机器人清洁器的集尘杯闸门 (Dust cup gate for robot cleaner ) 是由 西蒙·威尔斯 于 2020-03-11 设计创作，主要内容包括：一种机器人清洁器可包括本体、本体内的搅动器室、设置于搅动器室内的搅动器、可移除地联接到本体的集尘杯以及闸门,所述集尘杯包括碎屑入口,所述碎屑入口将集尘杯流体地联接至搅动器室,所述闸门构造成响应于搅动器的旋转移动而在清洁位置与排空位置之间转换。(A robotic cleaner may include a body, an agitator chamber within the body, an agitator disposed within the agitator chamber, a dirt cup removably coupled to the body, the dirt cup including a debris inlet fluidly coupling the dirt cup to the agitator chamber, and a gate configured to transition between a cleaning position and an emptying position in response to rotational movement of the agitator.)

1. A robotic cleaner, comprising:

a body;

an agitator chamber within the body;

an agitator disposed in the agitator chamber;

a dirt cup removably coupled to the body, the dirt cup including a debris inlet fluidly coupling the dirt cup to the agitator chamber; and

a gate configured to switch between a cleaning position and an emptying position in response to rotational movement of the agitator.

2. The robotic cleaner of claim 1, wherein the gate includes an arcuate portion having a shape generally corresponding to a shape of the agitator.

3. The robotic cleaner of claim 2, wherein the gate includes a non-arcuate portion configured to engage the agitator such that engagement between the agitator and the non-arcuate portion urges the gate between the cleaning position and the emptying position.

4. The robotic cleaner of claim 3, wherein the non-arcuate portion includes a comb.

5. The robotic cleaner of claim 1, wherein the agitator chamber includes a plurality of stops configured to limit movement of the gate.

6. The robotic cleaner of claim 1, wherein a longitudinal distal region of the gate defines a collar configured to rotatably receive a portion of the agitator.

7. The robotic cleaner of claim 6, wherein the collar has an open end such that the collar extends around only a portion of the agitator.

8. The robotic cleaner of claim 7, wherein each collar defines a flange configured to maintain floating engagement of the gate between the agitator and the agitator chamber.

9. The robotic cleaner of claim 1, wherein the shutter includes an arcuate portion and a non-arcuate portion, the non-arcuate portion including a shroud configured to redirect air incident thereon in a direction of an effective open area of the debris inlet.

10. The robotic cleaner of claim 1, wherein the dirt cup includes a plurality of debris inlets separated by dividers.

11. A robotic cleaning system, comprising:

a docking station having an evacuation bin and a suction motor; and

a robotic cleaner configured to engage the docking station, the robotic cleaner comprising:

a body;

an agitator chamber within the body;

an agitator disposed in the agitator chamber;

a dirt cup removably coupled to the body and configured to fluidly couple to the evacuation bin and the suction motor, the dirt cup including a debris inlet fluidly coupling the dirt cup to the agitator chamber; and

a gate configured to switch between a cleaning position and an emptying position in response to rotational movement of the agitator.

12. The robotic cleaning system according to claim 11, wherein the gate includes an arcuate portion having a shape generally corresponding to a shape of the agitator.

13. The robotic cleaning system according to claim 12, wherein the gate includes a non-arcuate portion configured to engage the agitator such that engagement between the agitator and the non-arcuate portion urges the gate between the cleaning position and the emptying position.

14. The robotic cleaning system according to claim 13, wherein the non-arcuate portion includes a comb.

15. The robotic cleaning system according to claim 11, wherein the agitator chamber includes a plurality of stops configured to limit movement of the gate.

16. The robotic cleaning system according to claim 11, wherein a longitudinal distal region of the gate defines a collar configured to rotatably receive a portion of the agitator.

17. The robotic cleaning system according to claim 16, wherein the collar has an open end such that the collar extends around only a portion of the agitator.

18. The robotic cleaning system according to claim 17, wherein each collar defines a flange configured to maintain floating engagement of the gate between the agitator and the agitator chamber.

19. The robotic cleaning system according to claim 11, wherein the shutter includes an arcuate portion and a non-arcuate portion, the non-arcuate portion including a shroud configured to redirect air incident thereon in a direction of an effective open area of the debris inlet.

20. The robotic cleaning system according to claim 11, wherein the dirt cup includes a plurality of debris inlets separated by dividers.

Technical Field

The present disclosure relates generally to robotic cleaners, and more particularly to a dirt cup gate for a robotic cleaner.

Background

A robotic cleaner (e.g., a robotic vacuum cleaner) is configured to autonomously clean a surface. For example, a user of the robotic vacuum cleaner may position the robotic vacuum cleaner in the environment and instruct the robotic vacuum cleaner to start a cleaning operation. During cleaning, the robotic vacuum cleaner collects debris and deposits it in a dirt cup for subsequent disposal by a user. The robotic vacuum cleaner may be configured to automatically dock with the docking station to charge one or more batteries powering the robotic vacuum cleaner and/or to empty the dirt cup.

Drawings

These and other features and advantages will be better understood by reading the following detailed description in conjunction with the drawings, in which:

fig. 1A is a schematic view of a robotic cleaner having a gate in an emptying position according to an embodiment of the present disclosure.

Fig. 1B is a schematic view of the robot cleaner in fig. 1A with the gate in a cleaning position according to an embodiment of the present disclosure.

Fig. 1C is a schematic view of the robotic cleaner of fig. 1A engaging a docking station, according to an embodiment of the present disclosure.

Fig. 2A is a perspective view of a robot cleaner according to an embodiment of the present disclosure.

Fig. 2B is a bottom view of the robot cleaner of fig. 2A according to an embodiment of the present disclosure.

Fig. 3A is a cross-sectional view of a portion of the robotic cleaner of fig. 2A taken along line III-III, wherein the robotic cleaner includes a shutter in a cleaning position, in accordance with an embodiment of the present disclosure.

Fig. 3B is another cross-sectional view of the robotic cleaner of fig. 2A taken along line III-III with the gate in an emptying position according to an embodiment of the present disclosure.

Fig. 4 is a perspective view of a gate rotatably coupled to an agitator according to an embodiment of the present disclosure.

Fig. 5 is a perspective view of the gate of fig. 4 removed from the agitator according to an embodiment of the present disclosure.

FIG. 6 shows a cross-sectional view of the agitator of FIG. 4 taken along the line VI-VI in accordance with an embodiment of the present disclosure.

Fig. 7 is a perspective view of a gate according to an embodiment of the present disclosure.

Fig. 8 is an end perspective view of the gate of fig. 7, according to an embodiment of the present disclosure.

Fig. 9 illustrates a side view of a gate rotatably coupled to an agitator, according to an embodiment of the present disclosure.

Fig. 10 illustrates a perspective view of a gate received within an agitator chamber according to an embodiment of the disclosure.

Figure 11 shows a side view of a top portion of a dirt cup and a gate in accordance with an embodiment of the present disclosure.

Fig. 12 illustrates a cross-sectional view of a portion of a robotic cleaner having a gate in a cleaning position, according to an embodiment of the present disclosure.

Fig. 13 illustrates a cross-sectional view of a portion of the robotic cleaner of fig. 12 with the gate in an emptying position, in accordance with an embodiment of the present disclosure.

Fig. 14 shows an enlarged view corresponding to region XIV of fig. 13, in accordance with an embodiment of the present disclosure.

Figure 15 shows a schematic example of a dirt cup having a plurality of debris inlets in accordance with an embodiment of the present disclosure.

Fig. 16 shows a perspective view of an example of a gate in a cleaning position according to an embodiment of the present disclosure.

Fig. 17 illustrates another perspective view of the gate of fig. 16 in an emptying position according to an embodiment of the present disclosure.

Detailed Description

The present disclosure relates generally to robotic cleaners (e.g., robotic vacuum cleaners). An example of a robotic cleaner according to the present disclosure includes a dirt cup having a debris inlet and a debris outlet, an agitator configured to push debris through the debris inlet of the dirt cup, and a gate switchable between an emptying position and a cleaning position. The gate may be urged between the emptying position and the cleaning position by rotation of the agitator. As the gate transitions from the emptying position to the cleaning position, the effective open area of the debris inlet (e.g., the area of the debris inlet through which air and/or debris may pass) increases. This configuration may allow for a maximum effective open area during cleaning so that debris may be more easily received in the dirt cup. The effective opening area decreases when the gate is switched from the cleaning position to the emptying position. Such a configuration may allow the dirt cup to be emptied more efficiently using an external suction source fluidly coupled to the debris outlet of the dirt cup (e.g., the velocity of air drawn through the debris inlet is increased, which may cause debris within the dirt cup to be more readily entrained in the air flowing through the dirt cup).

Fig. 1A and 1B show schematic side views of an example of the robot cleaner 100. As shown, the robot cleaner 100 includes a body 102; at least one driven wheel 104 coupled to the body 102 and configured to propel the body 102 across a surface 106 to be cleaned; a stirrer chamber 110 within the body 102; an agitator 108 (e.g., a brush roller having one or more bristle bars, bristle tufts, and/or flexible flaps) disposed within an agitator chamber 110 and configured to rotate about an axis of rotation extending parallel to the surface 106 to be cleaned; a dirt cup 112 removably coupled to the body 102 and fluidly coupled to the blender chamber 110, the dirt cup 112 having a debris inlet 114 fluidly coupling the dirt cup 112 to the blender chamber 110 and a debris outlet 116; and one or more sensors 118. A movable gate 120 extends within the agitator chamber 110 and is configured to transition between an emptying position (e.g., as shown in fig. 1A) and a cleaning position (e.g., as shown in fig. 1B) in response to rotational movement of the agitator 108. As the gate 120 transitions from the emptying position toward the cleaning position, the effective open area of the debris inlet 114 increases. In other words, the effective open area of the debris inlet 114 when the gate 120 is in the cleaning position is greater than the effective open area of the debris inlet 114 when the gate 120 is in the emptying position. The effective open area of the debris inlet 114 may be generally described as the area of the debris inlet 114 through which air and/or debris may pass.

As shown, the gate 120 includes an arcuate portion having a shape that generally corresponds to the shape of the agitator 108. Thus, the gate 120 rotates about the axis of rotation of the agitator 108 as the gate 120 transitions between the emptying position and the cleaning position. In some cases, the gate 120 may be configured to rotate with the agitator 108 when transitioning between the emptying and cleaning positions. In these instances, when the gate 120 reaches the emptying or cleaning position, the gate 120 may engage the stop 122, a portion of the agitator chamber 110, and/or a portion of the dirt cup 112, wherein the engagement prevents the gate 120 from continuing to rotate with the agitator 108. In some cases, the agitator chamber 110 may include a plurality of stops 122, wherein the stops 122 are configured to limit movement of the gate 120. For example, the first stop 122 corresponds to a cleaning position and the second stop 122 corresponds to an emptying position, such that the total travel distance of the gate 120 when transitioning between the cleaning and emptying positions is defined by the stops 122.

To transition the gate 120 toward the cleaning position, the agitator 108 may be rotated in a forward rotational direction (e.g., counterclockwise). The forward rotational direction may generally correspond to a rotational direction of the agitator 108 that is configured to urge debris into the debris inlet 114 during a cleaning operation. To switch the gate 120 toward the emptying position, the agitator 108 may be rotated in a counter-rotational direction (e.g., clockwise). The reverse rotation direction is opposite to the forward rotation direction.

Fig. 1C shows a schematic example of a robotic cleaning system 101 in which the robotic cleaner 100 is configured to engage a docking station 124. The docking station 124 includes an evacuation bin 126 and a suction motor 128. In some cases, docking station 124 may be configured to supplement (e.g., recharge) one or more power sources (e.g., batteries) of robotic cleaner 100 when the robotic cleaner engages docking station 124. A suction motor 128 is fluidly coupled to the evacuation bin 126, and the evacuation bin 126 is configured to be fluidly coupled to the dirt cup 112 through the bin inlet 130 and the debris outlet 116. In other words, the evacuation bin 126, the suction motor 128, and the dirt cup 112 are configured to fluidly couple with one another when the robotic cleaner 100 engages the docking station 124. Accordingly, when the suction motor 128 is activated, debris stored in the dirt cup 112 can be transferred from the dirt cup 112 to the evacuation bin 126.

As shown, when the robotic cleaner 100 engages the docking station 124, the gate 120 is in the emptying position. The gate 120 may be urged to the emptying position by rotation of the agitator 108 in the reverse direction. For example, upon engaging the docking station 124 but prior to activating the suction motor 128, the agitator 108 may be rotated in the reverse direction for a predetermined period of time to push the gate 120 to the emptying position. When gate 120 is in the emptying position, suction motor 128 may be activated. In some cases, the suction motor 128 may be activated when the gate 120 is transitioned to the emptying position. For example, the suction motor 128 may be activated for a predetermined period of time before the gate 120 is switched to the emptying position, or the gate 120 may be switched to the discharge position simultaneously with activation of the suction motor 128.

When the gate 120 is in the emptying position, the effective area of the debris inlet 114 is reduced. For example, the effective area of the debris inlet 114 may be reduced by less than 100% when the gate 120 is in the emptying position, and by at least 50%, 60%, 70%, 80%, 90%, 95%, or 99% when compared to the effective area of the debris inlet 114 when the gate 120 is in the cleaning position. This configuration may increase the velocity of the air flowing through the debris inlet 114 when the suction motor 128 is activated. This may allow debris to be more easily entrained within the air flowing through the dirt cup 112 during emptying of the dirt cup 112. In some cases, the effective area may be reduced by 100% such that the debris inlet 114 is closed. This configuration may prevent air from flowing through the debris inlet 114 when the suction motor 128 is activated.

Fig. 2A shows a perspective view of a robotic cleaner 200, which may be an example of the robotic cleaner 100 of fig. 1A-1C. Fig. 2B illustrates a bottom view of the robot cleaner 200. As shown, the robotic cleaner 200 includes a body 202, a bumper 204 movably coupled to the body 202, a plurality of driven wheels 206 configured to be independently driven, a dirt cup 208, and at least one agitator 210. As shown, the bristle bars 212 may extend in a direction generally parallel to the agitator 210 and are positioned between at least a portion of the agitator 210 and at least a portion of the dirt cup 208.

Fig. 3A and 3B illustrate cross-sectional perspective views of a portion of the robot cleaner 200 of fig. 2A and 2B taken along line III-III of fig. 2A. As shown, the robot cleaner 200 includes an agitator chamber 300. The agitator chamber 300 defines a chamber outlet 302 fluidly coupled to a debris inlet 304 of the dirt cup 208. The agitator chamber 300 includes an agitator 210, and the agitator 210 is configured to rotate within the agitator chamber 300. A portion of the agitator 210 extends from the agitator chamber 300 such that a portion of the agitator can engage (e.g., contact) the surface 306 to be cleaned. The agitator chamber 300 includes a movable gate 308 configured to transition between a cleaning position (e.g., as shown in fig. 3A) and an emptying position (e.g., as shown in fig. 3B).

As shown, the gate 308 has an arcuate portion 309 that generally corresponds to the shape of the agitator 210 and a non-arcuate portion 311. Thus, when the gate 308 is switched between the cleaning position and the emptying position, the gate 308 rotates about the rotational axis 310 of the agitator 210. In some cases, the gate 308 is configured to engage the agitator 210 such that the gate 308 rotates with the agitator 210. For example, the non-arcuate portion 311 may be configured to engage (e.g., contact) a portion of the agitator 210 such that the gate 308 may be pushed between the cleaning and emptying positions in response to engagement between the non-arcuate portion 311 and the agitator 210. The agitator chamber 300 may include a cleaning stop 312 configured to prevent the gate 308 from continuing to rotate beyond a predetermined position within the agitator chamber 300. For example, when in the cleaning position, the gate 308 may engage the cleaning stop 312 such that the gate 308 and agitator 210 are prevented from further rotation.

The shutter 308 may be configured to rotate from the emptying position toward the cleaning position in response to rotation of the agitator 210 in a forward rotational direction (i.e., the direction of rotation of the agitator 210 for cleaning purposes). The non-arcuate portion 311 may be configured to engage (e.g., contact) the agitator 210 such that engagement causes the gate 308 to transition to the cleaning position. In some cases, the non-arcuate portion 311 may include a comb 314 having a plurality of teeth 316 spaced apart by a separation distance. The teeth 316 are configured to engage the agitator 210 such that fiber debris (e.g., hair or wires) that become tangled on the agitator 210 are removed therefrom during rotation of the agitator 210. The separation distance extending between immediately adjacent teeth 316 may be configured such that the effective open area of the debris inlet 304 of the dirt cup 208 is at least partially (e.g., completely) defined by the separation distance extending between the teeth 316 when the gate 308 is in the emptying position.

The gate 308 may be configured to rotate from the cleaning position toward the emptying position in response to rotation of the agitator 210 in a reverse rotational direction (i.e., a direction opposite the forward rotational direction). When in the emptying position, the non-arcuate portion 311 of the gate 308 engages (e.g., contacts) a portion of the agitator chamber 300 such that the gate 308 and the agitator 210 are prevented from further rotation. For example, the teeth 316 of the comb 314 may engage (e.g., contact) the agitator chamber 300 at the drain stop 318 such that an airflow path is defined between the immediately adjacent teeth 316 and an inner surface 320 of the agitator chamber 300 that defines the drain stop 318. Thus, when the gate 308 is switched to the emptying position, the effective open area of the debris inlet 304 is reduced. This configuration may increase the velocity of air flowing through the debris inlet 304 as the dirt cup 208 is emptied by an external suction source. Increasing the air flow velocity may improve the efficiency of removing debris from the dirt cup 208 and/or improve the efficiency of removing fiber debris from the comb 314.

In operation, when the robotic cleaner 200 is docked with a docking station capable of emptying the dirt cup 208 (e.g., the docking station 124 of fig. 1C), the shutter 308 may be transitioned from the cleaning position to the emptying position before the docking station begins emptying the dirt cup 208 or during emptying of the dirt cup 208. When the shutter 308 is transitioned to the evacuation position during evacuation of the dirt cup 208, the air drawn through the debris inlet 304 experiences a dynamic velocity change in at least a portion of the evacuation, which may assist in evacuating debris from the dirt cup 208.

Fig. 4 shows a perspective view of a gate 400, which may be the gate 308 of fig. 3A and 3B, rotatably connected to an agitator 402, which may be an example of the agitator 210 of fig. 2B. Fig. 5 shows a perspective view of the gate 400 removed from the agitator 402. As shown, the gate 400 includes an arcuate portion 403 and a non-arcuate portion 404. The non-arcuate portion 404 defines a comb 406 having a plurality of teeth 408 spaced apart by a separation distance 410. A separation distance 410 is measured between immediately adjacent teeth 408. The longitudinal distal regions 412 and 414 of the gate 400 define a collar 416 having an opening 417 configured to rotatably receive a portion of the agitator 402. The agitator 402 is configured to be coupled to the gate 400 via the collar 416 such that the gate 400 rotates with the agitator 402 a predetermined rotational distance (e.g., until the gate engages the cleaning stop 312 or the drain stop 318), and after rotating the predetermined distance, the agitator 402 rotates relative to the gate 400. When the gate 400 and agitator 402 rotate together, the gate 400 and agitator 402 may rotate at different rates (e.g., the rate of rotation of the gate 400 may be measured to be less than the rate of rotation of the agitator 402).

As shown, the agitator 402 includes a driven end 418 and a non-driven end 420. The driven end 418 is configured to be connected to a drive motor, and the non-driven end 420 is configured to be rotatably connected to the agitator chamber 300. For example, the driven end 418 may include a socket 422 configured to receive a drive shaft connected to a drive motor (e.g., via a plurality of gears), and the non-driven end 420 may be rotatably coupled to a connecting member 424, wherein the connecting member 424 is configured to be fixedly (non-rotatably) coupled to the blender chamber 300.

Fig. 6 shows a cross-sectional view of the gate 400 and agitator 402 taken along line VI-VI of fig. 4. As shown, the connecting member 424 defines a connector cavity 600 for receiving the non-driven end 420 of the agitator 402. The connecting member 424 may include a bearing 602 disposed within the connector cavity 600 that is configured to extend around a portion of the agitator 402. The connecting member 424 may also include lift tabs 604 configured to facilitate coupling of the agitator 402 with the agitator chamber 300, as well as removal of the agitator 402 from the agitator chamber 300.

Fig. 7 shows a perspective view of a gate 700, which can be an example of gate 120 of fig. 1A-1C. Fig. 8 shows a perspective end view of the gate 700. As shown, the gate 700 includes an arcuate portion 702 and a non-arcuate portion 704. The arcuate portion 702 is configured to have a shape that generally corresponds to the shape of an agitator (e.g., agitator 108) such that the gate 700 is rotatable about the axis of rotation of the agitator. The non-arcuate section 704 includes a comb 706 having a plurality of teeth 708 that space the sections apart by a separation distance 710. The non-arcuate portion 704 may also include a shroud 712 having a first sidewall 714 and a second sidewall 716. The first and second sidewalls 714, 716 define at least a portion of the channel 718. A channel 718 extends between second sidewall 716 and at least a portion of comb 706. As shown, the second sidewall 716 may extend from the first sidewall 714 at a non-perpendicular angle θ (e.g., an angle greater than 90 °). As such, the channel 718 may generally be described as having a non-rectangular cross-section (e.g., a trapezoidal cross-section) with at least one open side.

The shroud 712 may be configured to redirect air incident thereon. For example, the shroud 712 may be configured to extend over a portion of the debris inlet of the dirt cup when the gate 700 is in the emptying position. As such, air incident on the second sidewall 716 is pushed through the effective open area of the second sidewall 716 toward the debris inlet.

As shown, the longitudinally distal regions 720 and 722 of the gate 700 define a collar 724 that is configured to receive a portion of the agitator. The collar 724 is configured such that the gate 700 is rotatable with the agitator when transitioning between the drain position and the cleaning position, and such that the agitator is rotatable relative to the collar 724 when the gate 700 is in one of the drain position or the cleaning position. As shown, the collar 724 has an open end 726 such that the collar 724 has a semi-circular shape extending around a portion of the agitator. In some cases, the collar 724 extends about 50% or less of the circumference of the agitator when the agitator is received in the open end 726 of the collar 724. Alternatively, when the agitator is received within the open end 726 of the collar 724, the collar 724 extends more than 50% but less than 100% of the circumference of the agitator, such that the agitator is rotatably coupled to the gate 700 due to the collar 724 extending around the agitator. In other words, the collar 724 may generally be described as extending around only a portion of the agitator.

In some cases, the gate 700 may be movably coupled to the agitator chamber (e.g., the agitator chamber 110) such that the gate 700 is movable relative to the agitator chamber when transitioning between the drain position and the cleaning position. In some cases, the gate 700 may be configured to float between the agitator and the agitator chamber. In other words, the gate 700 is held in place by being positioned between the agitator and the inner surface of the agitator chamber.

Fig. 9 illustrates a side view of a gate 900, which may be an example of the gate 700 of fig. 7, movably coupled to an agitator 902, which may be an example of the agitator 108 shown in fig. 1A-1C. As shown, the gate 900 includes a comb 904 and is movably coupled to an agitator 902 such that the gate 900 can be switched between a cleaning position and an emptying position. Gate 900 defines a collar 906 having an open end 907 at opposite distal end regions 908 and 910 of gate 900. The collar 906 is configured to receive a portion of the agitator 902 such that the agitator 902 rotates relative to the collar 906 when the gate 900 is in one of the cleaning or emptying positions.

The collar 906 extends around only a portion of the agitator 902 and defines a flange 911. The flange 911 may be configured to movably couple the gate 900 to an agitator chamber (e.g., the agitator chamber 110). For example, the first flange 911 can be at least partially received within the connection member 912 and the second flange 911 can be at least partially received within a drive cavity of the agitator chamber (e.g., as described with respect to fig. 10). Thus, the gate 900 can generally be described as being configured to float between the agitator 902 and the agitator chamber. As a further example, the flange 911 may slidably couple the gate 900 to the agitator chamber or agitator 902 by being received within a corresponding slot defined in the agitator chamber or agitator 902. The connecting member 912 is configured to be rotatably coupled to a non-driven end 914 of the agitator 902 and is fixedly (non-rotatably) connected to the agitator chamber such that the agitator 902 is rotatable relative to the agitator chamber. The drive chamber is configured to at least partially receive the driven end 916 of the agitator 902 such that the agitator 902 can be caused to rotate.

Fig. 10 illustrates a perspective view of a gate 1000, which may be an example of the gate 700 of fig. 7, received within an agitator chamber 1002, which may be an example of the agitator chamber 110 of fig. 1A-1C. As shown, the gate 1000 includes a comb 1004 and a shroud 1006. Gate 1000 defines collars 1008, and each collar 1008 includes a corresponding flange 1010 extending therefrom. The flange 1010 is configured to retain the gate 1000 in floating engagement between an agitator (e.g., agitator 108) and the agitator chamber 1002. For example, the first flange 1010 may be configured to be received within a connecting member (e.g., as described with respect to fig. 9), and the second flange 1010 may be configured to be received within a drive cavity 1012 defined in the agitator chamber 1002. The drive chamber 1012 includes a drive shaft 1014 configured to engage the driven end of the agitator such that the agitator rotates with the drive shaft 1014.

As also shown, gate 1000 includes an arcuate portion 1016 and a non-arcuate portion 1018. The arcuate portion 1016 is configured to have a shape generally corresponding to the agitator. In this way, the gate 1000 can be rotated about the axis of rotation of the agitator between an emptying position and a cleaning position. In some cases, and as shown, the arcuate portion 1016 extends between opposing sides 1021 of an open end 1020 of the collar 1008. In other words, arcuate portion 1016 may be spaced apart from both sides 1021 of open end 1020. In other cases, the arcuate portion 1016 extends from a first side 1021 of the open end 1020 of the collar 1008 in the direction of a second side 1021 of the open end 1020. In other words, the arcuate portion 1016 may be spaced apart from only one side 1021 of the open end 1020 (see, e.g., fig. 7).

Fig. 11 shows a side view of a top portion (e.g., an openable cover) of a dirt cup 1100 of a robotic cleaner engaged with a shutter 1102, which may be an example of the shutter 700 of fig. 7. When switched to the emptying position, the shutter 1102 is rotated relative to the top portion of the dirt cup 1100 until at least a portion of the shutter 1102 (e.g. at least a portion of the comb 1103) engages the inner surface 1104 of the top portion of the dirt cup 1100. The inlet aperture 1106 of the dust cup 1100 is below the junction of the shutter 1102 and the top portion of the dust cup 1100. The shutter 1102 is configured to adjust the effective opening area of the inlet aperture 1106 by transitioning between an emptying position and a cleaning position.

Fig. 12 and 13 show cross-sectional views of a portion of a robotic cleaner 1201, which may be an example of the robotic cleaner 100 of fig. 1A-1C, near an agitator chamber 1200. Fig. 14 shows an enlarged view of the region XIV corresponding to fig. 13. Agitator chamber 1200 includes a gate 1202, which may be gate 1000 of fig. 10. The shutter 1202 is configured to transition between a cleaning position (e.g., as shown in fig. 12) and an emptying position (e.g., as shown in fig. 13) in response to rotational movement of the agitator 1204.

The gate 1202 includes an arcuate portion 1206 and a non-arcuate portion 1208. The arcuate portion 1204 has a shape generally corresponding to the shape of the agitator 1204 such that the shutter 1202 is rotatable about the axis of rotation of the agitator 1204 between a cleaning position and an emptying position. As shown, the arcuate portion 1206 extends around only a portion of the agitator 1204 (e.g., the arcuate portion 1206 may extend around less than 25%, 30%, 35%, 40%, or 45% of the agitator 1204).

The non-arcuate portion 1208 includes a comb 1210 and a shield 1212. Comb 1210 includes a plurality of teeth 1214 spaced apart by a separation distance such that air can pass between immediately adjacent teeth. As such, when the gate 1202 is in the emptying position, air may flow along the airflow path 1218 extending between the teeth 1214 and into the passage 1216 defined by the shroud 1212. The channel 1216 is shaped to push air incident thereon into the debris inlet 1220 of the dirt cup 1222 fluidly coupled to the agitator chamber 1200. In other words, the shroud 1212 is configured to redirect air incident thereon in the direction of the effective open area of the debris inlet 1220 of the dust cup 1222.

As shown, when the shutter 1202 is transitioned from the cleaning position to the emptying position, the shroud 1212 approaches the bottom surface 1224 of the dirt cup 1222 such that the effective open area of the debris inlet 1220 is reduced. For example, when in the emptying position, the shroud 1212 may be spaced from the bottom surface 1224 of the dust cup 1222 such that the effective open area height 1226 measures in the range of 1 millimeter (mm) to 5 mm. As a further example, the effective open area height 1226 may measure 1mm when in the emptying position. As shown, when the shutter is transitioned from the emptying position to the cleaning position, the shield 1212 moves away from the bottom surface 1224 of the dirt cup 1222 such that the effective open area of the debris inlet 1220 is increased. The effective open area width may be measured in the range of 40mm to 153 mm. In some cases, a plurality of debris inlets 1220 can engage the gate 1202 on either side of the dirt cup 1222. For example, as shown in FIG. 15, the dirt cup 1500 can include a plurality of debris inlets 1502 separated by dividers 1504 such that the debris inlets 1502 are disposed on opposite sides of the dirt cup 1500.

Fig. 16 and 17 illustrate an example of a gate 1600 configured to transition between a cleaning position (e.g., as shown in fig. 16) and an emptying position (e.g., as shown in fig. 17) to change an effective opening area of a debris inlet 1602. When the gate 1600 is in the cleaning position, the effective open area of the debris inlet 1602 is maximized. When the gate 1600 is in the emptying position, the gate 1600 blocks the debris inlet 1602 such that the effective open area is reduced relative to the cleaning position.

An example robotic cleaner according to the present disclosure may include a body, an agitator chamber within the body, an agitator disposed within the agitator chamber, a dirt cup removably coupled to the body, the dirt cup including a debris inlet fluidly coupling the dirt cup to the agitator chamber, and a gate configured to transition between a cleaning position and an emptying position in response to rotational movement of the agitator.

In some cases, the gate may include an arcuate portion having a shape generally corresponding to the shape of the agitator. In some cases, the gate may include a non-arcuate portion configured to engage the agitator such that engagement between the agitator and the non-arcuate portion urges the gate between the cleaning position and the emptying position. In some cases, the non-arcuate portion may include a comb. In some cases, the agitator chamber may include a plurality of stops configured to limit movement of the gate. In some cases, a longitudinal distal region of the gate may define a collar configured to rotatably receive a portion of the agitator. In some cases, the collar may have an open end such that the collar extends around only a portion of the agitator. In some cases, each collar may define a flange configured to maintain floating engagement of the gate between the agitator and the agitator chamber. In some cases, the gate may include an arcuate portion and a non-arcuate portion including a shroud configured to redirect air incident thereon in a direction of an effective open area of the debris inlet. In some cases, the dirt cup may include a plurality of debris inlets separated by dividers.

An example robotic cleaning system according to the present disclosure may include a docking station and a robotic cleaner configured to engage the docking station. The docking station may include an evacuation bin and a suction motor. The robotic cleaner may include a body, an agitator chamber within the body, an agitator disposed within the agitator chamber, a dirt cup removably coupled within the body and configured to be fluidly coupled to the evacuation bin and the suction motor, the dirt cup including a debris inlet fluidly coupling the dirt cup to the agitator chamber, and a gate that transitions between a cleaning position and an evacuation position in response to rotational movement of the agitator.

In some cases, the gate may include an arcuate portion having a shape generally corresponding to the shape of the agitator. In some cases, the gate may include a non-arcuate portion configured to engage the agitator such that engagement between the agitator and the non-arcuate portion urges the gate between the cleaning position and the emptying position. In some cases, the non-arcuate portion may include a comb. In some cases, the agitator chamber may include a plurality of stops configured to limit movement of the gate. In some cases, a longitudinal distal region of the gate may define a collar configured to rotatably receive a portion of the agitator. In some cases, the collar may have an open end such that the collar extends around only a portion of the agitator. In some cases, each collar may define a flange configured to maintain floating engagement of the gate between the agitator and the agitator chamber. In some cases, the gate may include an arcuate portion and a non-arcuate portion including a shroud configured to redirect air incident thereon in a direction of an effective open area of the debris inlet. In some cases, the dirt cup may include a plurality of debris inlets separated by dividers.

Unless expressly stated otherwise, engagement as used herein may refer to direct or indirect engagement.

While the principles of the invention have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation on the scope of the invention. In addition to the exemplary embodiments shown and described herein, other embodiments are contemplated as being within the scope of the present invention. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present invention, which is not to be limited except by the following claims.