Roller for moving cleaning robot

Abstract

A roller for a mobile cleaning robot may include a roller core, a first elongate member, a second elongate member, and a spacer. The core may extend along a longitudinal axis of the roller. The first elongate member may be engaged with a floor surface. The first elongate member may at least partially surround a first portion of the roller core. The second elongate member may also be engaged with the floor surface. The second elongate member may at least partially surround a second portion of the roller core. The spacer may at least partially surround the roller core between the first elongate member and the second elongate member. The spacer may engage the floor surface and may be configured to prevent debris from collecting between the first elongate member and the second elongate member.

Description

Technical Field

[0001] The embodiments described herein relate generally to mobile cleaning robots and, more particularly, to mobile cleaning robots having spacers. Background Art

[0002] The autonomous mobile robot includes an autonomous mobile cleaning robot that can autonomously perform cleaning tasks in an environment such as a home. The autonomous mobile cleaning robot can navigate across a floor surface and avoid obstacles while vacuuming the floor surface and operating a rotatable member carried by the robot to ingest debris from the floor surface. As the robot moves across the floor surface, the robot can rotate the rotatable member, which can engage the debris and direct the debris toward the vacuum airflow generated by the robot. Thus, the rotatable member and the vacuum airflow can cooperate to allow the robot to ingest debris. Utility Model Content

[0003] An autonomous mobile cleaning robot can be used to automatically or autonomously clean a portion of an environment, such as one or more rooms, by extracting debris from the surface of the one or more rooms. Extraction can be performed using a single roller. The blades of the single roller can be configured in a herringbone pattern, wherein the blades on opposite sides of the roller have opposite pitches or helicities. Such a roller with a herringbone pattern can provide improved cleaning performance. The inventors have recognized that there is a particular need for a single roller that provides the advantages of a herringbone pattern while also providing reduced noise and power consumption.

[0004] In certain systems including rollers with a chevron pattern, the inventors have recognized that improved noise performance and power consumption may be provided by replacing the central portion of the chevron roller with spacers.

[0005] The present disclosure describes an apparatus and method that can help solve this problem, for example by including a roller that can include a first elongated member, a second elongated member, and a spacer. The first elongated member, the second elongated member, and the spacer can each be engaged to a surface of the environment. The first elongated member and the second elongated member can include a spiral pattern or a herringbone pattern to help extract debris from the surface of the environment. The spacer can prevent debris from collecting between the first elongated member and the second elongated member.

[0006] For example, a mobile cleaning robot may include a roller core, a first elongated member, a second elongated member, and a spacer. The roller core may extend along the longitudinal axis of the roller. The first elongated member may engage with a floor surface. The first elongated member may at least partially surround a first portion of the roller core. The second elongated member may also engage with the floor surface. The second elongated member may at least partially surround a second portion of the roller core. The spacer may at least partially surround the roller core between the first elongated member and the second elongated member. The spacer may engage with the floor surface and may be configured to prevent debris from collecting between the first elongated member and the second elongated member. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In the accompanying drawings, which are not necessarily drawn to scale, the same numerals may describe similar components in different views. The same numerals with different letter suffixes may represent different examples of similar components. The accompanying drawings generally illustrate various embodiments discussed in this document by way of example and not limitation.

[0008] Figure 1A A bottom view of the mobile cleaning robot is shown.

[0009] Figure 1B A cross-sectional view of a mobile cleaning robot is shown.

[0010] Figure 2 A perspective view of an example of a roller is shown.

[0011] Figure 3 A perspective view of an example of a roller is shown.

[0012] Figure 4 An enlarged perspective view of an example of a roller is shown.

[0013] Figure 5 A perspective view showing an example of a spacer is shown.

[0014] Figure 6 A top view of an example of a spacer is shown.

[0015] Figure 7 A side view of an example of a spacer is shown.

[0016] Figure 8 A perspective view showing an alternative example of a roller is shown.

[0017] Fig. 9 A block diagram is shown illustrating an example of a machine upon which one or more embodiments may be implemented. DETAILED DESCRIPTION

[0018] The autonomous mobile cleaning robot can be used to automatically or autonomously clean a portion of an environment, such as one or more rooms, by extracting debris from the surface of the one or more rooms. The extraction can be performed using a single roller. The use of a single roller can allow the roller design to help reduce the amount of energy required during the cleaning operation compared to a dual roller design. In an example, the single roller can include different patterns to help extract debris, such as fiber debris and particle debris, from the floor surface.

[0019] For example, the first elongated member and the second elongated member may each include one or more wings (or blades) extending longitudinally along the longitudinal axis of the roller in a spiral pattern. In another example, the first elongated member and the second elongated member may include one or more wings extending longitudinally along the longitudinal axis of the roller in a herringbone pattern. In the herringbone pattern, the spiral pattern on the first elongated member can rotate around the roller core in the opposite direction to the spiral pattern on the second elongated member. In an example, during operation, a roller having a first elongated member and a second elongated member may generate more noise than desired and may require additional power to rotate the roller, the first elongated member and the second elongated member having opposite spiral patterns (or herringbone patterns) and forming a single body.

[0020] Thus, the first elongated body and the second elongated body can be separated from each other so that the first elongated body and the second elongated body can be deflected independently of each other. However, as the first elongated body and the second elongated body deflect, a gap may be formed between the first elongated body and the second elongated body. The gap between the first elongated body and the second elongated body may reduce the efficiency of the debris extraction and may create a concave area where the fiber debris is wrapped around the roller.

[0021] The present disclosure describes devices and methods that can help solve these problems, such as by providing a mobile cleaning robot including a roller having a first slender member, a second slender member, and a spacer. In an example, the spacer can be mounted on the roller core between the first slender member and the second slender member. The diameter of the spacer can be smaller than the resting diameter of the first slender member and the second slender member, thereby helping to reduce stress in the middle portion of the roller when the roller is operably rotated and contacts the floor. The smaller diameter helps to reduce the amount of power to operate the roller. In addition, the spacer can at least partially fill the axial gap between the first slender member and the second slender member, which can help limit the accumulation of debris between the first slender member and the second slender member. In addition, the spacer can transfer debris between the first slender member and the second slender member.

[0022] Figure 1A A bottom view of the mobile cleaning robot 100 is shown. Figure 1B A cross-sectional view of the mobile cleaning robot 100 in the environment 40 is shown. Figure 1A and1B Will be discussed together below. Figure 1A The cross section indicated by 1B-1B is shown, Figure 1B Directional arrows F and R are also shown.

[0023] The cleaning robot 100 may include a housing or body 102, a cleaning assembly 104, and a control system 106 (which may include a controller 108 and a memory 110). The cleaning robot 100 may also include a drive wheel 112, (multiple) motors 114, and one or more support skids 116. The cleaning assembly 104 may include a cleaning inlet 117, a roller 118 (or cleaning wheel), a vacuum system 119, a roller motor 120, and a dustpan 122 (or guide). The robot 100 may also include a cliff sensor 124, a proximity sensor 126, a buffer 128, a collision sensor 130, an obstacle following sensor 132, and a brush 134 (or side brush 134) including a motor 136.

[0024] The housing 102 may be a rigid or semi-rigid structure constructed of one or more materials such as metal, plastic, foam, elastomer, ceramic, composite material, combinations thereof, and the like. The housing 102 may be configured to support various components of the robot 100, such as wheels 112, controller 108, cleaning assembly 104, dustpan 122, and side brushes 134. The housing 102 may define a structural perimeter of the robot 100. In some examples, the housing 102 includes a chassis, a cover, a bottom plate, and a bumper assembly. Because the robot 100 may be a household robot, the robot 100 may have a small form factor so that the robot 100 may fit under furniture in a home.

[0025] The rollers 118 of the cleaning assembly 104 may be rotatably connected to the housing 102 near the cleaning inlet 117 (optionally located in the front portion of the robot 100), wherein the rollers 118 may extend horizontally across the robot 100. The rollers 118 may be connected to a roller motor 120 to be driven to rotate the rollers 118 relative to the housing 102 to facilitate collecting dust and debris from the environment 40 through the cleaning inlet 117. The vacuum system 119 may include a fan or impeller and a motor that may be operated by the controller 108 to control the fan to generate an airflow that passes through the cleaning inlet 117 between the rollers 118 and enters the dustbin 138 (e.g., Figure 1B shown).

[0026] The roller 118 can be of several types, such as when the roller 118 is optimized based on the environment 40, as discussed further below. The roller 118 can include bristles or brushes that can effectively separate (or agitate) debris within the carpet fibers for the robot 100 to suction. The roller 118 can also include blades, wings, or flexible members extending therefrom that can relatively effectively separate debris within the carpet fibers for the robot 100 to suction, while also effectively stripping the debris from hard surfaces. The roller 118 can also include wings, blades, or bristles that can effectively strip the debris from hard surfaces. In other examples, the roller 118 can be other types of rollers.

[0027] The controller 108 may be located within the housing and may be a programmable controller, such as a single-board or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), etc. In other examples, the controller 108 may be any computing device, such as a handheld computer, such as a smart phone, a tablet computer, a laptop computer, a desktop computer, or any other computing device including a processor, a memory, and a communication capability. The memory 110 may be one or more types of memory, such as volatile or non-volatile memory, a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium, an optical storage medium, a flash memory device, and other storage devices and media. The memory 110 may be located within the housing 102 and connected to the controller 108 and accessible by the controller 108.

[0028] For example, the control system 106 may also include a sensor system having one or more electrical sensors. As described herein, the sensor system may generate a signal indicating the current position of the robot 100 and may generate a signal indicating the position of the robot 100 as the robot 100 travels along the floor surface 50. The controller 108 may also be configured to execute instructions to perform one or more operations described herein.

[0029] The drive wheel 112 can be supported by the body 102 of the robot 100, can be partially located within the housing 102, and can extend through a bottom portion of the housing 102. The wheel 112 can also be connected to the shaft and can rotate with the shaft; the wheel 112 can be configured to be driven by the motor 114 to propel the robot 100 along the surface 50 of the environment 40, wherein the motor 114 can communicate with the controller 108 to control such movement of the robot 100 in the environment 40.

[0030] The skids 116 may be low friction elements connected to the body 102 of the robot and may be passive bodies configured to help balance the robot 100 within the environment 40. The drive wheels 112 and the skids 116 may work together to support the housing 102 above the floor surface 50. For example, one skid 116 may be located in the rear portion of the housing 102 and the drive wheels 112 may be located in front of the skids 116. In another example, the cleaning robot 100 may include two wheels 112 and include casters to help balance the cleaning robot 100.

[0031] The dustpan 122 can be connected to the body 102 and can engage with the floor surface 50 (eg, Figure 1B 139 for collection in a collection bin 138. The roller 118 may also engage the dustpan 122 to direct the debris 75 to the suction conduit 139. As discussed in further detail below, the dustpan 122 may be actively or passively retracted to help improve the maneuverability of the robot 100.

[0032] The cliff sensors 124 may be positioned along a bottom portion of the housing 102. Each cliff sensor 124 may be an optical sensor that may be configured to detect the presence or absence of an object (such as a floor surface 50) below the optical sensor. The cliff sensors 124 may be connected to the controller 108. The proximity sensor(s) 126 may be located near the front portion of the housing 102. In other examples, the proximity sensor 126 may be located at other portions of the housing 102. The proximity sensor 126 may include an optical sensor facing outward from the housing 102 and may be configured to generate a signal based on the presence or absence of an object in front of the optical sensor. The proximity sensor 126 may be connected to the controller.

[0033] The bumper 128 may be removably secured to the housing 102 and may be movable relative to the housing 200 when mounted to the body 102. In some examples, the bumper 128 may form a portion of the housing 102. The collision sensor 130 may be connected to the housing 102 and may be engaged or configured to interact with the bumper 128. The collision sensor 130 may include a broken beam sensor, a capacitive sensor, a switch, or other sensor that can detect contact between the robot 100 (i.e., the bumper 128) and an object in the environment 40. The collision sensor 130 may be connected to the controller 108.

[0034] The robot may optionally include an image capture device, which may be a camera connected to the housing 102. The image capture device may be configured to generate a signal based on an image of the environment 40 of the robot 100 as the robot 100 moves around the floor surface 50.

[0035] The obstacle following sensor 132 may include an optical sensor that faces outward from a side surface of the housing 102 and may be configured to detect the presence or absence of an object adjacent to the side surface of the housing 102. The obstacle following sensor 132 may emit a light beam horizontally in a direction perpendicular to the forward driving direction F of the robot 100. In some examples, at least some of the proximity sensor 126 and the obstacle following sensor 132 may include an optical emitter and an optical detector. The optical emitter may emit a light beam outward (e.g., outward in a horizontal direction) from the robot 100, and the optical detector detects a reflection of the light beam reflected back from an object near the robot 100. The robot 100, for example, using the controller 108, may determine the reflection intensity (or, alternatively, the flight time of the light beam), and thereby determine the distance between the optical detector and the object, thereby determining the distance between the robot 100 and the object.

[0036] The brush 134 may be coupled to the underside of the robot 100 and may be coupled to a motor 136 operable to rotate the side brush 134 relative to the housing 102 of the robot 100. The side brush 134 may be configured to engage debris to move the debris toward the cleaning assembly 104 or away from the edge of the environment 40. The motor 136 configured to drive the side brush 134 may be in communication with the controller 108.

[0037] In some exemplary operations, the robot 100 may be propelled in a forward drive direction or a reverse drive direction. The robot 100 may also be propelled so that the robot 100 turns in place or turns while moving in a forward drive direction or a reverse drive direction.

[0038] The controller 108 may execute software stored on the memory 110 to cause the robot 100 to perform various navigation and cleaning behaviors by operating the various motors of the robot 100. For example, when the controller 108 causes the robot 100 to perform a task, the controller 108 may operate the motor 114 to drive the drive wheel 112 and propel the robot 100 along the floor surface 50. In addition, the controller 108 may operate the motor 120 to rotate the roller 118, may operate the motor 136 to rotate the brush 134, and may operate the motor of the vacuum system 119 to generate airflow.

[0039] The roller 118 can rotate around an axis (such as Figure 1B The rotatable member 118 rotates to contact the floor surface 50 when the rotatable member 118 rotates relative to the housing 102, thereby agitating the debris 75 on the floor surface 50. The rotatable member 118 agitates the debris 75 on the floor surface to guide the debris 75 from the cleaning inlet 117 to the suction duct 139 (as shown). Figure 1B138) and into a debris bin 138 within the robot 100. The vacuum system 119 can cooperate with the cleaning assembly 104 to draw the debris 75 from the floor surface 50 into the debris bin 138. In some cases, the airflow generated by the vacuum system 119 can generate sufficient force to draw the debris 75 on the floor surface 50 upward through the suction conduit 139 and into the debris bin 138. The brush 134 can rotate about a non-horizontal axis so that the debris on the floor surface 50 is brushed into the cleaning path of the cleaning assembly 104 as the robot 100 moves.

[0040] Various sensors of the robot 100 may be used to help the robot navigate and clean within the environment 40. For example, the cliff sensor 124 may detect obstacles such as steep drops and cliffs below the portion of the robot 100 where the cliff sensor 124 is located. The cliff sensor 124 may transmit a signal to the controller 108 so that the controller 108 may redirect the robot 100 based on the signal from the cliff sensor 124. The proximity sensor 126 may generate a signal based on the presence or absence of an object in front of the optical sensor. For example, detectable objects include obstacles in the environment 40 of the robot 100, such as furniture, walls, people, and other objects. The proximity sensor 126 may transmit a signal to the controller 108 so that the controller 108 may redirect the robot 100 based on the signal from the proximity sensor 126.

[0041] In some examples, the collision sensor 130 can be used to detect the movement of the bumper 128 of the robot 100. The collision sensor 130 can transmit a signal to the controller 108 so that the controller 108 can redirect the robot 100 based on the signal from the collision sensor 130. In some examples, the obstacle following sensor 132 can detect detectable objects, including obstacles such as furniture, walls, people, and other objects in the environment of the robot 100. In some embodiments, the sensor system can include obstacle following sensors along the side surface, and the obstacle following sensor can detect the presence or absence of objects adjacent to the side surface. One or more obstacle following sensors 132 can also be used as obstacle detection sensors, for example, similar to the proximity sensors described herein.

[0042] The robot 100 may also include a sensor for tracking the distance traveled by the robot 100. For example, the sensor system may include an encoder associated with the motor 114 for driving the wheels 112, and the encoder may track the distance the robot 100 has traveled. In some embodiments, the sensor may include an optical sensor facing downward toward the floor surface. The optical sensor may be positioned to direct light through the bottom surface of the robot 100, toward the floor surface 50. The optical sensor may detect reflections of the light and may detect the distance traveled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

[0043] The controller 108 may use data collected by the sensors of the sensor system to control the navigation behavior of the robot 100 during a mission. For example, the controller 108 may use sensor data collected by the robot 100's obstacle detection sensors (cliff sensors 124, proximity sensors 126, and collision sensors 130) to enable the robot 100 to avoid obstacles within the robot 100's environment during a mission.

[0044] The sensor data may be used by the controller 108 for a simultaneous localization and mapping (SLAM) technique in which the controller 108 extracts features of the environment represented by the sensor data and constructs a map of the floor surface 50 of the environment. The sensor data collected by the image capture device may be used for techniques such as vision-based SLAM (VSLAM) in which the controller 108 extracts visual features corresponding to objects in the environment 40 and uses these visual features to construct a map. As the controller 108 guides the robot 100 around the floor surface 50 during the execution of the task, the controller 108 uses SLAM technology to determine the location of the robot 100 in the map by detecting features represented in the collected sensor data and comparing these features with previously stored features. The map formed by the sensor data may indicate the location of traversable and non-traversable spaces within the environment. For example, the location of obstacles may be indicated on the map as non-traversable spaces, and the location of open floor spaces may be indicated on the map as traversable spaces.

[0045] Sensor data collected by any sensor may be stored in the memory 110. In addition, other data generated for SLAM technology, including map data that forms a map, may be stored in the memory 110. Such data generated during a task may include persistent data generated during a task that may be used in another task. In addition to storing software for causing the robot 100 to perform its behaviors, the memory 110 also stores sensor data or data generated by processing of sensor data for access by the controller 108. For example, the map may be a map that can be used and updated by the controller 108 of the robot 100 from one task to another to navigate the robot 100 around the floor surface 50.

[0046] Figure 2 A perspective view of an example of roller 200 is shown. Roller 200 can be used in any mobile cleaning robot, such as robot 100, to improve the cleaning ability of the robot. As described above, an autonomous mobile cleaning robot can be used to automatically or autonomously clean one or more rooms by extracting debris from the surface of a part of an environment such as one or more rooms. Extraction can be performed using a single roller (e.g., roller 200). The blades of a single roller can be configured in a herringbone pattern, wherein the blades on opposite sides of the roller have opposite pitches or helicities. Such a roller with a herringbone pattern can provide improved cleaning performance.

[0047] Figure 3 A perspective view of an example of a roller 300 is shown, for example Figure 1A and Figure 2 The roller 300 may engage with the surface 50 of the environment 40 (e.g. Figure 1A ) to extract debris from the surface 50. The roller 300 may be an elongated body and may be operable to rotate about the longitudinal axis LA. The roller 300 may include a roller core 310, a first elongated member 320, a second elongated member 330, and a spacer 340.

[0048] The roller core 310 may extend along the longitudinal axis LA of the roller 300. The roller core 310 may couple the roller 300 to the mobile robot 100 ( Figure 1A and Figure 2 The roller core 310 may also provide radial support to the roller 300 when the roller 300 engages the surface 50 ( Figure 1A In an example, the roller core 310 may be operably connected at one end to one or more motors (eg, Figure 1A The roller motor 120 in the roller core 310 is used to rotate the roller 300 around the longitudinal axis LA and can be supported by bearings at opposite ends. The roller core 310 can be made of one or more of polymers, metals, foams, ceramics, composite materials, alloys, etc.

[0049] The first elongated member 320 may engage a floor surface, e.g. Figure 1A The first elongated member 320 may at least partially surround the first portion 312 of the roller core 310. In an example, the first elongated member 320 may be a whole polymer or rubber. In another example, the first elongated member 320 may be made of a combination or composite material of polymer, rubber, metal, etc.

[0050] The second elongated member 330 can engage with a floor surface, such as surface 50. The second elongated member 330 can at least partially surround the second portion 314 of the roller core 310. In an example, the second elongated member 330 can be a whole polymer or rubber. In another example, the second elongated member 330 can be made of a combination or composite material of polymers, rubber, metals, etc. In an example, the first elongated member 320 and the second elongated member 330 can be configured to contact the floor surface simultaneously when the mobile cleaning robot cleans the floor surface. In another example, the first elongated member 320 and the second elongated member 330 can be configured to contact the floor surface in different situations. For example, the first elongated member 320 and the second elongated member 330 can be designed to contact the floor surface alternately.

[0051] like Figure 3 As shown, the first elongated member 320 and the second elongated member 330 may be axially spaced apart from each other on the roller core 310. The spacing between the first elongated member 320 and the second elongated member 330 may help reduce noise generation by the roller 300 and may help reduce the power required to operate the roller 300. However, the gap between the first elongated member 320 and the second elongated member 330 may result in the loss of debris, such as particulate debris within the first elongated member 320 or the second elongated member 330 or particulate debris between the first elongated member 320 or the second elongated member 330. For example, particulate debris on the floor surface between the first elongated member 320 and the second elongated member 330 may be missed by the roller 300. In addition, particulate debris within the first elongated member 320 or the second elongated member 330 may fall into the gap and detach from the first elongated member 320 or the second elongated member 330, respectively. The gap between the first elongated member 320 and the second elongated member 330 may also create a gap that may capture and cause entanglement of fiber debris, such as hair, thread, other fiber debris, etc. In order to reduce the gap between the first elongated member 320 and the second elongated member 330 and help reduce the loss of particle debris and the accumulation of fiber debris between the first elongated member 320 and the second elongated member 330, a spacer 340 may be installed between the first elongated member 320 and the second elongated member 330.

[0052] The spacer 340 may at least partially surround the roller core 310 and may engage with a floor surface, such as the surface 50. The spacer 340 may prevent the roller 300 from losing particulate debris by engaging with the particulate debris between the first elongated member 320 and the second elongated member 330 (e.g., lifting or whisking toward the dustpan) and by preventing the particulate debris within the first elongated member 320 or the second elongated member 330 from escaping into the gap between the first elongated member 320 and the second elongated member 330. The spacer 340 may also guide or shuttle fiber debris between the first elongated member 320 and the second elongated member 330 to prevent the fiber debris from collecting or entangled in the gap between the first elongated member 320 and the second elongated member 330. The spacer 340 may be made of foam, polymer, rubber, or any combination thereof, etc. In another example, the spacer 340 may include bristles. In an example, the length of the bristles may be adjusted based on the diameter of the bristles. For example, if the bristles have a larger diameter, the bristles may be longer and still have sufficient hardness to move the particulate debris. For example, the bristles can have sufficient stiffness to lift particulate debris from a floor surface or to whisk particulate debris toward a dustpan. In another example, the bristles can have a smaller diameter and a shorter length to have sufficient stiffness to move debris. For example, the shorter bristles can have sufficient stiffness to lift particulate debris from a floor surface or to whisk particulate debris toward a dustpan.

[0053] Figure 4 An enlarged perspective view of an example of roller 300 is shown. The first elongated member 320 may include a first shell 402, a first wing (or blade, hereinafter referred to as the first wing 404), and a second wing (or blade, hereinafter referred to as the second wing 406). The first shell 402 may extend the entire length of the first elongated member 320. In another example, the first shell 402 may extend a portion of the length of the first elongated member 320. The first wing 404 may extend radially outward from the first shell 402. The first wing 404 may extend along at least a portion of the longitudinal axis LA. The second wing 406 may also extend radially outward from the first shell 402. The second wing 406 may extend at least a portion of the longitudinal axis LA. The first wing 404 and the second wing 406 may be made of polymers, foams, metals, ceramics, rubber, any combination thereof, and the like. In an example, the first shell 402, the first wing 404, and the second wing 406 may be made of the same material. In another example, the first shell 402, the first wing 404, and the second wing 406 may be made of different materials. In yet another example, the first skeleton 402 can be made of a first material, and the first wing 404 and the second wing 406 can be made of a second material. In an example, the first wing gap 408 can be between 2 mm and 10 mm. In another example, the first wing gap 408 can be between 3 mm and 5 mm.

[0054] The first wing 404 and the second wing 406 may extend, such as in a spiral pattern, around the first elongated member 320. The first wing 404 and the second wing 406 may be circumferentially spaced from one another to define a first wing gap 408 therebetween.

[0055] The first wing gap 408 can help extract debris from the floor surface. For example, the first wing gap 408 can be or can define at least a portion of a void in the first elongated member 320 that can allow debris to be collected and distributed therein. Thus, the extension of the first wing 404 and the second wing 406 along the first skeleton 402 can help guide the debris within the first wing gap 408 along the first elongated member 320 and toward the cleaning inlet, for example Figure 1A and Figure 2 The first wing gap 408 and the extension of the first wing 404 and the second wing 406 along the first skeleton 402 can also help disperse debris on the floor surface.

[0056] The first wing gap 408 can also help allow flexibility of the first wing 404 and the second wing 406. For example, the first wing gap 408 is spaced apart so that the first wing 404 and the second wing 406 can deflect when in contact with a floor surface. The deflection of the first wing 404 and the second wing 406 can help the first elongated member 320 extract debris from a variety of different floor surfaces.

[0057] The second elongated member 330 may include a second skeleton 412, a third wing (or blade, hereinafter referred to as the third wing 414) and a fourth wing (or blade, hereinafter referred to as the fourth wing 416). The second skeleton 412 may extend the entire length of the second elongated member 330. In another example, the second skeleton 412 may extend a portion of the length of the second elongated member 330. The third wing 414 may extend radially outward from the second skeleton 412. The third wing 414 may also extend along at least a portion of the longitudinal axis LA. The fourth wing 416 may extend radially outward from the second skeleton 412. The fourth wing 416 may also extend along at least a portion of the longitudinal axis LA. The third wing 414 and the fourth wing 416 may be circumferentially spaced from each other to define a second wing gap 418 between them. The second skeleton 412, the third wing 414 and the fourth wing 416 may be made of polymers, foams, metals, ceramics, rubber, any combination thereof, etc. In an embodiment, the second skeleton 412, the third wing 414 and the fourth wing 416 may be made of the same material. In another example, the second skeleton 412, the third wing 414, and the fourth wing 416 can be made of different materials. In yet another example, the second skeleton 412 can be made of a first material, and the third wing 414 and the fourth wing 416 can be made of a second material.

[0058] The second wing gap 418 may assist the second elongated member 330 in extracting debris and assist the third and fourth wings 414, 416 in being ductile in the same manner as described above (ie, the same manner that the first wing gap 408 may assist the first elongated member 320).

[0059] In one example, the first wing 404 and the second wing 406 of the first elongated member 320 and the third wing 414 and the fourth wing 416 of the second elongated member 330 can deflect radially inward and tangentially when in contact with the floor surface. When any of the first wing 404, the second wing 406, the third wing 414, or the fourth wing 416 is deflected from engagement with the floor surface, the first wing 404, the second wing 406, the third wing 414, or the fourth wing 416 together can define a deflection diameter 420 (e.g., Figure 1B shown).

[0060] The deflection of the wings (e.g., first wing 404, second wing 406, third wing 414, and fourth wing 416) can help the mobile cleaning robot extract debris from the ambient surface because the deflection can increase the contact force between the wings and the debris to help extract the debris from the ambient surface and lift the debris into the wing gaps (e.g., first wing gap 408 and second wing gap 418). When the wings, such as first wing 404, second wing 406, third wing 414, and fourth wing 416, are deflected radially inward and tangentially, the wings create potential energy that can also help lift the particle debris as the roller 300 rotates, and then the wings decompress toward an equilibrium state because the wings no longer contact the floor surface. When the mobile cleaning robot engages with large particle debris, the large particle debris can deflect the first wing 404, second wing 406, third wing 414, or fourth wing 416 to increase the potential energy within the wings and help extract the large particle debris by whisking or lifting the large particle debris from the floor surface. Any of the first wing 404, the second wing 406, the third wing 414, or the fourth wing 416 can extract debris from the floor surface and direct the debris toward the dustpan, e.g. Figure 1A In an example, the floor surface or particulate debris may contact the first wing 404 and deflect the first wing 404 toward the second wing 406. Directing the first wing 404 toward the second wing 406 may direct the debris toward the first wing gap 408. As the roller 300 rotates, the debris collected within the first wing gap 408 may be directed toward the dustpan by the first wing 404 and the second wing 406.

[0061] In another example, the floor surface or particulate debris may contact the third wing 414 and deflect the third wing 414 toward the fourth wing 416. The third wing 414 deflected toward the fourth wing 416 may direct the debris toward the fourth wing 416. As the roller 300 rotates, the debris collected within the first wing gap 408 and the second wing gap 418 may be directed (e.g., lifted or whisked) toward the dustpan by the second wing 406 and the fourth wing 416, respectively.

[0062] When the first wing 404, the second wing 406, the third wing 414, and the fourth wing 416 are deflected, a gap is formed between the first elongated member 320 and the second elongated member 330. The gap between the first elongated member 320 and the second elongated member 330 increases noise during operation of the robot, provides a collection area for fiber fragments between the first elongated member 320 and the second elongated member 330, and reduces the extraction of fragments at the center of the roller 300. As such, the spacer 340 may be installed between the first elongated member 320 and the second elongated member 330 to reduce noise of the roller 300, prevent fiber fragments from collecting between the first elongated member 320 and the second elongated member 330, and prevent fragments from escaping from the roller 300 between the first elongated member 320 and the second elongated member 330.

[0063] Will refer to Figure 5-7 The spacer 340 is discussed in more detail. Figure 5 A perspective view of an example of a spacer 340 is shown. Figure 6 A top view of an example of a spacer 340 is shown. Figure 7 A side view of an example of a spacer 340 is shown. The spacer 340 may include a base 426 and a body 430. The body 430 may include a first outer surface 432 and a second outer surface 434. The first surface 432 may be opposite the second surface 434 on the body 430. The body 430 may also include a plurality of wings, including first wings 436A-436N and second wings 438A-438N. In an example, the body 430 may also include any shape extending from the body 430 to prevent fiber fragments from being wrapped around the roller 300 between the first elongated member 320 and the second elongated member 330. For example, bristles, wires, etc. may extend from the body 430 to reduce the gap between the first elongated member 320 and the second elongated member 330, which is created by the deflection of any portion of the first elongated member 320 or the second elongated member 330.

[0064] The base 426 may be connected to the roll core 310 at a radially inner surface of the base 426. The base 426 may extend circumferentially around the roll core 310 and radially outward from the roll core 310. In an example, the base 426 may be integral with the roll core 310. In an example, the base 426 may be connected to the roll core 310 to secure the spacer 340 to the roll core 310. The base 426 may be made of plastic, polymer, metal, rubber, foam, ceramic, alloy, any combination thereof, and the like.

[0065] The body 430 may extend circumferentially around the base 426. The body 430 may also extend radially outward from the base 426. The body 430 may be configured to limit the accumulation of debris between the first elongated member 320 and the second elongated member 330. Therefore, the body 430 may fill the entire gap (or at least a portion of the gap) between the first elongated member 320 and the second elongated member 330. The body 430 may be integrated into the base 426 so that the base 426 and the body 430 are a unified, integral component. In an example, the base 426 and the body 430 may be separate components, and the body 430 may be connected to the base 426. The body 430 may be made of plastic, polymer, foam, ceramic, metal, rubber, any combination thereof, and the like. The body 430 may be made of the same material as the base 426. In another example, the body 430 may be made of a material different from the base 426.

[0066] The first wing 436 may extend axially from the first surface 432 of the body 430. The first wing 436 may also extend axially from the second surface 434, such that the first wing 436 may extend at least partially from the first surface 432 and the second surface 434 into the first wing gap 408 (eg, Figure 4 The first wing 436 may also extend radially outward from the base 426 to the periphery of the body 430 at a certain angle, so that the first wing 436 at the base 426 may be circumferentially spaced apart from the first wing 436 at the periphery of the body 430.

[0067] The second wing 438 may extend axially from the first surface 432 of the body 430. The second wing 438 may also extend axially from the second surface 434, such that the second wing 438 may extend at least partially from the first surface 432 and the second surface 434 into the second wing gap 418 (eg, Figure 4 The second wing 438 may also extend radially outward from the base 426 to the periphery of the body 430 at a certain angle, so that the second wing 438 at the base 426 may be circumferentially spaced apart from the second wing 438 at the periphery of the body 430.

[0068] The first wing 436 and the second wing 438 may define a maximum bend of the first wing 404, the second wing 406, the third wing 414, or the fourth wing 416. In addition, the first wing 436 and the second wing 438 may help support the first wing 404, the second wing 406, the third wing 414, and the fourth wing 416 when the first wing 404, the second wing 406, the third wing 414, and the fourth wing 416 are deflected from the floor surface. Therefore, the first wing 436 and the second wing 438 may help prevent plastic deformation of the first wing 404, the second wing 406, the third wing 414, and the fourth wing 416.

[0069] In an example, the spacer 340 can include a major diameter 440 such that the spacer 340 can be within the major diameter 440. The major diameter 440 of the spacer 340 can be less than or equal to the deflection diameter 420. In yet another example, the major diameter 440 of the spacer 340 can be slightly larger than the deflection diameter 420.

[0070] like Figure 3 and 4 As shown, the first wing 404 and the second wing 406 can extend away from the spacer 340 in a first spiral pattern, and the third wing 414 and the fourth wing 416 can extend away from the spacer 340 in a second spiral pattern. In an example, the first spiral pattern can be symmetrical with the second spiral pattern about the spacer 340, thereby forming a herringbone pattern across the first elongated member 320 and the second elongated member 330. In another example, the first wing 404 and the second wing 406 can extend away from the spacer 340 symmetrically in any pattern. For example, the first wing 404 and the second wing 406 can extend horizontally from the spacer 340.

[0071] Figure 8 A perspective view of an alternative example of roller 800 is shown, for example, Figure 1A and 2 Roller 118 or Figure 3 and 4 The roller 800 may engage with the surface 50 of the environment 40 (e.g. Figure 1A ), to extract debris from the surface 50. The roller 800 may be an elongated body and may be operable to rotate about the longitudinal axis LA. The roller 800 may include a roller core 810, a first elongated member 820, a second elongated member 830, and a spacer 840.

[0072] like Figure 8 As shown, the spacer 840 may include bristles extending from the roller core 810. As described above, the spacer 840 may perform the same function as the spacer 340. Figure 8As shown, the spacer 840 can extend laterally within the first elongated member 820 and the second elongated member 830 to help fill the gap between the first elongated member 820 and the second elongated member 830 that is formed when any portion of the first elongated member 820 and the second elongated member 830 deflects during the rotation of the roller 800. Figure 8 As shown, the bristles of the spacer 840 may also extend the entire length of the roller 800 along the first slender member 320 and the second slender member 330.

[0073] Fig. 9 A schematic diagram of a method 900 according to at least one example of the present disclosure is shown. The method 900 can be a method of operating a mobile cleaning robot with a spacer. More specific examples of the method 900 are discussed below. For convenience and clarity, the steps or operations of the method 900 are shown in a particular order; many of the operations discussed can be performed in a different order, or in parallel without substantially affecting other operations. The method 900 discussed includes operations performed by multiple different participants, devices, or systems. It should be understood that a subset of the operations discussed in the method 900 may be attributed to a single participant, device, or system and may be considered a separate independent process or method.

[0074] At step 902, method 900 may include operating a drive wheel, such as a moving cleaning robot. Figure 1A The driving wheel 112, for example Figure 1A and 2 The robot 100 in the environment (e.g. Figure 1B The mobile cleaning robot navigates around a surface 50) in an environment 40.

[0075] At step 904, method 900 may include operating the cleaning assembly to ingest debris from an environmental surface. To operate the mobile cleaning robot in a cleaning mode, the cleaning assembly may include a roller, such as first Figure 3 The roller 300 shown in FIG. 1 can be rotated relative to the body of the mobile cleaning robot and can engage with a surface to direct debris toward the suction conduit. The roller can include a roller core extending along the longitudinal axis of the roller. A first elongated member can circumferentially surround a first portion of the roller core. A second elongated member can circumferentially surround a second portion of the roller core. A spacer (e.g. Figure 3-7 The spacer 340 in the first elongated member (eg Figure 3 and 4 ) and a second elongated member (eg, a first elongated member 320 shown in FIG. Figure 3 and 4 30) at least partially circumferentially surrounding the roller core (e.g. Figure 3). The spacer can engage with a floor surface and can be configured to prevent debris from collecting between the first elongated member and the second elongated member.

[0076] At step 906, method 900 may include preventing debris within the first elongated member and within the second elongated member from collecting between the first elongated member and the second elongated member. For example, the spacer may retain debris within the first elongated member, within the first elongated member, thereby facilitating the lifting of debris within the first elongated member toward the dustpan, e.g. Figure 1A and Figure 2 The dustpan 122. The spacer can also retain debris within the second elongated member, thereby urging the debris within the second elongated member to be lifted toward the dustpan.

[0077] At step 908, method 900 may include directing debris wrapped around the first elongated member toward the second elongated member. At step 910, method 900 may include directing debris wrapped around the second elongated member toward the first elongated member. For example, hair, string, hair strands, any elongated member that can be wrapped around the roller, etc. can be transferred on the spacer between the first elongated member and the second elongated member. Reducing the amount of entangled debris that may be collected between the first elongated member and the second elongated member can reduce the time required to remove the entangled debris and help maintain the debris extraction performance of the roller. For example, the entangled debris can be collected toward the end of the roller core of either the first elongated member or the second elongated member so that the entangled debris does not affect the performance of the mobile cleaning robot.

[0078] Additional Notes and Examples

[0079] The following non-limiting examples describe in detail certain aspects of the subject matter to address challenges and provide the benefits discussed herein, among other things.

[0080] Example 1 is a roller for a mobile cleaning robot, the roller comprising: a roller core extending along a longitudinal axis of the roller; a first slender member capable of engaging with a floor surface, the first slender member at least partially surrounding a first portion of the roller core; a second slender member capable of engaging with the floor surface, the second slender member at least partially surrounding a second portion of the roller core; and a spacer at least partially surrounding the roller core between the first slender member and the second slender member, the spacer capable of engaging with the floor surface and configured to prevent debris from collecting between the first slender member and the second slender member.

[0081] In Example 2, the subject matter of Example 1 includes, wherein the first slender member includes: a first skeleton; a first wing extending radially outward from the first skeleton and extending along at least a portion of the longitudinal axis; and a second wing extending radially outward from the first skeleton and extending at least a portion of the longitudinal axis, wherein the first wing and the second wing are circumferentially spaced from each other to define a first wing gap therebetween.

[0082] In Example 3, the subject matter of Example 2 includes, wherein the first wing and the second wing extend around the first elongated member in a first helical pattern.

[0083] In Example 4, the subject matter of Example 3 includes, wherein the second slender member further includes: a second skeleton; a third wing extending radially outward from the second skeleton and along at least a portion of the longitudinal axis; and a fourth wing extending radially outward from the second skeleton and along at least a portion of the longitudinal axis, wherein the third wing and the fourth wing are circumferentially spaced from each other to define a second wing gap therebetween.

[0084] In Example 5, the subject matter of Example 4 includes, wherein the third wing and the fourth wing extend from the spacer in a second spiral pattern, and wherein the second spiral pattern is symmetrical to the first spiral pattern about the spacer.

[0085] In Example 6, the subject matter of Examples 4-5 includes wherein the spacer comprises: a base connected to the roll core and extending circumferentially around the roll core and extending radially outward from the roll core; and a body extending circumferentially around the base and extending radially outward from the base.

[0086] In Example 7, the subject matter of Example 6 includes, wherein the body of the spacer also includes: a first wing portion, extending axially from the first surface of the body, the first wing portion also extending axially from the second surface of the body, such that the first wing portion at least partially extends from the first surface and the second surface into the first wing gap; and a second wing portion, circumferentially spaced from the first wing portion and extending axially from the first surface, the second wing portion also extending axially from the second surface, such that the second wing portion at least partially extends from the first surface and the second surface into the second wing gap.

[0087] In Example 8, the subject matter of Example 7 includes, wherein, under a condition in which the first slender member or the second slender member contacts the floor, the first wing and the second wing of the first slender member and the third wing and the fourth wing of the second slender member are radially compressed inwardly, and when any one of the first wing, the second wing, the third wing, and the fourth wing is deflected from engagement with the floor surface, the first wing, the second wing, the third wing, and the fourth wing together define a deflection diameter at a maximum deflection position.

[0088] In Example 9, the subject matter of Example 8 includes, wherein the spacer includes a major diameter such that the spacer is within the major diameter, and wherein the major diameter of the spacer is less than or equal to the deflection diameter.

[0089] In Example 10, the subject matter of Examples 7-9 includes, wherein the first surface of the body and the second surface of the body define a width of the body.

[0090] In Example 11, the subject matter of Example 10 includes, wherein the width of the body is between 2 and 10 millimeters.

[0091] In Example 12, the subject matter of Examples 6-11 includes, wherein the spacer includes a first portion and a second portion, wherein the first portion and the second portion are detachably coupled to each other.

[0092] In Example 13, the subject matter of Examples 6-12 includes wherein the body of the spacer includes a plurality of bristles extending radially outward from the body of the spacer.

[0093] Example 14 is a mobile cleaning robot comprising: a main body including a suction duct; and a cleaning component capable of operating to ingest debris from an environmental surface, the cleaning component comprising: a roller capable of rotating relative to the main body and capable of engaging with the surface to direct the debris toward the suction duct, the roller comprising: a roller core extending along the longitudinal axis of the roller; a first slender member circumferentially surrounding a first portion of the roller core; a second slender member circumferentially surrounding a second portion of the roller core; and a spacer at least partially circumferentially surrounding the roller core between the first slender member and the second slender member, the spacer capable of engaging with a floor surface and configured to prevent debris from collecting between the first slender member and the second slender member.

[0094] In Example 15, the subject matter of Example 14 includes, wherein the first slender member includes: a first skeleton; a first blade extending radially outward from the first skeleton and along at least a portion of the longitudinal axis; and a second blade extending radially outward from the first skeleton and along at least a portion of the longitudinal axis, wherein the first blade and the second blade are circumferentially spaced from each other to define a first blade gap therebetween.

[0095] In Example 16, the subject matter of Example 15 includes, wherein the first blade and the second blade extend in a spiral pattern around the first elongated member.

[0096] In Example 17, the subject matter of Example 16 includes, wherein the second slender member further includes: a second skeleton; a third blade extending radially outward from the second skeleton and along at least a portion of the longitudinal axis; and a fourth blade extending radially outward from the second skeleton and extending at least a portion of the longitudinal axis, wherein the third blade and the fourth blade are circumferentially spaced from each other to define a second blade gap therebetween.

[0097] In Example 18, the subject matter of Example 17 includes, wherein the spacer includes: a base connected to the roll core and extending circumferentially around at least a portion of the roll core and extending radially outward from the roll core; and a body extending circumferentially around at least a portion of the base and extending radially outward from the base, and wherein the body includes: a first surface extending circumferentially around the body; and a second surface extending circumferentially around the body and opposite to the first surface.

[0098] In Example 19, the subject matter of Example 18 includes, wherein the body of the spacer also includes: a first wing portion, extending axially from the first surface, the first wing portion also extending axially from the second surface, such that the first wing portion extends at least partially from the first surface and the second surface into the first blade gap; and a second wing portion, circumferentially spaced from the first wing portion and extending axially from the first surface, the second wing portion also extending axially from the second surface, such that the second wing portion extends at least partially from the first surface and the second surface into the second blade gap.

[0099] In Example 20, the subject matter of Example 19 includes, wherein, when the first slender member or the second slender member contacts the surface of the environment, the first blade and the second blade of the first slender member and the first blade and the second blade of the second slender member are compressed radially inward, and when any one of the first blade, the second blade, the third blade and the fourth blade is deflected from engagement with the environmental surface, the first blade, the second blade, the third blade and the fourth blade together define a deflection diameter at a maximum deflection position.

[0100] In Example 21, the subject matter of Example 20 includes, wherein the spacer comprises a major diameter at a periphery of the spacer, wherein the major diameter of the spacer is less than or equal to a deflected diameter of the first elongated member and the second elongated member.

[0101] Example 22 is a method for operating a mobile cleaning robot, comprising: operating a drive wheel of the mobile cleaning robot to navigate the mobile cleaning robot in an environment; and operating a cleaning component to ingest debris from a surface of the environment. In order to operate the mobile cleaning robot in a cleaning mode, the cleaning component comprises: a roller capable of rotating relative to the body of the mobile cleaning robot and capable of engaging with a surface to direct debris toward a suction duct, the roller comprising: a roller core extending along a longitudinal axis of the roller; a first slender member circumferentially surrounding a first portion of the roller core; a second slender member circumferentially surrounding a second portion of the roller core; and a spacer at least partially circumferentially surrounding the roller core between the first slender member and the second slender member, the spacer capable of engaging with a floor surface and configured to prevent debris from collecting between the first slender member and the second slender member.

[0102] In Example 23, the subject matter of Example 22 includes directing debris on the first elongated member to the second elongated member using a spacer.

[0103] In Example 24, the subject matter of Example 23 includes directing debris on the second elongated member to the first elongated member using a spacer.

[0104] In Example 25, the subject matter of Example 24 includes preventing debris within the first slender member and the second slender member from collecting between the first slender member and the second slender member; directing debris wrapped around the first slender member toward the second slender member; and directing debris wrapped around the second slender member toward the first slender member.

[0105] Example 26 is an apparatus comprising the means of implementing any of Examples 1-25.

[0106] In Example 27, the apparatus or method of any one or any combination of Examples 1-25 may optionally be configured such that all of the listed elements or options are available for use or selection therefrom.

[0107] The above detailed description includes reference to the accompanying drawings, which form a part of the detailed description. The accompanying drawings show specific embodiments that can be implemented by way of illustration. These embodiments are also referred to as "examples" herein. Such examples may include elements other than those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. In addition, the inventors also contemplate examples using any combination or arrangement of those elements shown or described (or one or more aspects thereof), whether with respect to a specific example (or one or more aspects thereof), or with respect to other examples shown or described herein (or one or more aspects thereof).

[0108] All publications, patents, and patent documents mentioned in this document are incorporated herein by reference in their entirety, as if individually incorporated by reference. If there is an inconsistent usage between this document and a document incorporated by reference, the usage in the incorporated reference document should be considered supplementary to that of this document; for irreconcilable inconsistencies, the usage in this document controls.

[0109] In this document, the term "a" is used to include one or more, as is common in patent documents, independent of any other instance or usage of "at least one" or "one or more." In this document, unless otherwise noted, the term "or" is used to refer to non-exclusivity or such that "A or B" includes "A but not B," "B but not A," and "A and B." In the appended claims, the terms "including" and "wherein" are used as the plain English equivalents of the respective terms "comprising" and "wherein." In addition, in the following claims, the terms "including" and "comprising" are open-ended, that is, systems, devices, articles, or processes in a claim that include elements in addition to the elements listed after such a term are still considered to fall within the scope of the claim. In addition, in the following claims, the terms "first," "second," and "third," etc. are used merely as labels and are not intended to impose numerical requirements on their objects.

[0110] The above description is intended to be illustrative, not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used, such as by a person of ordinary skill in the art after reviewing the above description. The abstract is intended to allow the reader to quickly determine the nature of the technical disclosure and to submit with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the above-mentioned specific embodiments, various features may be combined together to simplify the present disclosure. This should not be interpreted as an intention to make the disclosed features that are not claimed essential to any claim. On the contrary, the subject matter of the utility model may be located in all features of less than a specific disclosed embodiment. Therefore, the following claims are hereby incorporated into the specific embodiments, and each claim itself is a separate embodiment. The scope of these embodiments should be determined with reference to the appended claims and the full scope of equivalents given by these claims.

Claims

1. A roller for a mobile cleaning robot, characterized in that: The roller comprises: longitudinal axis; a roller core extending along the longitudinal axis; a first elongated member engageable with a floor surface and at least partially surrounding a first portion of the roller core; a second elongated member engageable with the floor surface and at least partially surrounding a second portion of the roller core; as well as A spacer is positioned between the first elongated member and the second elongated member, the spacer being engageable with a floor surface and configured to limit debris collection between the first elongated member and the second elongated member.

2. The roller according to claim 1, characterized in that The first elongated member comprises: First skeleton; a first wing extending radially outward from the first backbone and along at least a portion of the longitudinal axis; and A second wing extends radially outward from the first backbone and extends at least a portion of the longitudinal axis, wherein the first wing and the second wing are circumferentially spaced from each other to define a first wing gap therebetween.

3. The roller according to claim 2, characterized in that The second elongated member further comprises: Second skeleton; a third wing extending radially outward from the second backbone and along at least a portion of the longitudinal axis; and A fourth wing extends radially outward from the second backbone and along at least a portion of the longitudinal axis, wherein the third wing and the fourth wing are circumferentially spaced from each other to define a second wing gap therebetween.

4. The roller according to claim 3, characterized in that The first and second wings extend around the first elongated member in a first helical pattern, wherein the third and fourth wings extend from the spacer in a second helical pattern, and wherein the second helical pattern is symmetrical to the first helical pattern about the spacer.

5. The roller according to claim 3 or 4, characterized in that The spacer comprises: a base, extending radially outward; as well as A body is connected to the base, extends circumferentially around the base, and extends radially outward from the base.

6. The roller according to claim 5, characterized in that The main body of the spacer also includes: a first wing portion extending axially from a first surface of the body, the first wing portion extending axially from a second surface of the body, and extending at least partially from the first surface and the second surface into the first wing gap; and A second wing portion is circumferentially spaced from the first wing portion and extends axially from the first surface, the second wing portion extending axially from the second surface and extending at least partially from the first surface and the second surface into the second wing gap.

7. The roller according to claim 6, characterized in that Under a condition in which the first slender member or the second slender member contacts a floor, the first wing and the second wing of the first slender member and the third wing and the fourth wing of the second slender member are compressed radially inwardly, and when any one of the first wing, the second wing, the third wing and the fourth wing is deflected from engagement with the floor surface, the first wing, the second wing, the third wing and the fourth wing together define a deflection diameter at a maximum deflection position.

8. The roller according to claim 7, characterized in that The spacer defines a major diameter such that the spacer is within the major diameter, and wherein the major diameter of the spacer is less than or equal to the deflection diameter.

9. The roller according to claim 5, characterized in that The spacer includes a first portion and a second portion, wherein the spacer first portion and the spacer second portion are detachably coupled to each other.

10. The roller according to claim 5, characterized in that The body of the spacer includes a plurality of bristles extending radially outward from the body of the spacer.

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