Cleaning roller for cleaning robot

Abstract

The present application discloses a cleaning roller mountable to a cleaning robot, the cleaning roller comprising: an elongated member extending along a longitudinal axis of the cleaning roller, the cleaning roller being rotatable about the longitudinal axis when the cleaning roller is mounted to the cleaning robot; a blade attached to the elongated member, the blade configured to direct debris into an interior of the cleaning robot when the cleaning roller rotates about the longitudinal axis; the blade assembly includes an elongated member, a blade attached to the elongated member, and a bump attached to the elongated member, the bump extending outwardly from the elongated member, where a height of the bump over the elongated member is less than a height of the blade over the elongated member.

Description

[0001] This application is a divisional application of the Chinese invention patent application entitled “Cleaning roller for cleaning robot” and application number 202211040672.6 filed on February 26, 2020. Field of the Invention

[0002] The present application relates to a cleaning roller, in particular a cleaning roller for a cleaning robot. Background Art

[0003] The autonomous cleaning robot can navigate across the floor surface and avoid obstacles while it can clean the floor surface and operate its own rotatable member to ingest debris on the floor. As the robot moves across the floor surface, the robot can rotate the rotatable member, which attracts the debris and directs the debris to the vacuum airflow generated by the robot. Thus, the rotatable member and the vacuum airflow can work in tandem to enable the robot to ingest debris. Summary of the invention

[0004] A cleaning roller for an autonomous cleaning robot that can rotate during a cleaning operation of the robot so that the cleaning roller can attract and pick up debris from the floor surface as the robot moves across the floor surface. The cleaning roller includes a blade that is configured to sweep across the floor surface as the cleaning roller rotates. The blade can include a plurality of interconnected portions that form at least one bend. For example, a first portion of the blade can extend in a first direction, and a second portion of the blade attached to the first portion can extend in a second direction different from the first direction.

[0005] The advantages of the cleaning roller, cleaning head and cleaning robot described in the present application may include but are not limited to those advantages described below and elsewhere in the present application. The embodiments of the blades of the cleaning roller can improve the debris picking ability of the robot. For example, when the roller rotates and engages the floor surface, the bend in the blade of the present application can make the blade sweep the length of the floor surface greater than that of the blade that extends radially outward along the radial axis and is not bent. The bend in the blade can also offset the angular deflection of the blade by the rotation of the roller, thereby allowing the blade to maintain direction relative to the floor surface when the blade sweeps the floor surface. The robot may include multiple blades to further improve its debris picking ability. In some embodiments, the tip portion of the blade may include some surface features to improve the debris picking ability of the blade. The convex or concave features along the tip portion may allow the blade to contact the floor surface with greater force to stir the debris on the floor surface, thereby making it easier to use the robot's vacuum system to suck the debris into the robot through the flowing air. The blade moves the debris swept by the blade toward the center of the roller along the spiral path of the cleaning roller. These spiral paths may thus allow mechanical agitation of the chips to cooperate with the airflow generated by the vacuum assembly of the robot and, in particular, may cause the chips to move towards an area of ​​the roller where the force of the airflow generated by the vacuum assembly is greatest.

[0006] The roller may be further configured to improve the maneuverability of the robot. For example, the roller may be symmetrical about the central axial plane of the roller. When the robot moves along the floor surface and when the roller contacts the floor surface, this symmetry can reduce the tendency of the roller to generate lateral forces on the robot. Therefore, when the robot moves in the forward drive direction, the roller is less likely to cause the robot to drift, such as drifting to the left or right. The blades of the roller may also be configured to improve the maneuverability of the robot. The blades may have sufficient flexibility to reduce the possibility that the blades affect the direction of movement of the robot when the blades contact the floor surface. In some embodiments, the roller may include features that enable the roller to help the robot move through obstacles on the floor surface. For example, the roller may include a protrusion extending from the self-cleaning roller, which engages with an obstacle on the floor surface. The protrusion may be hard enough to allow the roller to engage with the obstacle and lift the robot above the obstacle, thereby enabling the robot to move through the obstacle.

[0007] The roller may also include features that reduce the amount of noise generated by the roller when the roller contacts the floor surface. The blade may extend along a spiral path along the surface of the cleaning roller, and this configuration may reduce the amount of noise generated by the cleaning roller. In some embodiments, the first and second portions of the blade are shaped to reduce the stiffness of the blade and thus mitigate noise. The roller may also include one or more openings along the blade, which may be further used to mitigate noise. For example, the roller may include one or more openings along the blade to reduce the stiffness of the roller at various locations along the roller (e.g., at the center of the roller, at the quarter points along the roller, or at other locations). The reduction in roller stiffness may further reduce the noise generated when the roller contacts an object (such as a floor surface or debris).

[0008] The roller may include features that reduce the wear susceptibility of the blades. For example, the interface between the blades of the roller and the elongated member to which the blades are attached may reduce the wear susceptibility of the blades. For example, the blades may extend tangentially from the elongated member, thereby reducing the likelihood of stress concentration near the location where the blades are attached to the elongated member.

[0009] On the one hand, the present application describes a cleaning roller that can be mounted to a cleaning robot. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and a blade extending outward from the elongated member. The blade includes a first blade portion attached to the elongated member and a second blade portion attached to the first blade portion. The first blade portion extends from the elongated member at a position intersecting with the radial axis of the cleaning roller. The first blade portion extends along a first axis and away from the radial axis in a tangential direction, and the first axis is angled relative to the radial axis. The second blade portion extends along a second axis, and the second axis is angled relative to the first axis. The first angle between the first axis and the radial axis is greater than the second angle between the second axis and the radial axis.

[0010] On the other hand, the present application describes a cleaning head for a vacuum cleaner. The cleaning head includes a conduit and a cleaning roller configured to sweep debris into the conduit. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and a blade extending outward from the elongated member. The blade includes a first blade portion attached to the elongated member and a second blade portion attached to the first blade portion. The first blade portion extends from the elongated member at a position intersecting with the radial axis of the cleaning roller. The first blade portion extends along a first axis and away from the radial axis in a tangential direction, the first axis being angled relative to the radial axis. The second blade portion extends along a second axis, the second axis being angled relative to the first axis. The first angle between the first axis and the radial axis is greater than the second angle between the second axis and the radial axis.

[0011] On the other hand, the cleaning robot includes: a drive system that moves the robot on the floor surface; and a cleaning roller that can be mounted to the cleaning robot. The cleaning roller can rotate around the longitudinal axis of the cleaning roller in a first rotation direction. The cleaning roller includes an elongated component extending along the longitudinal axis of the cleaning roller and a blade extending outward from the elongated component. The blade includes a first blade portion attached to the elongated component and a second blade portion attached to the first blade portion. The first blade portion extends from the elongated component at a position intersecting with the radial axis of the cleaning roller. The first blade portion extends along a first axis and away from the radial axis in a tangential direction, and the first axis is angled relative to the radial axis. The second blade portion extends along a second axis, and the second axis is angled relative to the first axis. The first angle between the first axis and the radial axis is greater than the second angle between the second axis and the radial axis.

[0012] In some embodiments, the blade may include a first blade, and the cleaning roller may include a plurality of blades, the plurality of blades including at least a first blade and a second blade. The second blade may extend outwardly from the housing away from the longitudinal axis of the cleaning roller and offset in a tangential direction from the first blade.

[0013] In some embodiments, the cleaning roller may include a plurality of blades, the plurality of blades including a first blade and a second blade. Each blade in the plurality of blades may be symmetrical about a plane. The plane may be located at the center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller. In a further embodiment, the radial axis may be a first radial axis, and the second blade may be attached to the housing at a position intersecting with the second radial axis of the cleaning roller. The first radial axis and the second radial axis may form an angle of 30 to 90 degrees.

[0014] In some embodiments, the elongate member may be cylindrical.The first axis may extend tangentially from the circumference of the elongate member.

[0015] In some embodiments, the tangential direction may be a second tangential direction. The second blade portion may include a first surface facing the first tangential direction and a second surface facing the second tangential direction. The first and second surfaces may be located between the tip of the second blade portion and the first blade portion, and the first surface may be curved. In further embodiments, the first surface may be concave. In further embodiments, the first surface may be convex.

[0016] In some embodiments, the radial axis may be a first radial axis and the second blade portion may extend through the second radial axis of the cleaning roller.The second axis may form an angle of no more than 5 degrees with the second radial axis.

[0017] In some embodiments, a section of the blade may extend along a spiral path along the elongated member. In a further embodiment, the spiral path may be a first spiral path, and the section of the blade may be a first section of the blade. The second section of the blade may extend along a second spiral path along the elongated member. In a further embodiment, the first spiral path may extend from the first end of the first spiral path to the second end of the first spiral path along the elongated member in the tangential direction of the cleaning roller. The first end of the first spiral path may be located near the first longitudinal end of the cleaning roller, and the second end of the first spiral path may be located near the center of the cleaning roller. The second spiral path may extend from the first end of the second spiral path to the second end of the second spiral path along the elongated member in the tangential direction of the cleaning roller. The first end of the second spiral path may be located near the second longitudinal end of the cleaning roller, and the second end of the second spiral path may be located near the center of the cleaning roller. In a further embodiment, the first spiral path may be symmetrical with the second spiral path about a plane. The plane may be located at the center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller. In a further embodiment, the pitch of the spiral path may be 300 to 900 millimeters.

[0018] In some embodiments, the cleaning roller may further include a projection extending outwardly from the elongated member away from the longitudinal axis. The height of the outer tip of the blade relative to the elongated member may be greater than the height of the outer tip of the projection relative to the housing. In a further embodiment, the maximum thickness of the projection is 8 mm to 18 mm. In a further embodiment, the projection may taper from the elongated member to the outer tip of the projection. In a further embodiment, the projection may be a first projection, and the cleaning roller may further include a second projection extending outwardly from the elongated member away from the longitudinal axis. The blade may be located between the first projection and the second projection. In a further embodiment, the height of the outer tip of the projection relative to the elongated member may be 0.25 to 2.0 cm.

[0019] In some embodiments, the blade may include an opening extending along the central portion of the cleaning roller. The opening may extend only partially through the blade and away from the elongated member toward the outer tip of the blade. In a further embodiment, the opening may extend from the elongated member toward the outer tip of the blade. In a further embodiment, the opening may taper toward the outer tip of the blade. In a further embodiment, the maximum width of the opening is 2 mm to 8 mm. In a further embodiment, the first blade portion may include a first section and a second section, the first section extending from the first longitudinal end of the cleaning roller toward the central portion of the cleaning roller, and the second section extending from the second longitudinal end of the cleaning roller toward the central portion of the cleaning roller. The first section of the first blade portion may be separated from the second section of the first blade portion by the opening, and the second blade portion may extend continuously along the blade from the first longitudinal end of the cleaning roller to the second longitudinal end of the cleaning roller.

[0020] In some embodiments, the blade can be a first blade, and the cleaning roller can further include a second blade. The first blade can include a first longitudinal end near the first longitudinal end of the cleaning roller and a second longitudinal end near the center of the cleaning roller. The second blade can include a first longitudinal end near the second longitudinal end of the cleaning roller and a second longitudinal end near the center of the cleaning roller. The second longitudinal end of the first blade can be separated from the second longitudinal end of the second blade.

[0021] In some embodiments, the outer diameter of the cleaning roller may be uniform throughout the length of the cleaning roller.The outer diameter may be defined at least in part by the blades.

[0022] In some embodiments, the elongated member may be cylindrical throughout the entire length of the cleaning roller.

[0023] In some embodiments, the first blade portion may include a first end attached to the elongated member and a second end attached to the second blade portion. A first radial distance between the first end of the first blade portion and the longitudinal axis of the cleaning roller may be 50% to 90% of a second radial distance between the second end of the first blade portion and the longitudinal axis of the cleaning roller.

[0024] In some embodiments, the length from the first end of the second blade portion to the second end of the second blade portion may be 25% to 75% of the length from the first end of the first blade portion to the second end of the first blade.

[0025] In some embodiments, a first length from a first end of the first blade portion to a second end of the first blade portion may be 0.5 to 3 centimeters. A second length from a first end of the second blade portion to a second end of the second blade portion may be 0.2 to 1.5 centimeters.

[0026] In some embodiments, the thickness of the first blade portion may be 0.5 to 4 millimeters.

[0027] In some embodiments, the maximum thickness of the second blade portion may be 2 to 5 millimeters.

[0028] In some embodiments, the overall diameter of the cleaning roller may be 30 to 90 millimeters, and the overall length of the cleaning roller is 10 to 50 centimeters.

[0029] In some embodiments, the blade may further include a third portion attached to the second blade portion. The third portion of the blade may extend along a third axis, the third axis being angled relative to the second axis. The third angle between the third axis and the radial axis may be less than the second angle between the second axis and the radial axis. In further embodiments, the third portion of the blade may include a tip portion of the blade.

[0030] On the other hand, the present application describes a cleaning roller that can be mounted to a cleaning robot. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and a blade attached to the elongated member. The blade includes a first blade portion, a second blade portion, and a bend, the first blade portion extending from a first end attached to the elongated member to a second end, the second blade portion extending from a first end attached to the second end of the first blade portion to a second end including a blade tip portion, and the second end of the first blade portion is attached to the first end of the second blade portion at the bend.

[0031] In some embodiments, the first end of the first blade portion can be attached to the elongated member along a position intersecting the first radial axis of the cleaning roller, and the tip portion of the blade can be arranged along the second radial axis of the cleaning roller. In a further embodiment, the angle between the first radial axis and the second radial axis can be 20 degrees to 70 degrees. In a further embodiment, the first blade portion can extend along the first axis, and the second blade portion can extend along the second axis. The angle between the first axis and the first radial axis can be greater than the angle between the second axis and the first radial axis. In a further embodiment, the angle between the first axis and the second axis can be 90 degrees to 170 degrees.

[0032] In some embodiments, the length of the second blade portion may be 25% to 75% of the length of the first blade portion.

[0033] In some embodiments, the second blade portion may include a first surface facing the first tangential direction and a second surface facing the second tangential direction. The first surface may include a projection. In a further embodiment, the projection of the first surface of the second blade portion may be connected to the first blade portion, and the first surface of the second blade portion may also include a recessed portion connected to the projection. In a further embodiment, the first blade portion may include a first surface facing the first tangential direction and a second surface facing the second tangential direction. The first surface and the second surface of the first blade portion may be parallel to each other.

[0034] In some embodiments, the tip portion can be spoon-shaped.

[0035] In some embodiments, the maximum thickness of the first blade portion may be 1 to 4 millimeters.In further embodiments, the maximum thickness of the second blade portion may be 10% to 75% greater than the maximum thickness of the first blade portion.

[0036] In some embodiments, the height of the blade relative to the elongate member may be 0.5 to 2.5 centimeters.

[0037] On the other hand, the present application describes a cleaning roller that can be mounted to a cleaning robot. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and a blade attached to the elongated member. The blade includes a first bend and a second bend. The first bend is located between the elongated member and the second bend, and the second bend is located between the first bend and the top portion of the blade.

[0038] In some embodiments, the blade may include a first blade portion extending outward from the elongated member and a second blade portion extending outward from the first blade portion. The first blade portion may be attached to the second blade portion at a first bend. In a further embodiment, the blade may include a third blade portion extending outward from the second blade portion and terminating at a tip portion of the blade. The second blade portion may be attached to the third blade portion at a second bend. In a further embodiment, the length of the second blade portion may be 15% to 35% of the length of the first blade portion. In a further embodiment, the length of the third blade portion may be 10% to 30% of the length of the first blade portion. In a further embodiment, the blade may be attached to the elongated member at a position intersecting with the radial axis of the cleaning roller, the first blade portion may extend along the first axis, and the second blade portion may extend along the second axis. The angle between the first axis and the radial axis may be greater than the angle between the second axis and the radial axis. In a further embodiment, the third blade portion may extend along the third axis, and the angle between the second axis and the radial axis may be less than the angle between the third axis and the radial axis. In a further embodiment, the angle between the first axis and the second axis may be 90 degrees to 170 degrees. In a further embodiment, the angle between the second axis and the third axis may be 90 to 170 degrees. In a further embodiment, the angle between the third axis and the first axis may be no greater than 5 to 15 degrees.

[0039] On the other hand, the present application describes a cleaning roller that can be mounted to a cleaning robot. The cleaning roller includes an elongated component extending along the longitudinal axis of the cleaning roller and a blade attached to the elongated component. The blade extends along a spiral path extending longitudinally along the elongated component. The blade includes an opening extending along the central portion of the cleaning roller.

[0040] In some embodiments, the opening may include a slit.

[0041] In some embodiments, the opening may extend away from the elongated member toward the outer tip of the blade. The opening may taper toward the outer tip of the blade. In further embodiments, the maximum width of the opening is 2 mm to 8 mm. In further embodiments, the opening may be symmetrical about the central cross section of the cleaning roller.

[0042] In some embodiments, the opening may extend only partially through the blade and away from the elongate member towards the outer tip of the blade. In further embodiments, the opening may extend from the elongate member towards the outer tip of the blade.

[0043] In some embodiments, the blade may include a first blade portion, a second blade portion, and a bend, wherein the first blade portion is attached to the second blade portion. The opening may extend through the entire length of the first blade portion. In further embodiments, the distal end point of the opening may coincide with the location where the first blade portion is attached to the second blade portion. In further embodiments, the blade may extend along the entire length of the elongated member. In further embodiments, the first blade portion may include a first section and a second section. The first section may be separated from the second section by the opening. In further embodiments, the second blade portion may extend continuously along the entire length of the elongated member.

[0044] On the other hand, the present application describes a cleaning roller that can be mounted to a cleaning robot. The cleaning roller includes an elongated component extending along the longitudinal axis of the cleaning roller, a blade attached to the elongated component, and a projection attached to the elongated component. The projection extends outward from the elongated component. The height of the projection above the elongated component is less than the height of the blade above the elongated component.

[0045] In some embodiments, the blades may be flexible and the bumps may be rigid protrusions.

[0046] In some embodiments, the nub may taper from the elongated member to a tip portion of the nub.

[0047] In some embodiments, the nub may be a generally triangular shaped protrusion from the elongate member.

[0048] In some embodiments, the height of the nub above the elongated member is 0.25 to 2 centimeters, and in further embodiments, the height of the blade may be 25% to 100% greater than the height of the nub.

[0049] In some embodiments, the projection may include a first surface facing a first tangential direction of the cleaning roller and a second surface facing a second tangential direction of the cleaning roller. The length of the first surface may be greater than the length of the second surface. In further embodiments, the length of the first surface may be 1.5 to 2.5 times the length of the second surface.

[0050] In some embodiments, the maximum thickness of the bump is 8 to 18 millimeters.

[0051] In some embodiments, the blade may be a first blade attached to the elongated member, and the cleaning roller may further include a second blade. The projection may be located between the first blade and the second blade.

[0052] In some embodiments, the nubs may extend in longitudinal and circumferential directions along the elongate member, along a helical path along the elongate member.

[0053] On the other hand, the present application describes a cleaning roller that can be mounted to a cleaning robot. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller, a blade attached to the elongated member, and a projection attached to the elongated member. The projection can extend outward from the elongated member and can include an opening for receiving a bristle brush.

[0054] In some embodiments, the opening may extend radially inward from a surface of the bump.

[0055] In some embodiments, the opening can include a rectangular portion.

[0056] In some embodiments, the first portion of the blade may extend outwardly in a tangential direction, and the opening may face in the tangential direction.

[0057] In some embodiments, the height of the nub relative to the elongated member may be less than the height of the blade relative to the elongated member.

[0058] In some embodiments, the opening may include a first portion adjacent to the surface of the bump and a second portion adjacent to the first portion of the opening. In further embodiments, the width of the first portion of the opening may be less than the width of the second portion of the opening. In further embodiments, the width of the first portion may be 1 to 4 millimeters. In further embodiments, the width of the second portion may be 1.5 to 2.5 times wider than the width of the first portion.

[0059] On the other hand, the cleaning robot includes: a drive system that moves the robot on the floor surface; and a cleaning roller consistent with any exemplary cleaning roller described in this application. In some embodiments, the cleaning robot includes another cleaning roller consistent with any exemplary cleaning roller described in this application.

[0060] The details of one or more implementations of the subject matter described in this specification will be set forth in the accompanying drawings and the description below. Other potential features, aspects, and advantages will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1A is a cross-sectional schematic side view of the cleaning robot during cleaning operation.

[0062] Figure 1B It is along Figure 1A A cross-sectional bottom view of the robot cleaning roller taken at section 1B-1B in FIG.

[0063] Figure 1C It is along Figure 1B A cross-sectional side view of the cleaning roller engaging the ground, taken at section 1C-1C in FIG.

[0064] Figure 2A and Figure 2B They are Figure 1A Bottom view and bottom perspective exploded view of the robot in .

[0065] FIG. 3A to FIG. 3B They are a front perspective view and a front cross-sectional view of the cleaning roller, respectively.

[0066] Figure 4A , 4B , 4C, 4D and 4F are Figure 3A Perspective, side, side, side and front views of an example of a cleaning roller cover containing a blade.

[0067] Figure 4E yes Figure 4A An enlarged side view of the blades of the cleaning roller cover.

[0068] FIG. 5A to FIG. 5B 2 are perspective and side views, respectively, of another example of a cleaning roller cover including blades.

[0069] Figure 5C yes Figure 5A An enlarged side view of the nubs on the cleaning roller cover.

[0070] FIG. 6A to FIG. 6B 2 are perspective and side views, respectively, of another example of a cleaning roller cover including blades.

[0071] Figure 6C yes Fig. 6A An enlarged side view of the protrusion of the middle sheath.

[0072] Figure 7 is a perspective view of another example of a cleaning roller cover.

[0073] Figure 8 is a cross-sectional side view of another example of a cleaning roller.

[0074] Figures 9 to 11 is a cross-sectional side view of another example of a cleaning roller cover. DETAILED DESCRIPTION

[0075] Figure 1A1 is a cross-sectional side view of a cleaning robot 102 during a cleaning operation. During a cleaning operation, the cleaning robot 102 may clean a floor surface 10. A cleaning head 100 for the cleaning robot 102 includes one or more rotatable components, such as a cleaning roller 104, which is arranged to attract debris 106 on the floor surface 10. The robot 102 moves around the floor surface 10 while rotating the cleaning roller 104 and operating the vacuum assembly 119 to ingest debris 106 from the floor surface 10. During a cleaning operation, the cleaning roller 104 rotates to lift the debris 106 from the floor surface 10 into the robot 102 while the robot 102 moves around the floor surface 10. The rotation of the cleaning roller 104 facilitates the movement of the debris 106 toward the interior of the robot 102. The outer surface of the cleaning roller 104 contacts and attracts the debris 106, which is then directed toward the interior of the robot 102. The contact between the cleaning roller 104 and the debris 106 further agitates the debris 106 , making it easier for the debris 106 to be sucked into the robot 102 .

[0076] refer to Figure 1B , the roller 104 includes an elongated member 107 and a blade 114, the blade 114 extending outward from the elongated member 107 away from the longitudinal axis X1 of the roller 104. The elongated member 107 is a structural member extending along the longitudinal axis X1. In some embodiments, the elongated member 107 extends from a first end 149 of the roller 104 to a second end 150 of the roller 104. Figure 1B In the example shown, the roller 104 includes a sheath 110 and a support structure 109 within the sheath 110. The sheath 110 includes a shell 112 and blades 114. The elongated member 107 includes or corresponds to the shell 112 of the sheath 110.

[0077] Figure 1C A side cross-sectional view of roller 104 is depicted, wherein a portion of roller 104 engages floor surface 10. In particular, as roller 104 rotates, a portion of blade 114 engages floor surface 10. Figure 1C , the blade 114 includes a bend 115, at which the first portion 116 of the blade 114 intersects the second portion 118 of the blade 114. As described in the present application, this configuration can reduce the amount of torque required to rotate the roller 104 and improve the debris picking ability of the roller 104, and thus enable the robot 102 ( Figure 1A ) to more effectively clean the floor surface 10.

[0078] Cleaning robot example

[0079] The autonomous cleaning robot described in this application is a vacuum cleaner that can autonomously navigate around a floor surface. Figure 1A, the robot 102 is an autonomous cleaning robot that automatically traverses the floor surface 10 while ingesting debris 106 from different portions of the floor surface 10. Figure 1A and 2A In the depicted example, the robot 102 includes a body 200 that is movable on a floor surface 10. In some cases, the body 200 includes a plurality of connected structures on which movable components of the robot 102 are mounted. For example, the connected structures forming the body 200 include a housing for covering the internal components of the robot 102, a chassis to which the drive wheels 210a, 210b and the cleaning rollers 104 are mounted, a bumper mounted to the housing, a cover for an internal cleaning box of the robot 102, and the like.

[0080] The body 200 includes a front portion 202a having a generally rectangular shape and a rear portion 202b having a generally semicircular shape. The front portion 202a refers to, for example, the front third to the front half of the robot 102, and the rear portion 202b refers to the rear half to two thirds of the robot 102. Figure 2A As shown, the front portion 202a includes two side edges 204a, 204b, and the side edges 204a, 204b are substantially perpendicular to the front edge 206 of the front portion 202a. In some embodiments, the width W1 of the robot 102 (e.g., the distance between the two side edges 204a, 204b) is between 20 cm and 60 cm, such as between 20 cm and 40 cm, between 30 cm and 50 cm, between 40 cm and 60 cm, etc.

[0081] The robot 102 includes a drive system including actuators 208a, 208b (e.g., motors) operable with drive wheels 210a, 210b. The actuators 208a, 208b are mounted in the body 200 and operably connected to the drive wheels 210a, 210b, which are rotatably mounted to the body 200. The drive wheels 210a, 210b support the body 200 above the floor surface 10. When driven, the actuators 208a, 208b rotate the drive wheels 210a, 210b to enable the robot 102 to move autonomously on the floor surface 10.

[0082] The robot 102 includes a controller 212 that operates the actuators 208a, 208b to autonomously drive the robot 102 around the floor surface 10 during a cleaning operation. The actuators 208a, 208b are operable to move the robot 102 in a forward drive direction 117 ( Figure 2A10) and rotate the robot 102. In some embodiments, the robot 102 includes casters 211 that support the body 200 above the floor surface 10. For example, the casters 211 support the rear portion 202b of the body 200 above the floor surface 10, and the drive wheels 210a, 210b support the front portion 202a of the body 200 above the floor surface 10.

[0083] like Figure 1A and 2A As shown, the vacuum assembly 119 is loaded into the body 200 of the robot 102, for example, in the rear portion 202b of the body 200. Figure 2A , the controller 212 operates the vacuum assembly 119 to generate an airflow 120 that flows near the cleaning roller 104, through the main body 200, and out of the main body 200. For example, the vacuum assembly 119 includes an impeller that generates the airflow 120 when rotating. When the cleaning roller 104 rotates, the vacuum assembly 119 generates the airflow 120 to ingest the debris 106 into the robot 102. The cleaning box 122 installed in the main body 200 is configured to store the debris 106 ingested by the robot 102. The filter 123 within the main body 200 separates the debris 106 from the airflow 120 before the airflow 120 enters the vacuum assembly 119 and is discharged from the main body 200. In this regard, before the airflow 120 is discharged from the main body 200, the debris 106 is captured in the cleaning box 122 and the filter 123 at the same time.

[0084] like Figure 2A As shown, the cleaning head 100 and the cleaning roller 104 are located in the front portion 202a of the body 200 between the side edges 204a, 204b. The cleaning roller 104 is operably connected to an actuation mechanism of the robot 102. Specifically, the cleaning roller 104 is operably connected to the actuation mechanism, which includes a drive mechanism connected to an actuator 214 of the robot 102 so that the torque generated by the actuator 214 can be transmitted to drive the cleaning roller 104. The cleaning head 100 and the cleaning roller 104 are located in front of the cleaning box 122, which is located in front of the vacuum assembly 119. Figure 2A In the depicted example of the robot 102, the generally rectangular shape of the front portion 202a of the body 200 enables the cleaning roller 104 to be longer than a cleaning roller for a cleaning robot having, for example, a round body.

[0085] The cleaning roller 104 is mounted to the housing 124 of the cleaning head 100 and is mounted to (e.g., indirectly or directly) the main body 200 of the robot 102. Specifically, the cleaning roller 104 is mounted to the underside of the front portion 202a of the main body 200, so that during the cleaning operation, when the underside of the front portion 202a faces the floor surface 10, the cleaning roller 104 attracts debris 106 on the floor surface 10. In some embodiments, the housing 124 of the cleaning head 100 is mounted to the main body 200 of the robot 102. In this regard, the cleaning roller 104 is also mounted to the main body 200 of the robot 102, for example, indirectly mounted to the main body 200 through the housing 124. Alternatively or additionally, the cleaning head 100 is a detachable component of the robot 102, wherein the housing 124 on which the cleaning roller 104 is mounted is detachably mounted to the main body 200 of the robot 102. The housing 124 and roller 104 are removable from the main body 200 as a unit so that the cleaning head 100 can be easily interchanged with a replacement cleaning head.

[0086] In some embodiments, the housing 124 of the cleaning head 100 is not detachably mounted to the body 200, it is not a component that can be separated from the body 200, but corresponds to an integral part of the body 200 of the robot 102. The cleaning roller 104 is mounted on the body 200 of the robot 102, for example, directly mounted on an integral part of the body 200. The cleaning roller 104 can be independently removed from the housing 124 of the cleaning head 100 and / or removed from the body 200 of the robot 102 so that the cleaning roller 104 can be easily cleaned or replaced with a replacement cleaning roller. As described herein, the cleaning roller 104 may include a collection well for filament debris, and when the cleaning roller 104 is removed from the housing 124, the user can easily obtain and clean the filament debris.

[0087] refer to Figure 1A and 2A , when the cleaning roller 104 is mounted to the housing 124, the cleaning roller 104 is located adjacent to a dustpan 125 extending along it. In some embodiments, the dustpan 125 extends along the entire length of the cleaning roller 104 or at least along 90% of the entire length of the cleaning roller 104. The dustpan 125 is at least partially located below the cleaning roller 104 and is arranged to receive debris 106 swept up by the cleaning roller 104. In this way, the dustpan 125 can be arranged in the rotation direction of the cleaning roller 104 relative to the area where the cleaning roller 104 contacts the floor surface 10, so that any debris in the area contacting the cleaning roller 104 can be swept into the dustpan 125.

[0088] The cleaning roller 104 can rotate relative to the housing 124 of the cleaning head 100 and relative to the body 200 of the robot 102. The cleaning roller 104 can rotate about a longitudinal axis X1 of the cleaning roller 104. The longitudinal axis X1 can be parallel to the floor surface 10. In some cases, the longitudinal axis X1 is perpendicular to the forward drive direction 117 of the robot 102. Figure 1B and 1C , the center 113 of the cleaning roller 104 is arranged along the longitudinal axis X1 of the cleaning roller 104 and corresponds to the midpoint of the length L1 of the cleaning roller 104. In this regard, the center 113 is arranged along the rotation axis of the cleaning roller 104. The length L1 of the cleaning roller 104 is, for example, between 10 cm and 50 cm, such as between 10 cm and 30 cm, between 20 cm and 40 cm, between 30 cm and 50 cm, between 20 cm and 30 cm, between 22 cm and 26 cm, between 23 cm and 25 cm, or about 24 cm. The length L1 is, for example, 70% to 90% of the total width W1 of the robot 102, such as 70% to 80%, 75% to 85%, and 80% to 90%, etc. of the total width W1 of the robot 102.

[0089] refer to Figure 2B In the exploded view of the cleaning head 100 shown in FIG. 1 , the cleaning roller 104 includes an elongated member 107 and a blade 114. Figure 2B In the example shown, the cleaning roller includes a sheath 110 and a support structure 109. The sheath 110 includes a shell 112 and blades 114. The elongated member 107 may include or correspond to the shell 112 of the sheath 110. The support structure 109 includes a core 140 and an end cap 141 mounted to the core 140. The core 140 radially supports the sheath 110, especially the shell 112. The end cap 141 can be mounted to the body 200 of the robot 102, thereby mounting the cleaning roller 104 to the robot 102.

[0090] In some embodiments, the sheath 110 is a single molded part formed of one or more elastomeric materials. The housing 112 and its corresponding blades 142 are part of a single molded part. For example, the cleaning roller 104 is an elastic roller, characterized in that patterned blades 142 (e.g., including blades 114) are distributed along its outer surface. The blades 142 of the cleaning roller 104 are in contact with the floor surface 10 along the length of the cleaning roller 104, and are subjected to a friction force that is continuously applied during rotation, which is not possessed by a brush with flexible bristles. In addition, the blades 142 of the cleaning roller 104 can be designed to have a certain rigidity, which is not possessed by flexible bristles. When the blades 142 contact the floor surface 10, the blades 142 can withstand a certain external force without being deformed by such external force. On the contrary, the flexible bristles may be deformed by the force between the bristles and the floor surface 10. The high surface friction of the sheath 110 enables the sheath 110 to attract the debris 106 and direct the debris 106 to the interior of the robot 102, such as toward an air duct 128 (e.g., Figure 1A shown).

[0091] In addition, similar to the cleaning roller having different bristles extending radially from the rod member, the cleaning roller 104 has blades 142 extending radially outward. However, unlike the bristles, the blades 142 extend continuously along the outer surface of the housing 112 in the longitudinal direction. The blades 142 extend in a tangential direction along the outer surface of the housing 112. However, other suitable configurations may also be considered. For example, in some embodiments, in addition to or as an alternative to the blades 142, the cleaning roller 104 may include bristles, elongated flexible flaps, or a combination thereof for agitating the floor surface.

[0092] refer to Figure 2A In some embodiments, in order to sweep the debris 106 toward the cleaning roller 104, the robot 102 includes a brush 233 that rotates about a non-horizontal axis, for example, the non-horizontal axis forms an angle of 75 to 90 degrees with the floor surface 10. For example, the non-horizontal axis forms an angle of 75 to 90 degrees with the longitudinal axis X1 of the cleaning roller 104. The robot 102 includes an actuator 235 operably connected to the brush 233. The brush 233 extends beyond the perimeter of the body 200, so that the brush 233 can attract debris 106 on portions of the floor surface 10 that are generally inaccessible to the cleaning roller 104.

[0093] exist Figure 1ADuring the cleaning operation shown, when the controller 212 operates the actuators 208a, 208b to drive the robot 102 to travel over the floor surface 10, if the brush 233 is present, the controller 212 operates the actuator 235 to rotate the brush 233 about a non-horizontal axis to attract debris 106 that cannot be reached by the cleaning roller 104. In particular, the brush 233 is capable of attracting debris 106 near the wall in the environment and brushing the debris 106 toward the cleaning roller 104. The brush 233 sweeps the debris 106 toward the cleaning roller 104, so that the debris 106 can be attracted by the cleaning roller 104 and swept into the interior of the robot 102.

[0094] The controller 212 operates the actuator 214 to rotate the cleaning roller 104 about the longitudinal axis X1. The cleaning roller 104 attracts the debris 106 on the floor surface 10 while rotating and moves the debris 106 toward the dustpan 125 and toward the air duct 128. Figure 1A As shown, the cleaning roller 104 rotates in a counterclockwise direction 130 and sweeps debris from the floor surface 10 onto the dustpan 125 or into the air duct 128 .

[0095] The controller 212 also operates the vacuum assembly 119 to generate the airflow 120. The vacuum assembly 119 is operated to generate the airflow 120, wherein the airflow 120 passes through the area 132 between the dustpan 125 and the cleaning roller 104, and can move the debris 106 swept onto the dustpan 125 by the cleaning roller 104 and the debris 106 swept into the air duct 128. The airflow 120 transports the debris 106 to the clean box 122, which collects the debris 106 transported by the airflow 120. In this regard, both the vacuum assembly 119 and the cleaning roller 104 facilitate the ingestion of the debris 106 from the floor surface 10. The air duct 128 receives the airflow 120 containing the debris 106 and directs the airflow 120 into the clean box 122. The debris 106 is stored in the clean box 122. During the rotation of the cleaning roller 104, the cleaning roller 104 applies a force to the floor surface 10 to agitate any debris on the floor surface 10. Agitating the debris 106 can cause the debris 106 to fall off the floor surface 10, allowing the cleaning roller 104 to more easily contact the debris 106, and thus the airflow 120 generated by the vacuum assembly 119 can more easily transport the debris 106 to the interior of the robot 102. In some embodiments, as the cleaning roller 104 rotates, the blades (e.g., Figure 1C The blades 114 (shown in FIG. 1 ) contact the dustpan 125 , thereby sweeping debris along the dustpan 125 toward the air duct 128 .

[0096] Cleaning roller example

[0097] Various embodiments of cleaning rollers, such as cleaning roller 104, are described herein. Figure 3A and3B An example of a roller 104 including an outer jacket 110 and a support structure 109 is shown.

[0098] refer to Figure 3B As described herein, support structure 109 includes core 140 and end caps 141 mounted to core 140. Support structure 109 is an internal rigid structure that provides radial support for jacket 110, which is less rigid and more flexible than support structure 109. In some embodiments, support structure 109 is attached to jacket 110 in a manner such that jacket 110 and support structure 109 are coupled to each other in a tangential manner, for example, along an interface that extends along a path perpendicular to the radial axis of roller 104.

[0099] The core 140 includes a sleeve 144, support members 146a, 146b, 146c (collectively referred to as support members 146), and a shaft portion 148. The support structure 109 also includes an end cap 141. The end cap 141 is coupled to the shaft portion 148 and can be mounted to the body 200 of the robot 102. The support structure 109 is rotationally coupled to the sheath 110, so that rotation of the support structure 109 causes rotation of the sheath 110.

[0100] The support members 146 are arranged along the shaft portion 148 and are spaced apart from each other. The support members 146 may include an annular portion that engages with the shaft portion 148, such as a perimeter around a cross-section of the shaft portion 148. The support members 146 may be attached to the shaft portion 148, for example, by adhesive, mechanical interlocking, or other suitable attachment mechanisms. The support member 146a is located near the first end 149 of the roller 104, the support member 146b is located at or near the center 113 of the roller 104, and the support member 146c is located near the second end 150 of the roller 104. The support member 146a may be arranged at a distance from the first end 149 of the roller 104, the distance being 5% to 15% of the length L1. At the same time, the support member 146c may be arranged at a distance from the second end 150 of the roller 104, the distance being 5% to 15% of the length L1.

[0101] The sleeve 144 is arranged around the support member 146 and at least partially around the shaft portion 148. For example, the sleeve 144 is cylindrical. The inner surface of the sleeve 144 is engaged to the support member 146, and the outer surface of the sleeve 144 is engaged to the housing 112 of the sheath 110. The sleeve 144 and the support member 146 can radially support the sheath 110. In particular, the support member 146 can be a rigid member that prevents the sheath 110 from radially bending toward the longitudinal axis X1. The sheath 110 can be more easily bent toward the longitudinal axis X1 in the area between the support members 146 of the support structure 109.

[0102] The sheath 110 is disposed around at least a portion of the support structure 109. The sheath 110, and in particular the housing 112, is disposed around the sleeve 144, the support member 146, and at least a portion of the shaft portion 148. The outer diameter D1 of the roller 104 is defined by the sheath 110, and in particular the blades 142 of the sheath 110. The outer diameter D1 is defined over a length L1 (e.g., Figure 1B In some embodiments, the diameter D1 of the roller 104 is 30 mm to 90 mm, such as 30 mm to 60 mm, 40 mm to 70 mm, 50 mm to 80 mm, or 60 mm to 90 mm. In some embodiments, the outer diameter D1 of the roller 104 corresponds to the outer diameter of the roller 104 when it is not rotating. When the roller 104 rotates, the outer diameter of the roller 104 may increase due to centrifugal force.

[0103] FIG. 4A to FIG. 4E An example of a sheath 110 is shown. Figure 4A As shown, the sheath 110 includes a housing 112 and blades 142 (including blades 114). In some embodiments, the housing 112 is a cylindrical member that includes an inner surface 152, wherein the inner surface 152 is arranged around the support structure 109 and contacts the support structure 109 (at Figure 3B ). The shell 112 is cylindrical over the entire length of the sheath 110. The shell 112 may have a wall thickness of 0.5 mm to 3 mm, for example 0.5 mm to 1.5 mm, 1 mm to 2 mm, 1.5 mm to 2.5 mm, or 2 mm to 3 mm. In some embodiments, the sheath 110 of the roller 104 is an integral component including the shell 112 and the blades 142. Each of the blades 142 has one end fixed to the outer surface of the shell 112 and the other end is free. The height of each of the blades 142 is defined as the distance from the fixed end at the shell 112 (e.g., the attachment point to the shell 112) to the free end. Briefly referring to Figure 4D , for example, the height H1 of the blade 114 is 0.5 cm to 2.5 cm, such as 1 cm to 2 cm, 1.25 cm to 1.75 cm, or 1.4 cm to 1.6 cm. In some embodiments, the height H1 of the blade 114 is 30% to 70% of the diameter of the sheath 110 (i.e., the radial distance between the tip portion 154 of the blade 114 and the longitudinal axis X1). The free end sweeps the circumference of the sheath 110 during the rotation of the roller 104. The circumference is constant along the length of the roller 104.

[0104] refer to FIG. 4B to FIG. 4D , blades 114 are flexible portions of sheath 110 that, in certain circumstances, engage floor surface 10 as roller 104 rotates during cleaning operations. Figure 4B, when the roller 104 rotates, the blade 114 bends when it contacts the floor surface 10. The blade 114 bends backward relative to the rotation direction of the roller 104, so that the blade 114 can bend more easily in response to the contact with the floor surface 10.

[0105] The blade 114 includes a first portion 116, a second portion 118, and a bend 115, wherein the first portion 116 and the second portion 118 are attached to each other. The first portion 116 is attached to the housing 112, and the second portion 118 is attached to the first portion 116 at the bend 115. In particular, the first end 116a of the first portion 116 is attached to the housing 112, and the second end 116b of the first portion 116 is attached to the first end 118a of the second portion 118. Figure 4C , a first portion 116 of the blade 114 is attached to the housing 112 at a position intersecting the radial axis Y1 of the roller 104. The first portion 116 of the blade 114 extends along an axis y1 that is angled relative to the radial axis Y1, and extends away from the radial axis Y1 and away from the tangential direction Z1 in the tangential direction Z2. The second portion 118 of the blade 114 extends along an axis y2 that is angled relative to the axis y1, wherein the first portion 116 of the blade 114 extends along the axis y1. The angle (e.g., minimum angle) between the axis y1 and the radial axis Y1 is greater than the angle (e.g., minimum angle) between the axis y2 and the radial axis Y1. The second portion 118 of the blade 114 terminates at a tip portion 154 of the blade 114. The tip portion 154 is arranged along the axis y2 and the radial axis Y2.

[0106] In embodiments where the housing 112 is cylindrical, the first portion 116 of the blade 114 may extend tangentially from the outer periphery of the housing 112. In some embodiments, the angle between the axis y1 (along which the first portion 116 of the blade 114 extends) and the radial axis Y1 is 70 to 110 degrees, such as 80 to 100 degrees, 85 to 95 degrees, or 88 to 92 degrees, or approximately 85, 90, or 95 degrees. The angle between the axis y1 (along which the first portion 116 of the blade 114 extends) and the axis y2 (along which the second portion 118 of the blade 114 extends) is 90 to 170 degrees, such as 90 to 150 degrees, 90 to 130 degrees, or 90 to 110 degrees, or approximately 95, 105, or 115 degrees. The angle between radial axis Y1 and radial axis Y2 may be 20 to 70 degrees, such as 25 to 65 degrees, 30 to 60 degrees, 35 to 55 degrees, or 40 to 50 degrees.

[0107] As described herein, the second portion 118 of the blade 114 extends along the axis y2. In some embodiments, the second portion 118 of the blade 114 extends through the radial axis Y2 of the roller 104. The angle between the radial axis Y2 and the axis y2 can be 0 to 15 degrees, such as no greater than 10, 5, 3, or 1 degree. In some embodiments, the axis y2 extends along the radial axis Y2 and coincides with the radial axis Y2.

[0108] refer to Figure 4E , shows an enlarged view of the blade 114, the first portion 116 of the blade 114 includes a first surface 156 and a second surface 158. The first surface 156 faces the tangential direction Z1 and away from the tangential direction Z2, and the second surface 158 faces the tangential direction Z2 and away from the tangential direction Z1. The thickness T1 of the first portion 116 of the blade 114 is 0.5 mm to 4 mm, for example, 0.5 mm to 1 mm, 1 mm to 3 mm, 1.5 mm to 3.5 mm, or 2 mm to 4 mm. The first surface 156 and the second surface 158 are substantially parallel to each other. The first portion 116 extends outward from the housing 112 and terminates at the bend 115. The maximum thickness T2 of the second portion 118 of the blade 114 is 2 mm to 5 mm, for example, 2 mm to 4 mm, 2 mm to 3 mm, or 2 mm to 2.5 mm. The maximum thickness T2 of the second portion 118 of the blade 114 is 10% to 75% greater than the thickness T1 of the first portion 116 of the blade 114 , for example 10% to 50%, 10% to 40% or 20% to 35% greater than the thickness T1 of the first portion 116 of the blade 114 .

[0109] In various embodiments, the dimensions of the first portion 116 and the second portion 118 of the blade 114 may vary. Figure 4D, the radial distance R1 between the first end 116a of the first portion 116 and the longitudinal axis X1 is 1 to 3 cm, for example, 1 to 2 cm, 1.5 to 2.5 cm, or 2 to 3 cm. The radial distance R2 between the second end 116b of the first portion 116 and the longitudinal axis X1 is 1.5 to 3.5 cm, for example, 1.5 to 2.5 cm, 2 to 3 cm, or 2.5 to 3.5 cm. The radial distance R1 is 50% to 90% of the radial distance R2, for example, 50% to 80%, 50% to 75%, or 50% to 70% of the radial distance R2. The length L2 of the first portion 116 (i.e., the length between the first end 116a of the first portion 116 and the second end 116b of the first portion 116) is 0.5 to 3 cm, for example, 0.5 to 2.5 cm, 0.5 to 2 cm, or 1 to 2 cm. The length L3 of the second portion 118 (i.e., the length between the first end 118a and the second end 118b of the second portion 118) is 0.2 to 1.5 cm, such as 0.2 to 1.2 cm, 0.2 to 1 cm, or 0.4 to 1 cm. The length L3 of the second portion 118 is 25% to 75% of the length L2 of the first portion 116, such as 30% to 70%, 35% to 65%, or 40% to 50% of the length L2 of the first portion 116. The total length of the blade 114 is 1.5 to 4 cm, such as 1.5 to 3.5 cm, 1.5 to 3 cm, or 1.75 to 2.75 cm.

[0110] refer to Figure 4E , the second portion 118 of the blade 114 includes a first surface 160 and a second surface 162. The first and second surfaces 160, 162 of the second portion 118 are located between the tip portion 154 of the blade 114 and the first portion 116 of the blade 114. The first surface 160 faces the tangential direction Z1 and is away from the tangential direction Z2, and the second surface 162 faces the tangential direction Z2 and is away from the tangential direction Z1. The first surface 160 of the second portion 118 is connected to the first surface 156 of the first portion 116, and the second surface 162 of the second portion 118 is connected to the second surface 162 of the first portion 116.

[0111] In some embodiments, the first surface 160 is convex or includes a convex portion. In some embodiments, the first surface 160 is straight or includes a straight portion. In some embodiments, the first surface 160 is concave or includes a concave portion. In some embodiments, the first surface 160 includes at least one of a straight portion, a concave portion, or a convex portion. In some embodiments, the second surface 162 is straight or includes a straight portion. In some embodiments, the second surface 162 is convex or includes a convex portion. In some embodiments, the second surface 162 is concave or includes a concave portion. In some embodiments, the second surface 162 includes at least one of a straight portion, a concave portion, or a convex portion. Figure 4E In the example shown, the first surface 160 includes a protrusion 160a attached to the blade first portion 116 and a recessed portion 160b attached to the protrusion 160a. In some embodiments, the tip portion 154 is spoon-shaped to allow the blade 114 to easily carry debris into the robot 102. For example, the tip portion 154 includes at least a portion of the recessed portion 160b of the first surface 160.

[0112] As described herein, in some embodiments, the sheath 110 may include a plurality of blades 142, each of the plurality of blades 142 having features similar to those described in connection with the blades 114. Each of the blades 142 may be symmetrical about the central cross-section 172 (eg, Figure 4F ), wherein the central cross section 172 is perpendicular to the longitudinal axis X1 of the roller 104 and is located at the center 113 of the roller 104. FIG. 4B to FIG. 4D As shown, blade 142 includes blade 114 and blade 164. Blade 164 may be geometrically similar to blade 114, except that blade 164 is located at a different position on housing 112. Blade 164 extends outward from housing 112 in a tangential direction at a position offset from the position where blade 114 extends outward from housing 112. For example, the position where blade 164 extends outward from housing 112 may coincide with radial axis Y3 of roller 104. The angle between radial axis Y3 and radial axis Y1 may be 30 degrees to 90 degrees, such as 30 degrees to 45 degrees, 45 degrees to 60 degrees, 60 degrees to 75 degrees, or 75 degrees to 90 degrees. The angle between radial axis Y3 and radial axis Y1 may be equal to the angle between radial axis Y1 and radial axis Y2. In some embodiments, second portion 166 of blade 164 extends along radial axis Y1, wherein radial axis Y1 extends through the position where blade 114 contacts housing 112 as described herein. The second portion 166 may include some geometries similar to those described in conjunction with the second portion 118 of the blade 114 .

[0113] like Figure 4BAs shown, the sheath 110 may include eight blades 142. In further embodiments, the sheath 110 may include fewer or more blades, such as 2, 3, 4, 5, 6, 7, 9 or more blades. In some embodiments, the sheath 110 includes 4 to 12 blades, such as 4 to 8 blades, 6 to 10 blades, or 8 to 12 blades. As described herein, the configuration of the blades 114 may improve the debris pickup capability of the roller 104. Although certain features are described in conjunction with the blades 114, in certain embodiments, the blades 142 may include some or all of these features.

[0114] refer to Figure 4F , a section 168 of the blade 114 extends along the housing 112 along a spiral path 170. The spiral path designed for the portion of the blade 114 can cause the debris swept up by the roller 104 to move toward the center 113 of the roller 104, where the vacuum assembly 119 ( Figure 2A The force of the airflow generated by the roller 104 may be strongest along the length of the roller 104. The spiral path may also reduce the amount of noise generated by the roller 104 when the blades 114 contact the floor surface 10.

[0115] The spiral path 170 extends in the longitudinal and circumferential directions along the housing 112 (eg, along the longitudinal axis X1 and the tangential direction Z2). The spiral path 170 extends in the tangential direction Z2 ( Figure 4C The section 168 extends from the first end 170a of the spiral path 170 to the second end 170b of the spiral path 170 along the housing 112 (as shown). The first end 170a of the spiral path 170 is located near the first end 149 of the roller 104, and the second end 170b of the spiral path 170 is located near the central cross section 172. The section 168 extends from the first end 149 of the roller 104 to the central cross section 172, wherein the central cross section 172 extends through the center 113 of the roller 104 and is perpendicular to the longitudinal axis X1 (as shown). Figure 1B shown).

[0116] The blades 114 may form a herringbone pattern along the housing 112. For example, the segment 174 of the blade 114 extends along the housing 112 along the spiral path 176, and the segment 174 of the blade 114 and the segment 168 may form a herringbone pattern. The spiral path 176 thus extends longitudinally and circumferentially along the housing 112. The spiral path 176 extends in the tangential direction Z2 (eg, Figure 4CThe blade 114 is provided with a plurality of segments 168 and 174 extending from a first end 176a of the spiral path 176 to a second end 176b of the spiral path 176 along the housing 112 (shown in FIG. 1 ). The first end 176a of the spiral path 176 is located near the second end 150 of the roller 104, and the second end 176b of the spiral path 176 is located near the central cross section 172. The segment 174 extends from the second end 150 of the roller 104 to the central cross section 172. The segment 168 of the blade 114 is connected to the segment 174 of the blade 114 at the central cross section 172. In some embodiments, the segment 168 and the segment 174 are symmetrical to each other about the central cross section 172. The pitch of the spiral path 170 and the pitch of the spiral path 176 may be 300 mm to 900 mm, for example, 300 to 600 mm, 400 to 700 mm, 500 to 800 mm, or 600 to 900 mm.

[0117] In some embodiments, the roller 104 includes an opening 178 disposed at or near the center 113 of the roller 104. The opening 178 can reduce the noise generated by the roller 104 when the roller 104 contacts the floor surface by reducing the stiffness of the portion of the blade 114 near the center 113 of the roller 104. In some embodiments, the opening 178 is symmetrical about the central cross-section 172 of the roller 104.

[0118] Opening 178 (also in Figure 4A 178 may extend along at least a portion of a central portion 182 of the roller 104 (e.g., a length portion of the roller 104 that is symmetrical about the central cross-section 172 and that is between 25% and 50% of the length L1 of the roller 104). The opening 178 may extend outward from the housing 112 toward the outer circumference of the roller 104 and may extend through the blade 114. For example, the opening 178 may only partially extend through the blade 114 toward the tip portion 154 of the blade 114 (at Figure 4B 154 of the blade 114. In some embodiments, the opening 178 extends outward from the housing 112 toward the tip portion 154 of the blade 114. The opening 178 tapers toward the tip portion 154 of the blade 114. For example, the length of the opening 178 along the longitudinal axis X1 decreases from near the housing 112 to near the tip portion 154 of the blade 114. The maximum length L4 of the opening 178 along the longitudinal axis X1 can be 15 to 45 mm, such as 15 to 30 mm, 20 to 35 mm, 25 to 40 mm, or 30 to 45 mm.

[0119] like Figure 4FAs shown, in some embodiments, the opening 178 extends through the entirety of the first portion 116 of the blade 114 (e.g., through the entire length of the first portion 116 of the blade 114), and does not extend through the second portion 118 of the blade 114 or extends through only a portion of the second portion 118. For example, the opening 178 terminates at a distal end point 179 that is aligned with the first end 118a of the second portion 118 of the blade 114 (e.g., Figure 4B The distal end point 179 coincides with a location where the first portion 116 of the blade 114 is attached to the second portion 118 of the blade 114. The first portion 116 of the blade 114 (along the segment 168 of the blade 114) is separated from the first portion 116 of the blade 114 (along the segment 174 of the blade 114). In particular, a segment of the first portion 116 of the blade 114 (along the segment 168 of the blade 114) is separated from a segment of the first portion 116 of the blade 114 (along the segment 174 of the blade 114) by the opening 178. The second portion 118 of the blade 114 can extend continuously along the blade 114 from the first end 149 of the roller 104 to the second end 150 of the roller 104, for example, along the length L1 of the roller 104 (as shown). Figure 1B Although described as extending through the entirety of the first portion 116 of the blade 114, in some embodiments, the opening 178 may only partially extend through the first portion 116 of the blade 114 and not extend through the second portion 118 of the blade 114.

[0120] The opening 178 may be one of a plurality of openings 180, each of which extends through a respective one of the blades 142. Each of the openings 180 may have features similar to those described with respect to the openings 178. In some embodiments, each of the openings 180 may extend through only a portion of the first portion 116 of the blade 114, such as only along a bottom portion of the first portion 116 where the first portion 116 is attached to the elongated member 107. The openings 180 may reduce the overall energy consumption of the drive roller 104 by reducing the overall stiffness of the roller 104.

[0121] Alternative Implementation

[0122] A number of embodiments have been described, however, it should be understood that various modifications may be made. Certain embodiments are described herein in conjunction with roller 104 or other rollers described herein. The features described in conjunction with these embodiments are not limited to these embodiments and may be applied to other embodiments.

[0123] Although the robot 102 is described as having a rectangular front portion 202a and a semicircular rear portion 202b, in some embodiments, the perimeter of the robot 102 defines another suitable shape. For example, in some cases, the body 200 of the robot 102 has an approximately circular shape. Alternatively, the body 200 of the robot 102 has an approximately rectangular shape, an approximately square shape, an approximately elliptical shape, or an approximately Reuleaux polygonal shape.

[0124] Although certain rollers described herein are described as having a support structure having a core that includes a support member and a shaft portion, the support structure may be different in other embodiments. For example, roller 104 is described as including a support structure 109, which in turn includes a core 140 and an end cap 141. Core 140 is described as including a sleeve 144, support members 146a, 146b, 146c, and a shaft portion 148. In some embodiments, support structure 109 can be an integral component of support sheath 110. In some embodiments, support structure 109 includes a portion of elongated member 107 or corresponds to elongated member 107. For example, in some embodiments, blades 114 can be directly attached to support structure 109. In some embodiments, blades 114 are integral with support structure 109.

[0125] Although the sheath 110 is described as having a cylindrical shell 112, in some embodiments, the shell 112 includes a frustoconical portion. For example, the shell 112 may include two halves divided by the central cross-section 172 of the roller 104. The two halves may each be frustoconical. The blades 142 of the roller 104 may extend outwardly from the shell 112 so that the outer diameter of the sheath 110 is uniform along the length of the sheath 110.

[0126] The support structure 109 is depicted as being located within the sheath 110. In some embodiments, the support structure 109 includes components that are separate from components of the sheath 110. In some embodiments, the support structure 109 and the sheath 110 are integral with each other. For example, the roller 104 may be a unitary structure. The roller 104 may be a solid structure including the blades 142. In some examples, the roller 104 is a solid structure and does not include the shell 112 and the support structure 109, and the roller 104 may include a rod member extending along the longitudinal axis X1 of the roller 104. The blades 114 may extend along the rod member. The rod member may be solid.

[0127] Although this application describes certain rollers as having multiple blades, in some embodiments, a roller may include a single blade. For example, although roller 104 is described as having multiple blades 142, in some embodiments, roller 104 includes a single blade, such as blade 114.

[0128] Certain rollers are described herein as having blades, wherein the blades have portions extending along a spiral path extending along the elongated member. In certain embodiments, the portions of the blades extending along these spiral paths and the trajectories of these spiral paths may vary. For example, while segments 168 and 174 are described as being portions of blade 114 extending over the entire length of sheath 110, in some embodiments, sheath 110 includes a first blade extending over the entire length of a first half of sheath 110 and a second blade extending over the entire length of a second half of blade 110. The geometric features of the first blade and the second blade are similar to the geometric features of segments 168, 174 of blade 114 described herein, respectively, but differ in that the first blade and the second blade are separated from each other and offset from each other circumferentially, for example, offset from each other in a tangential direction. For example, the first blade may extend along a first spiral path having a pitch similar to that described herein in conjunction with spiral path 170, and the second blade may extend along a second spiral path having a pitch similar to that described herein in conjunction with spiral path 176. The first longitudinal end of the first helical path for the first blade may be circumferentially offset, e.g., tangentially offset, relative to the first longitudinal end of the second helical path for the second blade. The second longitudinal end of the first helical path for the first blade may be circumferentially offset, e.g., tangentially offset, relative to the second longitudinal end of the second helical path for the second blade.

[0129] The first blade may extend from the first end 149 of the roller 104 to at least the central cross-section 172 of the roller 104, and in some embodiments, may extend beyond the central cross-section 172 to the second half of the jacket 110. Similarly, the second blade may extend from the second end 150 of the roller 104 to at least the central cross-section 172 of the roller 104, and in some embodiments, may extend beyond the central cross-section 172 to the first half of the jacket 110. Thus, the first blade and the second blade may overlap each other in a circumferential direction along at least a portion of the central portion 182 of the roller 104.

[0130] The first blade can be part of a first set of blades along a first half of the roller 104, and the second blade can be part of a second set of blades along a second half of the roller 104, wherein the first set of blades is circumferentially offset from the second set of blades along the second half of the roller 104 such that the first set of blades is separated from the second set of blades. Each blade in the first set of blades is located between a corresponding pair of blades in the second set of blades, and each blade in the second set of blades is located between a corresponding pair of blades in the first set of blades.

[0131] Although the blade 114 is described as having segments 168, 174 extending along opposing helical paths, in some embodiments, reference Figure 7 , the blades 704 of the sheath 702 extend along a spiral path 706, wherein the spiral path 706 extends along the entire length of the sheath 702. The pitch of the spiral path 706 can be 300 to 900 mm, such as 300 to 600 mm, 400 to 700 mm, 500 to 800 mm, or 600 to 900 mm.

[0132] Although the helical path along which the portion of blade 114 extends is described as having a pitch, in some embodiments, the pitch of the helical path may not be uniform across the length of roller 104. In some embodiments, the pitch of helical path 170 or helical path 176 may vary, for example, increasing or decreasing from the outer ends of roller 104 toward center 113 of roller 104.

[0133] Certain rollers described herein include openings along the blades of the roller. For example, in some embodiments, roller 104 is described as having a single opening 178 near the center 113 of roller 104. In some embodiments, roller 104 includes multiple openings arranged along the length of blade 114. The multiple openings are separated from each other and can be symmetrically distributed throughout the length of blade 114. For example, the multiple openings are symmetrical about the central cross section 172.

[0134] In addition to blades extending outwardly from the elongated member of the roller, some of the rollers described herein may include other features. In some embodiments, the roller includes a nub for supporting the roller on an obstacle on the floor surface below the robot. For example, referring to Figure 5A , the sheath 502 may be similar to the sheath 110 ( Figure 4A112 ), the only difference being that the sheath 502 includes a bump 504 extending outwardly from an elongated member (e.g., a shell 506 of the sheath 502, which is similar to the shell 112) and away from the longitudinal axis X2 (not shown) of the roller. The bump 504 can be a rigid protrusion extending from the shell 506. In particular, the blade 503 (similar to the blade 114 described in the present application) can be relatively more flexible than the bump 504. When the roller moves past an obstacle on the floor plane, the blade 503 can bend in response to contact with the obstacle. In response to contact with the obstacle, the bump 504 can bend less relative to the blade 503. The blade 503 can bend a certain amount so that the height of the blade 503 relative to the shell 506 when the blade 503 is bent is less than the height of the bump 504 relative to the shell 506 when the bump 504 is bent. The bump 504 can accordingly support the roller on the obstacle, thereby allowing the roller to move through the obstacle. In some embodiments, the spiral path along which tabs 504 extend is similar to the spiral path along which blades 503 extend (eg, spiral path 170 ), except that the spiral path along which tabs 504 extend is circumferentially offset from the spiral path along which blades 503 extend.

[0135] refer to Figure 5B , the height H2 of the outer tip portion 510 of the blade 503 relative to the housing 506 or above the housing 506 is greater than the height H3 of the outer tip portion 512 of the bump 504 relative to the housing 506 or above the housing 506. The height H3 relative to the height H2 can be selected so that the blade 503 contacts the bump 504 before the bump 504 interacts with an obstacle below the robot. For example, if the roller contacts an obstacle on the floor surface, the blade 503 can bend in response to the contact. When the blade 503 bends, the blade 503 moves toward the bump 504 until the blade 503 contacts the bump 504. The blade 503 supported on the bump 504 can contact the obstacle. The blade 503 and the bump 504 can therefore together support the roller on the obstacle, thereby allowing the roller to move through the obstacle. The height H2 can be 25% to 150% greater than the height H3, for example, 25% to 50%, 50% to 75%, 75% to 100% greater than the height H3. The height H3 of the bump 504 may be 0.25 to 2.0 cm, such as 0.25 to 1.5 cm, 0.5 to 2 cm, 0.5 to 1.5 cm, or 0.6 to 1.2 cm.

[0136] The projection 504 can taper from the housing 506 to the tip portion 512 of the projection 504. The maximum thickness of the projection 504 can be 8 to 18 millimeters, for example 8 to 14 millimeters, 10 to 16 millimeters or 12 to 18 millimeters. The maximum thickness of the projection 504 can be located at the bottom of the projection 504, where the projection 504 is attached to the housing 506. The projection 504 can be substantially triangular or have a triangular part. For example, the projection 504 can include a surface 514 facing the tangential direction Z3 and a surface 516 facing the tangential direction Z4, and the surface 514 and the surface 516 form the two sides of the roughly triangular projection from the housing 506.

[0137] refer to Figure 5C , the length L5 of surface 514 is greater than the length L6 of surface 516, where L5 is the distance between the tip portion 512 of the bump 504 and the position of the surface 514 along the housing 506, and L6 is the distance between the tip portion 512 of the bump 504 and the position of the surface 516 along the housing 506. For example, the length L5 may be 1.5 to 2.5 times the length L6. Back Figure 5B The angle between the surface 514 and the radial axis Y4 extending through the tip portion 512 of the bump 504 may be 30 to 60 degrees, and the angle between the surface 514 and the radial axis Y4 may be no greater than 15 degrees.

[0138] The bump 504 may be one of the bumps 518 of the sheath 502. For example, Figure 5B As shown, the sheath 502 may include two protrusions 518. In other embodiments, the sheath 502 may include fewer or more protrusions, such as 1 protrusion, 3 protrusions, 4 protrusions, 5 protrusions, 6 protrusions, 7 protrusions, 8 protrusions or more. The blades 503 may be arranged circumferentially between the two protrusions 518. In an embodiment where the sheath 502 includes a plurality of blades 520 (similar to the blades 142), each protrusion 518 is arranged circumferentially between two corresponding blades 520 adjacent to each other. Similar to the blades 142, the protrusions 518 may extend along a spiral path along the outer surface of the housing 506, and the pitch of these spiral paths is similar to the pitch of the spiral path of the blades 520.

[0139] The configuration of the protrusions of the roller may vary in certain embodiments. Fig. 6A , the cover 602 can be similar to the cover 502, except that the projection 604 of the cover 602 includes an opening 606. The opening 606 can be used to accommodate a flexible brush. The flexible brush can be an elongated member including soft bristles. The elongated member can extend through the opening 606 from a first longitudinal end of the projection 604 to a second longitudinal end of the projection. The bristles of the elongated member can be used to remove and agitate debris on the floor surface.

[0140] Bump 604 is located between two blades, including blade 610 and blade 611. Opening 606 is located near an elongated member (e.g., housing 608 of sheath 602, which is similar to housing 112). Similar to bump 504, bump 604 can be harder than blade 610 of sheath 602 (similar to blade 114), and can have geometric features similar to those of bump 504 that provide rigidity to bump 604, such as the maximum thickness of bump 604 can be similar to the maximum thickness of bump 504, and the height of bump 604 can be similar to the height H3 of bump 504. In some embodiments, the height of bump 604 can be selected so that bump 604 can directly contact an obstacle under the robot and allow the roller to move through the obstacle. Different from some embodiments in which the blade contacts the bump and the blade and the bump together support the roller on the obstacle, in some embodiments, the bump directly contacts the obstacle and supports the roller on the obstacle. Compared with the embodiment in which the blade and the projection jointly support the roller on the obstacle, in such an embodiment, the relative height difference between the projection and the blade is greater. For example, in the embodiment in which the projection directly supports the roller on the obstacle, the height of the projection can be at least 35% of the blade height, for example, at least 40%, at least 45% or at least 50% of the blade height. In the embodiment in which the projection supports the roller on the obstacle through the blade after the blade is bent, the height of the projection is at most 70% of the blade height, for example, at most 65%, 60%, 55% or 50% of the blade height. In such an embodiment, the projection also prevents the blade from bending further after contacting the projection. Whether the projection supports the roller on the obstacle through the blade or directly supports the roller on the obstacle also depends on the tangential distance between the roller and the projection and the bendability of the blade.

[0141] refer to Figure 6B , the opening 606 may include a rectangular or square cross-sectional portion. The opening 606 may have a maximum width of 2 mm to 8 mm.

[0142] refer to Figure 6C , the projection 604 includes a surface 654 facing the first tangential direction and another set of surfaces, the set of surfaces including surfaces 656, 658, 660 and 662 facing the second tangential direction. Surfaces 654, 656, 658, 660, 662 are all straight. Surface 662 extends outward from the housing 608, surface 660 extends outward from surface 662, opening 606 extends between surface 662 and surface 658, surface 658 extends outward from opening 606, and surface 656 extends outward from surface 658. Surface 658 and surface 654 meet at a tip portion 664 of the projection 604.

[0143] The opening 606 extends radially inward from the surfaces 658, 660. The opening 606 faces the second tangential direction. The opening 606 includes a first portion 650 adjacent to the second portion 652. The first portion 650 extends from the surfaces 658, 660 to the second portion 652 of the opening 606. The first portion 650 may be rectangular. The second portion 652 extends from the first portion 650 toward the housing 608. The second portion 652 is rectangular. The second portion 652 is radially inward relative to the first portion 650, so that the second portion 652 is closer to the longitudinal axis of the roller relative to the first portion 650 of the opening 606. The first portion 650 has a width W2 and the second portion 652 has a width W3. The width W2 is less than the width W3. The width W2 is 1 to 4 mm, for example, 1 to 3 mm, 1.5 to 3.5 mm, or 2 to 4 mm. The width W3 is 1.5 to 2.5 times the width W2.

[0144] In some embodiments, Figure 6B As shown, the sheath 602 may be similar to the sheath 502 except that the blade 610 may include a first portion 612, a second portion 614, and a third portion 616. The blade 610 may include a first bend 618 and a second bend 620, wherein the first portion 612 is attached to the second portion 614 at the first bend 618, and the second portion 614 is attached to the third portion 616 at the second bend 620. The first bend 618 is located between the shell 608 and the second bend 620, and the second bend 620 is located between the first bend 618 and the tip portion 622 of the blade 610. The first end 612a of the first portion 612 is attached to the shell 608 at a position intersecting the radial axis Y5 (not shown) of the roller, and the second end 612b of the second portion 612 is attached to the first end 614a of the second portion 614 at the first bend 618. The second end 614b of the second portion 614 is attached to the first end 616a of the third portion 616 at the second bend 620. The third portion 616 terminates at a tip portion 622.

[0145] The first portion 612, the second portion 614, and the third portion 616 extend along axes y4, y5, and y6, respectively. The angle between axis y4 and radial axis Y5 is similar to the angle between axis y1 and radial axis Y1 described in the present application. The angle between axis y4 and radial axis Y5 is greater than the angle between axis y5 and radial axis Y5. The angle between axis y6 and radial axis Y5 may be substantially similar to the angle between axis y4 and radial axis Y5, for example, within 5% to 15% of the angle between axis y4 and radial axis Y5. For example, the angle between axis y6 and axis y4 is not greater than 5 to 15 degrees. The angle between axis y5 and radial axis Y5 is less than the angle between axis y6 and radial axis Y6. In some embodiments, axis y6 is parallel to axis y4. In some embodiments, the angle between axis y6 and radial axis Y5 may be less than the angle between axis y4 and radial axis Y5.

[0146] The angle between the axis y4 and the axis y5 can be 90 to 170 degrees, for example 90 to 150 degrees, 90 to 130 degrees, or 90 to 110 degrees, or approximately 95, 105, or 115 degrees. The angle between the axis y5 and the axis y6 can be 90 to 170 degrees, for example 90 to 150 degrees, 90 to 130 degrees, or 90 to 110 degrees, or approximately 95, 105, or 115 degrees. The angle between the axis y4 and the axis y6 can be less than 20 degrees, for example less than 15 degrees, less than 10 degrees, or less than 5 degrees.

[0147] The thickness of first portion 612 and second portion 614 of blade 610 are similar to the thickness described with respect to first portion 116 and second portion 118 of blade 114 of the present application. In some embodiments, the thickness of third portion 616 can taper toward tip portion 622.

[0148] The length L7 of the first portion 612 of the blade 610 is 0.5 to 3 cm, such as 0.5 to 2.5 cm, 0.5 to 2 cm, or 1 to 2 cm. The length L8 of the second portion 614 of the blade 610 is 0.2 to 1 cm, such as 0.2 to 0.8 cm or 0.4 to 1.0 cm. The length L9 of the third portion 616 of the blade 610 is 0.2 to 0.8 cm, such as 0.2 to 0.6 cm or 0.4 to 0.8 cm. The length L9 is 10% to 30% of the length L7, such as 10% to 20%, 15% to 25%, or 20% to 30% of the length L7. The length L9 is 60% to 90% of the length L8, such as 60% to 80%, 65% to 85%, or 70% to 90% of the length L8. The length L8 is 15% to 35% of the length L7, for example, 15% to 25%, 20% to 30%, or 25% to 35% of the length L7.

[0149] Although opening 178 is described as tapering toward the outer tip of blade 114, in some embodiments, opening 178, opening 180, or a combination thereof may be a slit extending through the thickness of blade 114. The slit has a uniform width and may extend through the entire length of first portion 116 of blade 114, or may extend through only a portion of first portion 116 of blade 114.

[0150] Figure 4B The first portion 116 of the blade 114 is shown in FIG. Figure 6B The first portion 612 and the second portion 614 shown in the figure are both described as straight portions with uniform thickness, wherein the surface facing the first tangent direction is substantially parallel to the surface facing the second tangent direction. In some embodiments, these portions may include bends, protrusions, uneven thicknesses or other geometric features.

[0151] In contrast to some of the previous examples described for a single roller 104, in some embodiments, the robot 102 can include multiple rollers. For example, the robot 102 can include two rollers. In some embodiments, the first roller is different from the second roller, for example, the first roller can include certain features that are different from the features of the second roller.

[0152] Although roller 104 is described as having a sheath 110, and elongated member 107 is described as corresponding to shell 112 of sheath 110, in other embodiments, elongated member 107 may vary. In some embodiments, elongated member 107 is a cylindrical rod, a square rod, or other prismatic rod. In some embodiments, elongated member 107 is hollow, and in some embodiments, elongated member 107 is solid. Figure 8 , roller 800 includes a blade 802 and an elongated member 804. Blade 802 can be geometrically similar to any blade described herein, such as blade 114. Compared to blade 114, blade 802 differs in that it is an elongated member 804 and is longitudinally slidable relative to the elongated member 804. Specifically, to assemble roller 800, blade 802 is mounted on a slot 806 extending longitudinally along the elongated member 804. Blade 802 includes a proximal portion 808 that fits within the slot 806. Proximal portion 808 is configured to prevent blade 802 from moving radially outward relative to elongated member 804. For example, proximal portion 808 includes a taper in a radially outward direction, and slot 806 also tapers in a radially outward direction. In some embodiments, elongated member 804 is part of a sheath of roller 800. In further embodiments, elongated member 804 is part of a core of roller 800.

[0153] Although described with reference to roller 800 as an example, the features of blade 802 may be applicable to other embodiments. For example, in some embodiments, blade 114 of roller 104 may include features similar to the features of blade 802. In some embodiments, if the roller includes projections, the projections may slide into the slots along the elongated member.

[0154] As described herein, in embodiments where the cleaning roller includes projections, the number and configuration of the projections may vary. Figure 5A In the example shown, the roller includes two projections 518. Fig. 9 , a cover 900 for a cleaning roller may include a nub 902 and a blade 904. The nub 902 may have a similar geometric configuration to the nub 518.

[0155] As described herein, the bumps 902 and blades 904 are configured such that when the roller contacts an obstacle on the floor surface below the robot, the bumps 902 contact the blades 904. In this regard, when the roller moves past the obstacle, the blades 904 bend to contact the bumps 902, and the blades 904 and bumps 902 support the roller on the obstacle to allow the roller to clear the obstacle. Unlike the cover 502, the cover 900 includes a bump 902 corresponding to each blade 904. Specifically, as shown in FIG. Fig. 9 As shown, each bump 902 is adjacent to the corresponding blade 904 in the counterclockwise direction, preventing the corresponding blade 904 from further bending after the blade 904 contacts the bump 902. In some embodiments, the bump 902 prevents the first portion of the blade 904 (similar to the first portion 116 described in the present application) from further bending after the blade 904 contacts the bump 902. For example, the height of the bump 902 is at most 50% of the height of the blade 904, such as at most 40%, 35%, or 30% of the height of the blade 904.

[0156] As described herein, in some embodiments, the bumps can be configured so that when the blade contacts an obstacle on the floor surface, the blade does not contact the bumps. Fig.10 In the example shown, the sheath 1000 includes blades 1002a, 1002b and protrusions 1004a, 1004b. Unlike protrusions 518, protrusions 1004a, 1004b are not triangular, but extend radially outward along a trajectory similar to the trajectory of blades 1002a, 1002b. In particular, protrusions 1004a, 1004b may include multiple interconnected portions, which are located at the bends along protrusions 1004a, 1004b.

[0157] The bumps 1004a, 1004b are configured to contact obstacles on the floor surface below the robot before the blades 1002a, 1002b bend to contact the bumps 1004a, 1004b. Fig.10 As shown, the blades 1002a, 1002b adjacent to the protrusions 1004a, 1004b in the clockwise direction are bent in the counterclockwise direction. When the blades 1002a, 1002b are bent, the height of the blades 1002a, 1002b relative to the housing 1006 of the sheath 1000 is reduced to a position lower than the height of the protrusions 1004a, 1004b, and is reduced to this position before contacting the protrusions 1004a, 1004b. The protrusions 1004a, 1004b may include bends 1008a, 1008b, which allow the protrusions 1004a, 1004b to extend away from the blades 1002a, 1002b in the tangential direction. Unlike the bump 518, which gradually decreases in thickness from the housing 1006 outward, the thickness of the bumps 1004a, 1004b can remain uniform from near the housing 1006 to near the distal end of the bumps 1004a, 1004b. The uniform thickness can be thicker than the thickness of the blades 1002a, 1002b, so that the bumps 1004a, 1004b can more easily support the roller on obstacles on the floor surface. For example, the bumps 1004a, 1004b can be 50% to 200% thicker than the blades 1002a, 1002b, for example, 50% to 150%, 75% to 175%, or 100% to 200% thicker than the blades 1002a, 1002b.

[0158] exist Fig.11 In the example shown, the sheath 1100 includes blades 1102a, 1102b, 1102c, 1102d and bumps 1104a, 1104b, 1104c, 1104d. Fig.11 The examples shown are Fig.10 The illustrated examples are similar in that the bumps 1104a, 1104b, 1104c, and 1104d are configured to contact an obstacle under the robot on the floor surface before the blades 1102a, 1102b, 1102c, and 1102d are bent to contact the bumps 1104a, 1104b, 1104c, and 1104d, respectively. The bumps 1104a, 1104b, 1104c, and 1104d have a maximum thickness greater than Fig.10 In some embodiments, the maximum thickness of bumps 1104a, 1104b, 1104c, 1104d is similar to the maximum thickness of bumps 518 or bumps 604 described elsewhere in this application. Fig.11As shown, the bumps 1104a, 1104b, 1104c, 1104d have a sufficient height and distance in the clockwise direction relative to the blades 1102a, 1102b, 1102c, 1102d adjacent to the bumps 1104a, 1104b, 1104c, 1104d so that when the blades 1102a, 1102b, 1102c, 1102d bend in response to contact with an obstacle on the floor surface, the blades 1102a, 1102b, 1102c, 1102d do not contact the bumps 1104a, 1104b, 1104c, 1104d before the bumps 1104a, 1104b, 1104c, 1104d contact the obstacle. When in contact with an obstacle, the bumps 1104a, 1104b, 1104c, 1104d may help the roller move over the obstacle.

[0159] The features described in some embodiments may be combined or modified with reference to the features in other embodiments. Accordingly, other embodiments are also within the scope of the claims of this application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: a drive system for moving the cleaning robot over a floor surface; and A cleaning head, the cleaning head comprising a cleaning roller, the cleaning roller being rotatable about a longitudinal axis when the cleaning robot moves on a floor surface, the cleaning roller comprising: an elongated member extending along the longitudinal axis; a blade attached to the elongated member and extending radially outwardly from the elongated member and along the longitudinal axis; a boss attached to the elongated member and spaced apart from the blade, the boss extending radially outward from the elongated member, the boss including an opening; and a bristle brush received in the opening of the projection and comprising soft bristles extending along the longitudinal axis, Wherein the soft bristles and the blades of the bristle brush are configured to contact debris on a floor surface when the cleaning roller rotates about the longitudinal axis.

2. The cleaning robot according to claim 1, characterized in that: The opening includes a first portion and a second portion having different sizes from each other, the first portion extending inwardly from an outer surface of the projection, and the second portion extending inwardly from the first portion.

3. The cleaning robot according to claim 2, characterized in that: The first portion has a first width, the second portion has a second width, the first width is smaller than the second width, and the first width is between 1 mm and 4 mm.

4. The cleaning robot according to claim 2, characterized in that: The first portion of the opening is rectangular, the second portion of the opening is rectangular, and the first portion and the second portion extend helically along the longitudinal axis of the cleaning roller.

5. The cleaning robot according to claim 1, characterized in that: The protrusion includes a first surface and a second surface, wherein the first surface faces a first tangential direction of the cleaning roller, and the second surface faces a second tangential direction of the cleaning roller, wherein a length of the first surface is greater than a length of the second surface.

6. The cleaning robot according to claim 5, characterized in that: The blade includes a first portion extending outwardly from the elongated member along the second tangential direction of the cleaning roller, and the opening extends radially inwardly from the second surface of the projection such that the opening faces the second tangential direction of the cleaning roller.

7. The cleaning robot according to claim 1, characterized in that: The width of the lug decreases radially outward from the maximum point of the elongated member to the minimum point of the outermost portion of the lug, the opening is located on the inner half of the lug, and the height of the lug relative to the elongated member is less than the height of the blade relative to the elongated member.

8. The cleaning robot according to claim 7, characterized in that: The projection and the opening extend helically along the longitudinal axis from a first longitudinal end of the cleaning roller to a second longitudinal end of the cleaning roller.

9. The cleaning robot according to claim 1, characterized in that: The blade is a first blade, and the cleaning roller further comprises: a second blade attached to the elongated member, the second blade extending radially outwardly from the elongated member and extending along the longitudinal axis, Wherein the projection is positioned along the outer surface of the elongated member between the first blade and the second blade, and the second blade is configured to contact debris on the floor surface when the cleaning roller rotates about the longitudinal axis.

10. The cleaning robot according to claim 9, characterized in that: The protrusion is a first protrusion, the opening is a first opening, the bristle brush is a first bristle brush, and the cleaning roller further includes: a second tab attached to the elongated member and spaced apart from the first blade and the second blade, the second tab extending radially outward from the elongated member and including a second opening; and a second bristle brush received in the second opening of the second projection and comprising soft bristles, the second bristle brush extending along the longitudinal axis, Wherein the bristles of the second bristle brush are configured to contact debris on the floor surface when the cleaning roller rotates about the longitudinal axis.

11. The cleaning robot according to claim 1, characterized in that: The bumps are generally rigid to support the weight of the cleaning robot without substantial deformation when the bumps contact a floor surface.

12. A cleaning roller that can be mounted on a cleaning robot, characterized in that: The cleaning roller comprises: an elongated member extending along a longitudinal axis from a first longitudinal end of the cleaning roller to a second longitudinal end of the cleaning roller, the cleaning roller being rotatable about the longitudinal axis when the cleaning roller is mounted to the cleaning robot; a blade attached to and extending radially outward from the elongated member, the blade being configured to direct debris into an interior of the cleaning robot as the cleaning roller rotates about the longitudinal axis; and A tab is attached to the elongated member, spaced apart from the blade, the tab extending outwardly from the elongated member, and the tab includes an opening for receiving a bristle brush, the bristle brush being oriented along the longitudinal axis.

13. The cleaning roller according to claim 12, characterized in that The opening includes a first portion and a second portion, the first portion extending inwardly from an outer surface of the projection, and the second portion extending inwardly from the first portion.

14. The cleaning roller according to claim 13, characterized in that The first portion of the opening is rectangular, the second portion of the opening is rectangular, and the first portion and the second portion extend helically along the longitudinal axis of the cleaning roller.

15. The cleaning roller according to claim 13, characterized in that The first portion has a first width and the second portion has a second width, the first width being smaller than the second width.

16. The cleaning roller according to claim 15, characterized in that The first width is 1 mm to 4 mm, and the second width is 1.5 to 2.5 times greater than the first width.

17. The cleaning roller according to claim 12, characterized in that: The projection and the opening extend helically along the longitudinal axis of the cleaning roller from a first longitudinal end of the cleaning roller to a second longitudinal end of the cleaning roller.

18. The cleaning roller according to claim 17, characterized in that The blade is one of a plurality of blades, the plurality of blades being circumferentially arranged around the elongated member, and the projection is located between a corresponding pair of blades of the plurality of blades.

19. The cleaning roller according to claim 17, characterized in that The cleaning roller also includes a bristle brush disposed within the opening of the protrusion, the bristle brush extending from the first longitudinal end of the cleaning roller to the second longitudinal end of the cleaning roller, wherein the bristle brush includes soft bristles configured to contact debris when the cleaning robot rotates about the longitudinal axis.

20. The cleaning roller according to claim 12, characterized in that The protrusion includes a first surface and a second surface, wherein the first surface faces a first tangential direction of the cleaning roller, and the second surface faces a second tangential direction of the cleaning roller, wherein a length of the first surface is greater than a length of the second surface.

21. The cleaning roller according to claim 20, characterized in that The blade includes a first portion extending outwardly from the elongated member along the second tangential direction of the cleaning roller, and the opening extends radially inwardly from the second surface of the projection such that the opening faces the second tangential direction of the cleaning roller.

22. The cleaning roller according to claim 12, characterized in that The bumps are substantially rigid to support the weight of the cleaning robot without substantial deformation of the bumps when the bumps contact a floor surface.

23. A cleaning roller that can be mounted on a cleaning robot, characterized in that: The cleaning roller comprises: an elongated member extending along a longitudinal axis of the cleaning roller, the cleaning roller being rotatable about the longitudinal axis of the cleaning roller when the cleaning roller is mounted to the cleaning robot; A blade, when the cleaning roller rotates about the longitudinal axis, the blade is configured to direct debris into the interior of the cleaning robot, the blade is attached to the extension member and extends radially outward from the extension member, the blade includes a first bend and a second bend, the first bend is located between the extension member and the second bend, and the second bend is located between the first bend and the tip portion of the blade.

24. The cleaning roller according to claim 23, characterized in that The blade comprises: a first blade portion extending outwardly from the elongated member; and A second blade portion extends outwardly from the first blade portion, wherein the first blade portion is attached to the second blade portion at the first bend.

25. The cleaning roller according to claim 24, characterized in that The blade comprises: A third blade portion extends outwardly from the second blade portion and terminates at the tip portion of the blade, wherein the second blade portion is attached to the third blade portion at the second bend.

26. The cleaning roller according to claim 24, characterized in that The length of the second blade portion is 15% to 35% of the length of the first blade portion.

27. The cleaning roller according to claim 26, characterized in that The length of the third blade portion is 10% to 35% of the length of the first blade portion.

28. The cleaning roller according to claim 24, characterized in that The blade is attached to the elongate member at a location intersecting a radial axis of the cleaning roller, the first blade portion extends along a first axis, and the second blade portion extends along a second axis, and Wherein, the angle between the first axis and the radial axis is greater than the angle between the second axis and the radial axis.

29. The cleaning roller according to claim 28, characterized in that The third blade portion extends along a third axis, and Wherein, the angle between the second axis and the radial axis is smaller than the angle between the third axis and the radial axis.

30. The cleaning roller according to claim 29, characterized in that The included angle between the first axis and the radial axis is 90 degrees to 170 degrees.

31. The cleaning roller according to claim 30, characterized in that An included angle between the second axis and the radial axis is 90 degrees to 170 degrees.

32. The cleaning roller according to claim 31, characterized in that The angle between the third axis and the first axis is not greater than 5 degrees to 15 degrees.

33. A cleaning robot, characterized in that: The cleaning robot comprises: a drive system for moving the cleaning robot over a floor surface, and A cleaning roller according to any one of claims 23 to 32.

34. A cleaning roller that can be mounted on a cleaning robot, characterized in that: The cleaning roller comprises: an elongated member extending along a longitudinal axis of the cleaning roller, wherein the cleaning roller is rotatable about the longitudinal axis of the cleaning roller when the cleaning roller is mounted to the cleaning robot; a blade configured to direct debris into an interior of the cleaning robot as the cleaning roller rotates about the longitudinal axis, the blade being attached to and extending outwardly from the elongated member, The blade further comprises a first portion extending outward from the elongated member and a second portion extending outward from the first portion, the first portion having a first maximum thickness, the second portion having a second maximum thickness, and the second maximum thickness is greater than the first maximum thickness.

35. The cleaning roller according to claim 34, characterized in that The first maximum thickness is 0.5 mm to 4.0 mm.

36. The cleaning roller according to claim 34, characterized in that The second maximum thickness is 2 mm to 5 mm.

37. The cleaning roller according to claim 34, characterized in that The second maximum thickness is 10% to 75% greater than the first maximum thickness.

38. The cleaning roller according to claim 34, characterized in that The second portion of the blade includes a first surface facing a first tangential direction and a second surface facing a second tangential direction, wherein the first surface and the second surface define the second maximum thickness.

39. The cleaning roller according to claim 38, characterized in that The second surface includes a projection connected to the first portion of the blade.

40. The cleaning roller according to claim 39, characterized in that The second surface includes a concave portion connected to the convex portion, the concave portion extending outwardly from the convex portion.

41. The cleaning roller according to claim 40, characterized in that The blade includes a bend where the first portion of the blade and the second portion of the blade are attached together.

42. The cleaning roller according to claim 40, characterized in that The blade includes a tip portion extending outwardly from the second portion of the blade.

43. The cleaning roller according to claim 42, characterized in that The tip portion is spoon-shaped.

44. The cleaning roller according to claim 40, characterized in that The first portion of the blade has a length greater than a length of the second portion of the blade.

45. The cleaning roller according to claim 44, characterized in that The length of the first portion of the blade is 0.5 cm to 3 cm, and the length of the second portion of the blade is 0.2 cm to 1.5 cm.

46. ​​A cleaning robot, characterized in that: The cleaning robot comprises: a drive system, the drive system being used to move the cleaning robot on a floor plane; A cleaning roller according to any one of claims 34 to 45.

47. A cleaning roller that can be mounted on a cleaning robot, characterized in that: The cleaning roller comprises: an elongated member extending along a longitudinal axis of the cleaning roller, wherein the cleaning roller is rotatable about the longitudinal axis of the cleaning roller when the cleaning roller is mounted to the cleaning robot; A blade configured to direct debris into the interior of the cleaning robot as the cleaning roller rotates about the longitudinal axis is attached to the elongated member and extends longitudinally along the elongated member along a helical path along the entire length of the blade.

48. The cleaning roller according to claim 47, characterized in that The pitch of the spiral path is 300 mm to 900 mm.

49. The cleaning roller according to claim 47, characterized in that The blades extend along the entire length of the elongate member.

50. The cleaning roller according to claim 47, characterized in that The pitch of the helical path varies with respect to the distance from the center of the cleaning roller.

51. The cleaning roller according to claim 47, characterized in that The cleaning roller also includes a plurality of blades configured to direct debris into the interior of the cleaning robot as the cleaning roller rotates about the longitudinal axis, the plurality of blades including the blades, wherein the plurality of blades extend longitudinally along the elongated member along a spiral path along the entire length of the plurality of blades.

52. The cleaning roller according to claim 51, characterized in that The plurality of blades are circumferentially offset from one another along the elongated member.

53. The cleaning roller according to claim 47, characterized in that The blade includes a first portion extending outwardly from the elongated member, a second portion extending outwardly from the first portion, and a bend, wherein the first portion of the blade and the second portion of the blade are attached together at the bend.

54. A cleaning robot, characterized in that: The cleaning robot comprises: a drive system for moving the cleaning robot over a floor surface; and A cleaning roller according to any one of claims 47 to 53.

55. A blade that is removably inserted into a rotatable extension member of a cleaning roller for a cleaning robot, characterized in that: The blade comprises: a proximal portion configured to be received in a slot along an outer surface of the elongated member; and distal end portion; wherein the blades extend outwardly from the proximal portion to the distal tip portion; and Wherein when the proximal portion is received in the slot of the elongate member, the blade is configured to extend longitudinally along an outer surface of the elongate member.

56. The blade according to claim 55, characterized in that The blade includes a first portion extending outwardly from the proximal portion, a second portion extending outwardly from the first portion, and a bend, wherein the first portion and the second portion are attached together at the bend.

57. The blade according to claim 55, characterized in that The proximal portion tapers in a radially outward direction.

58. The blade according to claim 55, characterized in that When the proximal portion is received in the slot of the elongate member, the proximal portion is configured to prevent the blades from moving radially outward relative to the elongate member.

59. The blade according to claim 55, characterized in that The proximal portion is longitudinally slidable relative to the elongate member for insertion into the slot of the elongate member.

60. A cleaning roller that can be mounted on a cleaning robot, characterized in that: The cleaning roller comprises: an elongated member extending along a longitudinal axis of the cleaning roller, the cleaning roller being rotatable about the longitudinal axis of the cleaning roller when the cleaning roller is mounted to the cleaning robot, wherein the elongated member includes a slot along an outer surface of the elongated member; A blade is removably inserted into the slot of the cleaning roller, the blade being configured to direct debris into an interior of the cleaning robot when the cleaning roller rotates about the longitudinal axis, and the blade is attached to the elongated member.

61. The cleaning roller according to claim 60, characterized in that The blade comprises: a proximal portion removably received in the slot of the cleaning roller; a first portion extending outwardly from the proximal portion; a second portion extending outwardly from the first portion; and A bend, at which the first portion and the second portion are attached together.

62. The cleaning roller according to claim 61, characterized in that The proximal portion tapers in a radially outward direction.

63. The cleaning roller according to claim 61, characterized in that When the proximal portion is received in the slot of the elongate member, the proximal portion is configured to prevent the blades from moving radially outward relative to the elongate member.

64. The cleaning roller according to claim 61, characterized in that The proximal portion is longitudinally slidable relative to the elongate member for insertion into the slot of the elongate member.

65. The cleaning roller according to claim 60, characterized in that: The slot is a first slot, the elongated member comprising a second slot along an outer surface of the elongated member; and The blade is a first blade, and the cleaning roller also includes a second blade that is removably inserted into the second narrow slot of the cleaning roller, and when the cleaning roller rotates about the longitudinal axis, the second blade is configured to direct debris into the interior of the cleaning robot, and the second blade is attached to the extension member.

66. The cleaning roller according to claim 60, characterized in that: The slot is a first slot, the elongated member comprising a second slot along an outer surface of the elongated member; and The cleaning roller further comprises a protrusion which is detachably inserted into the second slot of the cleaning roller, the protrusion extending outward from the elongated member, and a height of the protrusion above the elongated member being less than a height of the blade above the elongated member.

67. A cleaning robot, characterized in that: The cleaning robot comprises: a drive system for moving the cleaning robot over a floor surface; and A cleaning roller according to any one of claims 55 to 66.

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