A conformable disc for cleaner head of a floor cleaner

Abstract

A conformable disc 100 for a cleaner head (6, fig.1) of a floor cleaner (1, fig.1), such as a robotic vacuum cleaner, which is shaped and arranged to deform, preferably by twisting, in response to con

Description

BACKGROUND Conventional floor cleaners, such as robotic floor cleaners like robot vacuums, may use rotating brushes to flick debris from beside the floor cleaner into the path of a main cleaning element of the floor cleaner, such as a brushbar. These brushes may, however, become easily tangled and may require frequent maintenance. SUMMARY The present disclosure relates to a conformable disc for a cleaner head of a floor cleaner. The conformable disc is shaped and arranged to deform, in response to contact with an object while the conformable disc is rotating, such that part of the conformable disc contracts radially inwards away from the object. The conformable disc may be suitable for sweeping across a surface. For example, the conformable disc may be useable as part of an edge tool of a floor cleaner (optionally, a robotic floor cleaner) to sweep dirt into the path of the main cleaning element of the floor cleaner. In other words, the conformable disc may be useable as the sweeping member of an edge tool of a floor cleaner such as a robotic floor cleaner. The conformable disc may rotate about an axis that is generally perpendicular to the surface to be swept, such as a floor surface. The axis of rotation may be +1- 5 degrees, + / -10 degrees or +1- 20 degrees to perpendicular to the surface to be swept. In typical robotic floor cleaners, the sweeping member of an edge tool may be provided as one or more bristled brushes mounted on an axle to rotate and sweep dirt into the path of the main cleaning member of the robotic floor cleaner. In the context of the apparatuses described herein, providing the sweeping member as a conformable disc may be advantageous because the conformable discs described herein may be less susceptible to becoming tangled during use. In particular, bristled brushes may have a tendency to become tangled by hairs and / or other fibres during use, thereby reducing the effectiveness of the sweeping by the brushes. When bristled brushes become tangled, it is necessary for the user of the robotic floor cleaner to manually untangle each brush (e.g., by pulling the hairs and / or other fibres out from each brush) or replace the whole brush. In contrast, hairs and / or other fibres are less likely to become tangled with the conformable discs described herein during use. As such, the floor cleaners described herein that include the conformable discs described herein (e.g., as part of an edge tool thereof) may benefit from a lower maintenance requirement than similar floor cleaners that use (bristled) brushes as part of their edge tools. Further, by providing the conformable discs described herein as discs that are shaped and arranged to deform in response to contact with an object (in particular in response to contact with an obstruction or barrier), the performance of the conformable disc as part of an edge tool of a robotic floor cleaner may be improved. For example, in the context of cleaner heads for floor cleaners - including robotic floor cleaners, a number of benefits may be realised. In use, a portion of the conformable disc (when implemented as part of an edge tool of a robotic floor cleaner) may extend beyond a footprint of the housing of the floor cleaner. In other words, the conformable disc may effectively reach out beyond the footprint of the cleaner head and / or floor cleaner to be able to sweep dirt (and other objects) from beyond the footprint of the floor cleaner to a point within the path of the main cleaning element of the floor cleaner. The main cleaning element may, for example, be a brushbar or similar This may be particularly useful in the context of circular or rounded (robotic) floor cleaners as their shape means that the footprint of such floor cleaners may not be able to reach into the comers of the environments (e.g., rooms) in which they are deployed. As the conformable discs described herein may extend, at least in part, beyond the footprint of their associated robotic floor cleaners, there is a risk that the conformable disc will contact any number of objects - e.g., walls, the legs of furniture, and / or any other obstruction during use. By providing a conformable disc that is shaped and arranged to deform in response to contact with such objects (in particular, obstructions or barriers), it can be ensured that the conformable disc conforms around obstructions and barriers. This prevents damage to the conformable disc and ensures that the conformable disc, as a sweeping member of an edge tool, is able to effectively sweep dirt (and other objects) right up to the obstruction or barrier that the conformable disc is deforming around. For example, when in use, the conformable disc may be rotated or spun to sweep dirt into the path of the main cleaning element of a robotic floor cleaner to which the conformable disc is attached. As the conformable disc rotates, an edge of the conformable disc may come into contact with an obstruction or barrier (e.g., a wall or a part, such as a leg, of a piece of furniture). In response to coming into contact with the obstruction or barrier, as the conformable disc rotates, the part of the conformable disc that is coming into contact with the obstruction or barrier may deform to contract radially inwards away from the obstruction or barrier. Additionally or alternatively, when in use, the conformable disc may be shaped such that, as it rotates to sweep dirt from a surface (e.g., a floor on which the associated robotic floor cleaner is being used), one or more sweeping surfaces of the conformable disc are pushed towards the surface to increase the pressure exerted by the conformable disc on the surface, thereby increasing the effectiveness of the sweeping of the conformable disc. This may, for example, be achieved by the conformable disc splaying out (i.e., expanding radially) to push onto the surface, thereby exposing a larger surface area of the one or more sweeping surfaces to the surface to be swept. The deformation of the conformable disc may include a twisting around a central axis passing perpendicularly through the centre of the conformable disc. This central axis may be the axis about which the conformable disc rotates in use. For example, the conformable disc may be shaped and arranged to deform in a circumferential (or azimuthal direction) about the central axis passing perpendicularly through the centre of the conformable disc. The central axis may correspond to the axis of rotation of the conformable disc in use. As the conformable disc deforms circumferentially (or azimuthally - in the direction perpendicular to the radial direction of the conformable disc), the conformable disc may further deform radially. In other words, as a portion of the conformable disc twists in a first direction around the central axis, that same portion may radially contract towards the centre of the conformable disc. Correspondingly, as a portion of the conformable disc twists in a second direction, opposite to the first direction around the central axis, that same portion may radially expand away from the centre of the conformable disc. Put another way, the deformation of the conformable disc may be a coiling or uncoiling of conformable disc as it twists around the central axis. The conformable disc may be formed from a resiliently deformable material. In this way, while the conformable disc is shaped and arranged to deform in response to contact with an object, such as an obstruction or barrier, the conformable disc may be formed from a resiliently deformable material such that, in response to no longer being in contact with the obstruction or barrier, the conformable disc returns to its original shape. Put another way, as the conformable disc comes into contact with an object while the conformable disc is rotating, said object may be considered to apply a pressure on the conformable disc that causes it to deform (e.g., from the perspective of the rest frame of the conformable disc). Once the conformable disc is no longer in contact with the object, the pressure exerted on the conformable disc is no longer applied, and the conformable disc - being formed from a resiliently deformable material - may return to its original shape. The resiliently deformable material may, for example, comprise a flexible polymer such as silicone, rubber, or polypropylene. The conformable disc may comprise a plurality of corrugations shaped and arranged such that, in response to the contact with the object, the conformable disc folds along one or more of the plurality of corrugations to deform the conformable disc. Each of the plurality of corrugations may extend (at least in part) radially from a position proximal to the centre of the conformable disc to a position distal from the centre of the conformable disc. Optionally, each of the plurality of corrugations may extend from a common central point of the conformable disc to a respectively different point on the circumference of the conformable disc. Alternatively, each of the plurality of corrugations may extend from a respective point on a central aperture of the conformable disc to a respectively different point on the circumference of the conformable disc. For example, in any of the conformable discs described herein, the conformable disc may comprise a central aperture for receiving an axle to drive rotation of the conformable disc. As an option, each of the corrugations may be a straight corrugation extending radially from the centre of the conformable disc to a respective point on the circumference of the conformable disc. As an alternative option, each of the corrugations may be defined by a series of straight segments. For each corrugation, each adjacent segment may be angled with respect to each other. For example, an innermost segment of each corrugation may extend radially away from the centre of the conformable disc, and each subsequent segment of each corrugation may extend in a direction that is angled away from the radial direction, wherein each segment is angled away from the radial direction by an angle greater than the immediately adjacent segment that is closer, in the radial direction, to the centre of the conformable disc. Optionally, the conformable disc may comprise one or more corrugations arranged such that one or more portions of the conformable disc define a sweeping surface that is arranged, or oriented, to sweep across (e.g., to sweep dirt) a surface to be swept, such as a floor on which the associated robotic floor cleaner is deployed. As an option, the or each sweeping surface may be arranged to be flat against (or flush with) the surface to be swept. Alternatively, the or each sweeping surface may be arranged to be angled with respect to the surface to be swept. For example, the or each sweeping surface may be arranged such that, as the conformable disc rotates, the sweeping surface is angled away from the surface to be swept in the direction of rotation of the conformable disc. Optionally, the or each sweeping surface may be angled 5 degrees or more, 10 degrees or more, or 20 degrees or more away from the surface to be swept. Optionally, the or each sweeping surface may be angled 5 degrees or less, 10 degrees or less, or 20 degrees or less away from the surface to be swept. Optionally, the or each sweeping surface may be angled between 5 and 20 degrees, between 5 and 10 degrees, or between 10 and 20 degrees away from the surface to be swept. Optionally, the conformable disc may be shaped such that, in use the conformable disc bends towards the surface to be swept as it extends from a centre of the conformable disc. For example, the conformable disc may comprise an outer edge distal from the centre of the conformable disc that, in use, is bent towards the surface to be swept such that an outer portion comprising the outer edge of the conformable disc interacts directly with the surface to be swept. The conformable disc may further comprise an inner portion proximal to the centre of the conformable disc that, in use, extends (or lifts) away from the surface to be swept such that the inner portion does not interact directly with the surface to be swept. Each of the plurality of corrugations may be a curved corrugation that curves away from a radial direction of the conformable disc as said curved corrugation extends from a respective position proximal to the centre of the conformable disc towards the perimeter of the conformable disc. Each of the curved corrugations may extend away from a radial direction in the same manner - for example by the same extent and / or in the same angular direction around the conformable disc. In this way, the curved corrugations may define a spiral, or spiral-like, geometry. This geometry may allow for the conformable disc to deform in the radial and circumferential (or azimuthal) direction simultaneously as described above. The conformable disc may further comprise: a plurality of blades for sweeping dirt, the plurality of blades extending away from the centre of the conformable disc. Each of the plurality of blades may extend, at least in part, in a radial direction away from the centre of the conformable disc. In examples where the conformable disc comprises a plurality of corrugations, as described above, the plurality of corrugations may define a series of surfaces between folds of the conformable disc. Each of the plurality of blades may extend from a respective one of the series of surfaces. Optionally, the plurality of blades may include 3 or more blades, 5 or more blades, or 8 more blades. Optionally, the plurality of blades may include 10 or fewer blades, 8 or fewer blades, or 5 or fewer blades. Optionally, the plurality of blades may include between 3 and 10 blades, between 3 and 8 blades, between 3 and 5 blades, between 5 and 10 blades, between 5 and 8 blades, or between 8 and 10 blades. As an option, the plurality of blades may be 5 blades. As an alternative option, the plurality of blades may be 8 blades. Each of the plurality of blades may be a curved blade that curves away from a radial direction of the conformable disc as said curved blade extends from a respective position proximal to the centre of the conformable disc away from the conformable disc. Each of the curved blades may extend away from a radial direction in the same manner -for example by the same extent and / or in the same angular direction around the conformable disc. In this way, the curved blades may define a spiral, or spiral-like, geometry. This geometry may allow for the conformable disc to deform in the radial and circumferential (or azimuthal) direction simultaneously as described above. In examples where the conformable disc comprises a plurality of curved corrugations and a plurality of curved blades, each of the plurality of curved blades may be aligned with a respective one of the plurality of the curved corrugations such that for each aligned pair (wherein an aligned pair is defined by a respective curved blade aligned with a corresponding curved corrugation), the aligned pair defines a contiguous curve. A normal of a sweeping surface of each of the plurality of blades may be perpendicular to the axis of rotation of the conformable disc. In other words, the sweeping surface of each of the plurality of blades may extend perpendicularly from a surface (e.g., a floor on which the associated robotic floor cleaner is deployed) to be swept in use. Put another way, the normal of each sweeping surface may be parallel to the surface to be swept. A sweeping surface of each of the plurality of blades may be angled with respect to the surface to be swept. For example, the each sweeping surface of each of the plurality of blades may be arranged such that, as the conformable disc rotates, the sweeping surface is angled away from the surface to be swept in the direction of rotation of the conformable disc. Optionally, the or each sweeping surface may be angled 5 degrees or more, 10 degrees or more, or 20 degrees or more away from the surface to be swept. Optionally, the or each sweeping surface may be angled 5 degrees or less, 10 degrees or less, or 20 degrees or less, or 45 degrees or less away from the surface to be swept. Optionally, the or each sweeping surface may be angled between 5 and 20 degrees, between 5 and 45 degrees, between 5 and 10 degrees, or between 10 and 45 degrees away from the surface to be swept. For example, the sweeping surface of each of the plurality of blades may be arranged such that, as the conformable disc rotates, the sweeping surface is angled away from the surface to be swept in the direction of rotation of the conformable disc. Put another way, the normal of each sweeping surface may be pointed towards the surface to be swept in the direction of rotation of the conformable disc. As an example, the sweeping surface of each of the plurality of blades may be angled at an acute angle with respect to the surface to be swept. Each of the plurality of blades may comprise an angled tip at an end of the blade distal from the centre of the conformable disc. For example, the angled tip may be shaped to ensure that the corresponding blade is able to maintain contact with a cornered edge (e.g., the corner between a floor and a wall) as the conformable disc rotates. In this way, the angled tip may be shaped to facilitate sweeping of dirt from a cornered edge. The angled tip may define a slanted end of the corresponding blade. In other words, the end of the corresponding blade may not be rounded or square but instead by end at a tip that is off-centre with respect to the corresponding blade. Put another way, the corresponding blade may be defined by two lateral edges, wherein one of the lateral edges is shorter than the other. A distal portion of each of the plurality of blades that is distal from the centre of the conformable disc may be angled such that, when the conformable disc deforms, the distal portion is pulled away from a surface to be swept by the conformable disc. For example, when the conformable disc is used as an edge tool of a floor cleaner, the distal portion of each of the plurality of blades may be angled such that, when the conformable disc deforms (e.g., contracts radially, or twists-and-contracts simultaneously as described above), the distal portion is pulled up away from the floor. A distal portion of each of the plurality of blades that is distal from the centre of the conformable disc may be angled such that, when the conformable disc deforms, the distal portion is pushed towards the surface to be swept by the conformable disc. For example, when the conformable disc is used as an edge tool of a floor cleaner, the distal portion of each of the plurality of blades may be angled such that, when the conformable disc deforms (e.g., contracts radially, or twists-and-contracts simultaneously as described above), the distal portion is pushed down into the floor. As an option, the distal portion of each of the plurality of blades may be angled relative to a proximal portion (that is proximal to the centre of the conformable disc) by an angle of 5 degrees or less, 10 degrees or less, or 20 degrees or less or 45 degrees or less. As an option, the distal portion of each of the plurality of blades may be angled relative to the proximal portion by an angle of 5 degrees or more, 10 degrees or more, or 20 degrees or more. As an option, the distal portion of each of the plurality of blades may be angled relative to the proximal portion by an angle between 5 and 20 degrees, between 5 and 45 degrees, between 5 and 10 degrees, or between 10 and 45 degrees. Optionally, each of the plurality of blades may be shaped such that, in use, each blade bends towards the surface to be swept as it extends from a centre of the conformable disc. For example, each of the plurality of blades may comprise a distal portion distal from the centre of the conformable disc that, in use, is bent towards the surface to be swept such that the distal portion interacts directly with the surface to be swept. Each of the plurality of blades may further comprise a proximal portion, proximal to the centre of the conformable disc, that, in use, extends (or lifts) away from the surface to be swept such that the proximal portion does not interact directly with the surface to be swept. The conformable disc may further comprise a deformable webbing extending between each of the plurality of blades around the conformable disc. The webbing may, in some examples, provide an additional sweeping surface for sweeping dirt in use. Additionally or alternatively, the webbing may provide a physical resistance to the deformation of the conformable disc to limit the extent of deformation. Further, the webbing may provide a restoring force that encourages the conformable disc to return to its original shape when it is no longer in contact with the object causing deformation of the conformable disc. The webbing may extend in a web-like pattern between each of the plurality of blades around the conformable disc. As an option, the webbing may be formed from a resiliently deformable material such as rubber, or from any other suitably flexible polymer - e.g., silicone or polypropylene. One or more sweeping surfaces of the conformable disc may be covered with a tufted material. The one or more sweeping surface may additionally or alternatively comprise a plurality of bristles arranged thereon. As described herein, the one or more sweeping surfaces of the conformable disc may be defined by one or more of the plurality of corrugations of the conformable disc, by the plurality of blades of the conformable disc or by any other appropriately shaped and arranged surface that is positioned to sweep across a surface in use. The tufted material may be locally deformable so that debris (e.g., dirt) pressed into the tufted material is at least partially enveloped by the material. The tufted material may also be resilient so that once debris has been extracted, the tufted material returns to a nominal shape. The tufted material may have a short dense pile and may be formed by filaments woven to a fabric substrate. The filaments of the pile may be made from nylon, or other suitable material having a relatively low stiffness (e.g., polyamide). The stiffness of a tufted material will depend on the elastic properties of the material, the filament diameter, filament length and pile density. The tufted material may have a filament diameter of between 30 pm and 50 pm, a filament length of 5 mm or less and a pile density of between 2000 and 3000 filaments per mm2 (e.g., 2400 filaments per mm2). The tufted material may be arranged, for example, as a plush strip on each sweeping surface. Each of the plush strips may comprise a plush of fibres. The fibres may have a relatively low stiffness and a relatively high density (e.g., 2000 to 3000 fibres per mm2), which gives the fibres a soft or plush feel. The conformable disc may further comprise an actuatable part mounted on the conformable disc, for controlling the deformation of the conformable disc. The actuatable part may provide a user of the conformable disc with an additional mechanism for controlling deformation of the conformable disc in addition to the deformation that is affected in response to the conformable disc contacting an object (e.g., a barrier or obstruction) while it rotates. In other words, the actuatable part may not provide the exclusive mechanism for deforming the conformable disc but rather may provide additional control over and above that provided by the shaping and arrangement of the conformable disc itself. The actuatable part may be mounted on an axle for rotating the conformable disc, and may be rotatable relative to the conformable disc to control the deformation. The axle may define the rotation axis of the conformable disc. As an example, the actuatable part may comprise a plurality of teeth. Each tooth of the actuatable part may be arranged to sit between a corresponding pair of folded surfaces of the conformable disc. Each pair of folded surfaces may be provided as a result of the arrangement of the plurality of corrugations of the conformable disc. By disposing each tooth of the actuatable part between a corresponding pair of folded surfaces of the conformable disc, rotating the actuatable part may cause each tooth to push against one of the surfaces of the corresponding pair of folded surfaces to urge the conformable disc to deform (e.g., by urging the conformable disc to fold or unfold along a plurality of the corrugations). The actuatable part may be operated mechanically (e.g., be operation of a switch or dial on the robotic floor cleaner) or electrically (e.g., by receiving instructions from an appropriately connected controller). The present disclosure also relates to a cleaner head for a floor cleaner that comprises one or more conformable discs as described herein mounted around an edge of the cleaner head. For example, the one or more conformable discs may be mounted around the edge of a floor cleaner to define one or more edge tools. In this way, each of the one or more conformable discs may be useable to sweep dirt into the path of the main cleaning element of the floor cleaner. In other words, each of the one or more conformable discs may be useable as the sweeping member of an edge tool of a floor cleaner. The present disclosure also relates to a floor cleaner comprising one or more cleaner heads as described herein. The one or more cleaner heads may be mounted as one or more edge tools on the floor cleaner, positioned so that the one or more edge tools are useable to sweep dirt into the path of a main cleaning element of the floor cleaner. The floor cleaner may, for example, be a robotic floor cleaner. The robotic floor cleaner may correspond to a robotic vacuum cleaner and / or to a robotic mop. That is the robotic floor cleaner may be configured to vacuum clean and / or to mop a floor. The floor cleaner may further comprise one or more downward-pointing sensors configured to detect a property of a floor surface the floor cleaner is used on. Each of the one or more downward-pointing sensors may be positioned proximal to an edge of the floor cleaner. At least one of the one or more downward-pointing sensors may be positioned proximal to one of the one or more conformable discs such that a portion of said conformable disc is disposed between said downward-pointing sensor and the floor when the floor cleaner is in use. Said conformable disc may include a plurality of spacings such that as the conformable disc rotates, each of the plurality of spacings cyclically instantaneously align with said downward-pointing sensor to facilitate the detection of the property of the floor surface. At least one of the one or more downward-pointing sensors may be positioned proximal to an edge of the floor cleaner. One or more of the downward-pointing sensors may be a floor type sensor. A floor type sensor may be a sensor configured to detect a type of surface of the floor, for example a texture of the surface (e.g., whether the floor surface is a carpet / rug surface or a smooth surface - e.g., tiled, laminate or similar). One or more of the downward-pointing sensors may be a drop sensor. A drop sensor may be a sensor configured to detect a drop in the floor surface on which the floor cleaner is deployed. The drop sensors described herein may be referred to as cliff sensors. The floor cleaner may be a robotic floor cleaner that comprises a controller configured with logic that causes the robotic floor cleaner to stop and / or adjust its direction of travel before it travels off a drop such as a staircase. Each of the one or more downward-pointing sensors may be provided with a transparent cover through which the downward-pointing sensors are able to emit and / or receive light such as infrared (IR) light. As the one or more conformable discs are positioned proximal to a corresponding one of the one or more downward-pointing sensors, there is a risk that, in use, a conformable disc could obstruct the field of view of the associated nearby downward-pointing sensor, thereby rendering the downward-pointing sensor inoperable. To prevent this, each of the one or more conformable discs may be provided (e.g., shaped) with a plurality of spacings through which the downward-pointing sensor is able to receive and / or emit light when the downward-pointing sensor is aligned with one of the plurality of spacings (noting, for example, that the spacings rotate with the conformable disc in use such that the downwardpointing sensor is periodically aligned with each of the plurality of spacings on a cyclical basis). In examples where a conformable disc comprises a plurality of blades as described herein, the plurality of spacings may be defined by the space between each pair of adjacent blades of the plurality of blades. Additionally or alternatively, the plurality of spacings may be defined by apertures, slots and / or notches cut into the conformable disc to provide a field of view through the conformable disc. As an option, one or more of the downward-pointing sensors of the floor cleaner may not be positioned proximal to one of the one or more conformable discs. In other words, not every downward-pointing sensor need be positioned in the vicinity of a conformable disc (edge tool cleaner head), and not every conformable disc (edge tool cleaner head) need be positioned in the vicinity of a downward-pointing sensor. The floor cleaner may further comprise one or more blocking structures, each respectively positioned proximal to a corresponding one of the one or more conformable discs such that, as the corresponding conformable disc rotates, the respective blocking structure applies pressure to the corresponding conformable disc to cause deformation of the conformable disc. In other words, the floor cleaner may comprise one or more blocking structures (e.g., a wall or pair of cornered walls) disposed on the underside of the floor cleaner such that, as an adjacent conformable disc rotates, a portion of the conformable disc that is underneath the floor cleaner - for example, within the footprint of the floor cleaner - is urged to deform. This may reduce the extent to which the conformable disc extends underneath the floor cleaner and may, for example, reduce the interference of the floor cleaner with the operation of one or more downward-facing sensors (e.g., drop sensors). As an option, each blocking structure may be provided as a wall protruding from the underside of the floor cleaner. As another option, each blocking structure may be provided as a pair of cornered walls protruding from the underside of the floor cleaner. The pair of cornered walls may be defined by a pair of perpendicular walls. One or more of the one or more blocking structures may comprise a cleaning surface arranged to clean the corresponding conformable disc. For example, the cleaning surface may be a rough or textured surface such that, as the corresponding conformable disc rotates, a portion of said conformable disc - e.g., blades of the conformable disc - scrape against the rough or textured surface to scrape dirt and / or debris off the conformable disc. In this way, the corresponding conformable disc may be cleaned such that the one or more sweeping surfaces of the conformable disc maintain their surface texture / arrangement to be effective at sweeping dirt (and other debris) towards a main cleaning element of the robotic floor cleaner. The floor cleaner may comprise a body, to which one or more cameras or sensors are attached or coupled. For example, the floor cleaner may comprise one or more forward-facing cameras for object detection and / or navigation. As an option, the floor cleaner may include an illumination system including one or more light sources. The one or more light sources may, for example, comprise one or more light emitting diodes (LEDs). The illumination system may include one or more light guides, each light guide coupled to a respective one of the light sources. The illumination system may be proximate a camera of the robotic floor cleaner. The illumination system may, for example, be mounted to the front surface of the body. In this way, operation of the floor cleaner in low light conditions may be improved and / or the quality of images captured by any cameras of the floor cleaner may be improved. Thus, the object detection and / or navigation capabilities of the floor cleaner may be improved. Optionally, the floor cleaner may additionally comprise an upward-facing camera mounted on an upper surface of the body. The upward-facing camera may be an omnidirectional camera, capable of capturing a 360° view of the environment. The upward-facing camera may be a fisheye lens camera or a panoramic annular lens (PAL) camera. In this way, the floor cleaner may be adapted to carry out navigation using the upward facing camera. The upward-facing camera may be unsuitable for carrying out object detection of objects on the floor, for example due to being upward-facing and due to its vertical field-of-view (FOV). The floor cleaner may additionally comprise a LiDAR system for navigation. The LiDAR system may be used independently from, or in conjunction with, any of the sensors, cameras, or other control mechanisms of the floor cleaner to carry out navigation. As an option, the floor cleaner may comprise a control system, which may be embodied within the software and / or electronics of the floor cleaner. The control system may be configured to receive one or more images captured by one or more cameras (e.g., a forward-facing camera and / or an upward-facing camera). The control system may further be configured to process captured images using a simultaneous localisation and mapping (SLAM) algorithm to navigate the floor cleaner (e.g., using a visual SLAM algorithm). Additionally, or alternatively, the control system may be configured to process images using an object detection algorithm and, to control the movement of the floor cleaner (e.g., using a traction unit of the floor cleaner), based on the output of the object detection algorithm. For example, the object detection algorithm may receive images, detect one or more objects (e.g., on the floor) in the received images, and -in response to detecting an object in an image - determine a type of object in the image (e.g., whether the object is a sock or a stain), and control the movement of the floor cleaner based on the detection and / or determination. The object detection algorithm may be configured to, in response to detecting an object in an image, approximate a distance of the object from the floor cleaner and control the movement of the floor cleaner based on the detection and / or the approximation. As an option, the floor cleaner may comprise one or more traction units for moving or driving the floor cleaner. The floor cleaner may, for example, be able to turn on the spot -such as when it approaches an obstacle. For example, a left traction unit and a right traction unit may be driveable (e.g., by a controller of the floor cleaner) at the same speed but in opposite directions. It will be appreciated that the above examples may be combined in any suitable combination to provide further examples and embodiments, except where such a combination is clearly impermissible or expressly avoided. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a robotic floor cleaner according to the present disclosure. Figure 2 shows a schematic representation of a robotic floor cleaner. Figures 3a to 3d show perspective and top views of a conformable disc for a cleaner head for a floor cleaner in expanded and contracted configurations. Figure 4 shows a conformable disc, as described herein, mounted on the underside of the body of a floor cleaner having a blocking structure protruding from the underside of the body to provide an obstruction in the path of the conformable disc’s rotation. Figures 5a to 5b show a system for a cleaner head for a floor cleaner comprising the conformable disc of Figure 3 and an actuatable part for controlling the deformation of the conformable disc. Figures 6a to 6c illustrate possible arrangements for the blades of the conformable discs described herein. Figures 7a to 7c illustrate possible arrangements for the corrugations of the conformable discs described herein. DETAILED DESCRIPTION Figure 1 shows a robot vacuum cleaner 1 comprising a main body 2 and a separating apparatus 4. The main body 2 comprises traction units 5 in the form of continuous tank tracks, and also a cleaner head 6 which houses a brushbar, and through which dirty air can be drawn into the robot vacuum cleaner 1 and passed into the separating apparatus 4. The traction units 5 may alternatively be provided in the form of wheels. Once the air has been cleaned of dirt in the separating apparatus 4, it passes out of the separating apparatus and through the main body 2 which may house a motor and fan for generating the airflow. The air is then expelled from the robot 1 through an outlet vent. A vision system 8 protrudes from the top surface 3 of the main body 2 of the mobile floor cleaner 1. The vision system 8 comprises a camera 12 and an illumination system 14. The camera 12 is an omnidirectional camera, capable of capturing a 360° view of the environment surrounding the robot 1. The camera 12 may be, for example, a fisheye lens camera or a panoramic annular lens (PAL) camera. The floor cleaner 1 comprises a control system, embodied within the software and electronics of the floor cleaner 1, which is able to use simultaneous localisation and mapping (SLAM) techniques to process the images captured by the vision system 8 and which allows the robot 1 to understand, interpret and autonomously navigate the local environment. The control system also uses information gathered from a number of other sensors provided on the robot 1, such as a bump sensor, and also comprises a number of position sensors such as position sensitive devices (PSDs) and / or time of flight (ToF) sensors. The PSDs and / or ToF sensors are housed within sensor pods 10 which flank the separating apparatus 4. The sensor pods are provided with transparent covers through which the PSDs and ToF sensors are able to emit and receive light such as infra-red (IR) light. The sensor pods 10 house an array of sensors that are directed in different directions such that obstacles can not only be detected in front of the robot, but also towards the sides. Downward facing sensors can also detect a drop in the floor surface, often referred to as cliff sensors, such that the robot is able to stop and / or adjust its direction of travel before it travels off a drop such as a staircase. Whilst some robots use moveable bumper portions as physical contact sensors, this robot 1 has a bump sensor which detects relative movement between separate chassis and body portions of the main body 2 to register physical contact with an obstacle. Further, although in the example shown in Figure 1, the robotic floor cleaner is in the form of a robotic vacuum cleaner 1, in other examples the robotic floor cleaner may additionally, or alternatively, be configured to mop the floor. Figure 2 shows a schematic representation of an example of a robotic floor cleaner 1. The robotic floor cleaner 10 comprises a control system 50, a vision system 22, sensors 52, a drive system 54, and a cleaning system 70. The vision system 22 comprises a forward-facing camera 24 and an illumination system 26. The forward-facing camera 24 is capable of capturing images of an area surrounding the robotic floor cleaner 1. The illumination system 26 is able to improve the quality of the images captured by the forward-facing camera 24 when the robotic floor cleaner 1 is located in an environment that has low-light conditions, or where the images captured by the forward-facing camera 24 suffer from poor contrast. The illumination system 26 comprises two LEDs 42 as shown in previous figures. Each one of the LEDs 42 has a corresponding LED driver which is used to drive power to the LED 42. The LEDs 42 emit light of any bandwidth that the forward-facing camera’s 24 sensor 38 is able to detect in order to improve the quality of the images captured by the forward-facing camera 24. For example, the light emitted by the LEDs 42 may be within the visible, or infrared (IR) parts of the electromagnetic spectrum. The control system 50 comprises an object detection unit 56 and a navigation unit 58. The control system 50 may comprise other units not shown in Figure 2 for the control of other systems of the robotic floor cleaner 1, for example the control system 50 may further comprise a task control unit to control a task being carried out by the robotic floor cleaner 10, such as a vacuum cleaning or mopping operation. The control system 50 is responsible for controlling movement of the robotic floor cleaner 1 within its environment. Images taken by the forward-facing camera 24 are fed into the navigation unit 58 and the object detection unit 56 of the control system 50. The navigation unit 58 may be, for example, a simultaneous localisation and mapping (SLAM) unit. A SLAM unit can be used to analyse the images to find landmark features within the area surrounding the robotic floor cleaner 1 shown in the images. Landmark features are high-contrast features that are easily detected within the image, for example the edge of a table, or the comer of a picture frame. The landmark features can then be used by the navigation unit to triangulate and determine the position or pose of the robotic floor cleaner 10 within the environment. The navigation unit can use the information from the images and data captured from other sensors in the robotic floor cleaner 1 to create a map of the environment which the robotic floor cleaner 110 uses to interpret and navigate the environment. The object detection unit 56 can be used to detect objects shown in the images (e.g., objects which are on the floor), which the robotic floor cleaner 1 uses to avoid obstacles when moving through the local environment. Instructions are sent from the control system 50 to the drive system 54 which causes the robotic floor cleaner 1 to move. The drive system 54 comprises a left hand side (LHS) traction unit 55a and a right hand side (RHS) traction unit 55b. Each traction unit can be independently controlled such that the robotic floor cleaner 1 can be steered. For example, if the RHS traction unit 55b is driven in a forward direction faster than the LHS traction unit 55a, then the robotic floor cleaner 1 will veer to the left as it moves forward, or as a further example if the LHS and RHS traction units 55a / b are each driven at the same speed but in opposite directions then the robotic floor cleaner 1 will turn on the spot. In the example shown in Figure 2, the robotic floor cleaner 1 also comprises a system of sensors 52 that provide the robotic floor cleaner 1 with additional information about the surrounding environment, and the robot’s pose within the environment. The sensors system includes a bump sensor 60 and a gyrodometry system 62. The gyrodometry system 62 includes an inertial measurement unit (IMU) 64 and an odometer 66. The odometer 66 receives data from the drive system 54 to provide an indication of the distance travelled by a traction unit (e.g. by using the number of revolutions of a wheel). The bump sensor 60 lets the robotic floor cleaner 10 know when physical contact has been made with an obstacle. In response to a signal from the bump sensor 60, the robotic floor cleaner 1 can for example stop and / or adjust its position and trajectory. This prevents the robotic floor cleaner 10 from causing any damage to itself or to the obstacle with which it has made contact. The sensor system 52 may comprise other sensors which are not shown in Figure 2, for example one or more proximity sensors such as PSDs and / or ToF sensors. Proximity sensors are able to give an indication of any obstacles that may be near the robotic floor cleaner 1. This allows the robotic floor cleaner 1 to avoid obstacles without making contact with them. Such sensors may however be unnecessary due to the wide FOV of the forward-facing camera 24. Figures 3a to 3d show perspective and top views of a conformable disc 100 for a cleaner head for a floor cleaner, such as the robotic floor cleaner 1. Figure 3 a shows a top view of the conformable disc 100 in an expanded state. Figure 3b shows a perspective view of the conformable disc 100 in the expanded state. Figure 3c shows a top view of the conformable disc 100 in a contracted state. Figure 3d shows a perspective view of the conformable disc 100 in the contracted state. The conformable disc 100 is useable as part of an edge tool of the robotic floor cleaner 1 such that the conformable disc 100 extends beyond the footprint of the body 2 of the robotic floor cleaner 1. In use, the conformable disc 100 is rotated to sweep dirt (and other objects) from beyond the footprint of the body 2 into the path of the cleaner head 6. The conformable disc 100 is formed from a flexible and resiliently deformable material such as a flexible polymer (e.g., silicone, rubber, or propylene). The conformable disc 100 comprises a plurality of blades 102 for sweeping dirt extending away from a central aperture 104 of the conformable disc 100. The conformable disc 100 further comprises a plurality of corrugations 106 that define a series of surfaces between folds of the conformable disc 100. Each of the plurality of blades extends from a respective one of the series of surfaces defined by the plurality of corrugations 106. In the example shown in Figure 3, the conformable disc 100 comprises eight blades 102 but other numbers of blades may be provided as appropriate. Each blade 102 of the conformable disc 100 is a curved blade that curves away from a radial direction of the conformable disc 100 as the blade 102 extends from away from the central aperture 104 to define a spiral or spiral-like pattern (when viewed from above as in Figure 3 a). Each blade 102 of the conformable disc 100 defines a sweeping surface for sweeping dirt. The sweeping surface may have its normal parallel to the surface to be swept (e.g., to the floor on which the robotic floor cleaner 10 is used) or may be angled down towards the surface to be swept. As can be seen from Figure 3a, each blade 102 includes an angled tip at the end of the blade 102 to define a slanted end of the blade. This allows the blade to maintain contact with a cornered edge (e.g., the corner between a floor and a wall) if the conformable disc 100 is used to sweep in the vicinity of a cornered edge. In some cases, each of the plurality of blades 102 is covered with a tufted material having a short dense pile formed by filaments (e.g., nylon) woven to a fabric substrate. Additionally or alternatively, each of the plurality of blades 102 may comprise a plurality of bristles mounted thereon. The central aperture 104 of the conformable disc 100 is sized and shaped to receive an axle mounted on the underside of the body 2 of the robotic floor cleaner 10 that is controllably rotatable to rotate the conformable disc 100 in use. Rotating the conformable disc 100 provides the sweeping motion to sweep dirt from outside the footprint of the body 2 into the path of the cleaner head 6. The plurality of corrugations 106 of the conformable disc 100 extend radially away from the central aperture 104 in a curved manner. That is, each of the corrugations 106 is a curved corrugations that curves away from the radial direction of the conformable disc 100 as the curved corrugation extends away from the central aperture 104. It is noted that while the corrugations 106 shown in Figures 3a to 3d are curved corrugations, straight corrugations and / or segmented corrugations may also be provided. The conformable disc 100 further comprises webbing 108 extending between adjacent pairs of blades 102 of the conformable disc. In some cases, the webbing 108 is formed from the same material (and may be integral with) the rest of the conformable disc 100. In use, conformable disc 100 is mounted, by the central aperture 104 on an axle of the robotic floor cleaner 10 and is rotated to sweep dirt as part of an edge tool of robotic floor cleaner 10. As the conformable disc 100 rotates, because part of the conformable disc protrudes beyond the footprint of the body 2 of the robotic floor cleaner 1, a portion of the conformable disc 100 may come into contact with an obstruction or barrier such as a wall or a leg of a chair, or any other piece of furniture. In response to coming into contact with the object, obstruction, or barrier to plurality of corrugations 106 are shaped and arranged to fold in such that the conformable disc 100 deforms to radially (and, in some cases, circumferentially / twistably) contract inwards away from the object, obstruction or barrier in response to the application of pressure to the conformable disc 100 by the object, obstruction or barrier. In some cases, only that part of the conformable disc that is coming into contact with the object, obstruction or barrier deforms to radially contract. For illustrative purposes, Figures 3c and 3d show views of a fully radially contracted conformable disc 100 - that is, a conformable disc 100 that has radially contracted all the way around its perimeter. After the application of pressure to the conformable disc 100 is ceased (e.g., because the conformable disc 100 is no longer in contact with the object, obstruction or barrier), the conformable disc - being formed from a resiliently deformable material - returns to its original expanded state, as shown in Figures 3a and 3b. In some cases, the conformable disc 100 is mounted on the underside of the body 2 of the robotic floor cleaner in a position proximal to one of the downward-facing sensors (e.g., drop sensor or floor-type sensor) of the robotic floor cleaner 1. In such cases, as the conformable disc 100 rotates, the downward-facing sensor may be configured to carry out its operation (for example, detecting a drop, or detecting a floor type of the floor surface the robotic floor cleaner 1 has been deployed on) based on sensing as the gaps between the plurality of blades 102 of the conformable disc 100 cyclically align with the downwardfacing sensor. In some cases, as shown in Figure 4, the body 12 of the robotic floor cleaner further comprises a blocking structure 150 (e.g., a wall or pair of cornered walls) protruding from the underside of the body 2 in a position proximal to the conformable disc 100. The blocking structure provides an obstruction in the path of the conformable disc’s rotation such that the blades 102 of the conformable disc 100 come into contact with the blocking structure 150 as they rotate under the body 2 of the robotic floor cleaner 1 and deform to radially contract that portion of the conformable disc away from the blocking structure 150, thereby reducing the extent to which the conformable disc extends within the footprint of the body 2 of the robotic floor cleaner 1. The blocking structure may prevent the plurality of blades 102 of the conformable disc 102 from obstructing the view of a downward-facing sensor 160 mounted on the underside of the body 2 of the robotic floor cleaner 1. The downward-facing sensor 160 may, for example, be a drop sensor or similar. In some cases, the blocking structure 150 includes a cleaning surface, such as a rough or textured surface such that, as the conformable disc 100 rotates, a portion of the conformable disc 100 (e.g., the blades 102) scrapes against the rough or textured surface to scrape dirt and other debris off the conformable disc 100. Figures 5a and 5b show a system for a cleaner head for a floor cleaner comprising the conformable disc 100 of Figure 3 and an actuatable part 200 for controlling the deformation of the conformable disc 100. Figure 5a shows an exploded view of the system. Figure 5b shows the actuatable part 200 mounted on the conformable disc 100. With arrows indicating the possible movement of the actuatable part 200 relative to the conformable disc 100 to control the deformation of the conformable disc 100. The actuatable part 200 comprises an aperture 202 that can be aligned with the central aperture 102 of the conformable disc 100 so that the actuatable part 200 can be mounted about the axle used to rotate the conformable disc 100 when the actuatable part 200 is mounted on the conformable disc 100. The actuatable part 200 further comprises a plurality of teeth 204 for engaging with the conformable disc 100. In use, each of the plurality of teeth 204 is arranged to sit between a corresponding pair of folded surfaces of the conformable disc 100. Each pair of folded surfaces is provided as a result of the arrangement of the corrugations 106 of the conformable disc 100. In use, the actuatable part 200 is controllably rotated, either mechanically or electrically, relative to the conformable disc 100 so that each of the plurality of teeth 204 urges against one of the corresponding pair of folded surfaces to apply pressure to the conformable disc 100. In response to the application of this pressure, the conformable disc 100 deforms to fold or unfold along the plurality of corrugations 106, thereby causing the radial contraction / expansi on of the conformable disc 100 depending on the direction in which the actuatable part 200 is rotated relative to the conformable disc 100. Figures 6a to 6c illustrate possible arrangements for the blades 102 of the conformable discs 100 described herein. Figure 6a shows a blade 300a having a proximal portion 302 and a distal portion 304a (relative to the central aperture 102 of the conformable disc 100) extending from a folded surface defined by a respective corrugation 306 of the conformable disc 100. In the example shown in Figure 6a, the proximal portion 302 and distal portion 304a extend co-linearly, with no angle between the proximal and distal portions of the blade 300a. In use, as the conformable disc 100 radially contracts as part of the deformation in response to contact with an object while the conformable disc 100 is rotating, the blade 300a of Figure 6a deforms and the corrugation 306 folds. In the case of Figure 6a, a lower edge of the distal portion 304a (the edge of the distal portion 304a closest to the surface to be swept) remains aligned with the same plane. For example, the contact between the distal portion 304a of the blade 300a and the surface to be swept is maintained throughout the deformation of the conformable disc 100. Figure 6b shows a blade 300b having a proximal portion 302 and a distal portion 304b (relative to the central aperture 102 of the conformable disc 100) extending from a folded surface defined by a respective corrugation 306 of the conformable disc 100. In the example shown in Figure 6b, the proximal portion 302 and the distal portion 304b are angled with respect to one another such that as the distal portion 304b extends from a first end proximal to the proximal portion 302 to a second end distal from the proximal portion, the distal portion 304b extends, at least in part, towards the corrugation 306. In use, as the conformable disc 100 radially contracts as part of the deformation in response to contact with an object while the conformable disc 100 is rotating, the blade 300b of Figure 6b deforms and the corrugation 306 folds. In the case of Figure 6b, a lower edge of the distal portion 304b (the edge of the distal portion 304b closest to the surface to be swept) is pulled away from the surface to be swept. For example, as the conformable disc 100 deforms, the distal portion 304b is pulled up away from a floor surface when the conformable disc 100 is mounted on a floor cleaner such as the robotic floor cleaner 1. Figure 6c shows a blade 300c having a proximal portion 302 and a distal portion 304c (relative to the central aperture 102 of the conformable disc 100) extending from a folded surface defined by a respective corrugation 306 of the conformable disc 100. In the example shown in Figure 6c, the proximal portion 302 and the distal portion 304c are angled with respect to one another such that as the distal portion 304c extends from a first end proximal to the proximal portion 302 to a second end distal from the proximal portion, the distal portion 304c extends, at least in part, away from the corrugation 306. In use, as the conformable disc 100 radially contracts as part of the deformation in response to contact with an object while the conformable disc 100 is rotating, the blade 300c of Figure 5c deforms and the corrugation 306 folds. In the case of Figure 6c, a lower edge of the distal portion 304c (the edge of the distal portion 304c closest to the surface to be swept) is pushed towards the surface to be swept. For example, as the conformable disc 100 deforms, the distal portion 304c is pushed down towards a floor surface when the conformable disc 100 is mounted on a floor cleaner such as the robotic floor cleaner 1. Figures 7a to 7c illustrate possible arrangements for the corrugations of the conformable discs 100 described herein. Figure 7a shows a blade 400a having a proximal portion 402 and a distal portion 404 (relative to the central aperture 102 of the conformable disc 100) extending from a folded surface defined by a respective corrugation 406a of the conformable disc 100. In the example shown in Figure 7a, the corrugation 406a defines a parallel fold, that is a fold that is parallel with the distal portion 404 of the blade 400a. In use, as the conformable disc 100 radially contracts as part of the deformation in response to contact with an object while the conformable disc 100 is rotating, the blade 400a of Figure 6a deforms and the corrugation 406a folds. In the case of Figure 7a, a lower edge of the distal portion 404 (the edge of the distal portion 404 closest to the surface to be swept) remains aligned with the same plane. For example, the contact between the distal portion 404 of the blade 400a and the surface to be swept is maintained throughout the deformation of the conformable disc 100. Figure 7b shows a blade 400b having a proximal portion 402 and a distal portion 404 (relative to the central aperture 102 of the conformable disc 100) extending from a folded surface defined by a respective corrugation 406b of the conformable disc 100. In the example shown in Figure 7b, the corrugation 406b defines an angled fold that is angled outwards away from the distal portion 404 of the blade 400b. For example, the corrugation 406b may define the shape of the proximal portion 402 such that the width of the proximal portion 402 increases as the proximal portion 402 extends towards the distal portion 404. In use, as the conformable disc 100 radially contracts as part of the deformation in response to contact with an object while the conformable disc 100 is rotating, the blade 400b of Figure 7b deforms and the corrugation 406b folds. In the case of Figure 7b, a lower edge of the distal portion 404 (the edge of the distal portion 404 closest to the surface to be swept) is pulled away from the surface to be swept. For example, as the conformable disc 100 deforms, the distal portion 404 is pulled up away from a floor surface when the conformable disc 100 is mounted on a floor cleaner such as the robotic floor cleaner 1 as a result of the arrangement of the corrugation 406b. Figure 7c shows a blade 400c having a proximal portion 402 and a distal portion 404 (relative to the central aperture 102 of the conformable disc 100) extending from a folded surface defined by a respective corrugation 406c of the conformable disc 100. In the example shown in Figure 7c, the corrugation 406c defines an angled fold that is angled inwards towards the distal portion 404 of the blade 400c. For example, the corrugation 406c may define the shape of the proximal portion 402 such that the width of the proximal portion 402 decreases as the proximal portion 402 extends towards the distal portion 404. In use, as the conformable disc 100 radially contracts as part of the deformation in response to contact with an object while the conformable disc 100 is rotating, the blade 400c of Figure 7c deforms and the corrugation 406c folds. In the case of Figure 7c, a lower edge of the distal portion 404 (the edge of the distal portion 404 closest to the surface to be swept) is pushed towards the surface to be swept. For example, as the conformable disc 100 deforms, the distal portion 404 is pushed down towards a floor surface when the 5 conformable disc 100 is mounted on a floor cleaner such as the robotic floor cleaner 1 as a result of the arrangement of the corrugation 406c.

Claims

1. A conformable disc for a cleaner head of a floor cleaner, wherein the conformable disc is shaped and arranged to deform, in response to contact with an object while the conformable disc is rotating, such that part of the conformable disc contracts radially inwards away from the object.

2. The conformable disc according to claim 1, wherein the deformation of the conformable disc includes a twisting around a central axis passing perpendicularly through the centre of the conformable disc.

3. The conformable disc according to claim 1 or 2, wherein the conformable disc is formed from a resiliently deformable material.

4. The conformable disc according to any preceding claim, wherein the conformable disc comprises a plurality of corrugations shaped and arranged such that, in response to the contact with the object, the conformable disc folds along one or more of the plurality of corrugations to deform the conformable disc.

5. The conformable disc according to claim 4, wherein each of the plurality of corrugations is a curved corrugation that curves away from a radial direction of the conformable disc as said curved corrugation extends from a respective position proximal to the centre of the conformable disc towards the perimeter of the conformable disc.

6. The conformable disc according to any preceding claim, further comprising: a plurality of blades for sweeping dirt, the plurality of blades extending away from the centre of the conformable disc.

7. The conformable disc according to claim 6, wherein each of the plurality of blades is a curved blade that curves away from a radial direction of the conformable disc assaid curved blade extends from a respective position proximal to the centre of the conformable disc away from the conformable disc.

8. The conformable disc according to claim 6 or 7, wherein each of the plurality of blades comprises an angled tip at an end of the blade distal form the centre of the conformable disc.

9. The conformable disc according to any of claims 6 to 8, wherein a distal portion of each of the plurality of blades that is distal from the centre of the conformable disc is angled such that, when the conformable disc deforms, the distal portion is pulled away from a surface to be swept by the conformable disc.

10. The conformable disc according to any of claims 6 to 9, wherein a distal portion of each of the plurality of blades that is distal from the centre of the conformable disc is angled such that, when the conformable disc deforms, the distal portion is pushed towards the surface to be swept by the conformable disc.

11. The conformable disc according to any of claims 6 to 10, further comprising a deformable webbing extending between each of the plurality of blades around the conformable disc.

12. The conformable disc according to any preceding claim, wherein one or more sweeping surfaces of the conformable disc are covered with a tufted material.

13. The conformable disc according to any preceding claim, further comprising an actuatable part mounted on the conformable disc, for controlling the deformation of the conformable disc.

14. The conformable disc according to claim 13, wherein the actuatable part is mounted on an axle for rotating the conformable disc and is rotatable relative to the conformable disc to control the deformation.

15. A cleaner head for a floor cleaner, the cleaner head comprising one or more conformable discs according to any preceding claim mounted around an edge of the cleaner head.

16. A floor cleaner comprising one or more cleaner heads according to claim 15.

17. The floor cleaner according to claim 16, further comprising: one or more downwardpointing sensors configured to detect a property of a floor surface the floor cleaner is used on,wherein at least one of the one or more downward-pointing sensors is positioned proximal to a conformable disc of one of the one or more cleaner heads such that a portion of the conformable disc is disposed between said downwardpointing sensor and the floor when the floor cleaner is in use, andwherein the conformable disc includes a plurality of spacings such that, as the conformable disc rotates, each of the plurality of spacings cyclically instantaneously align with said downward-pointing sensor to facilitate the detection of the property of the floor surface.

18. The floor cleaner according to claim 16 or 17, further comprising one or more blocking structures, each respectively positioned proximal to a conformable disc of a corresponding one of the one or more cleaner heads, such that as the conformable disc rotates the respective blocking structure applies pressure to the conformable disc to cause deformation of the conformable disc.

19. The floor cleaner according to claim 18, wherein one or more of the one or more blocking structures comprises a cleaning surface arranged to clean the corresponding conformable disc.

20. The floor cleaner according to any of claims 16 to 19, wherein the floor cleaner is a robotic floor cleaner.Application No: GB2413746.5Examiner: Mark MorgansClaims searched: 1-20Date of search: 27 February 2025Patents Act 1977: Search Report under Section 17Documents considered to be relevant:Category Relevant to claims Identity of document and passage or figure of particular relevance X 1-3, 6-12, 15, 16 &20 US 2021 / 0068524 Al (VANTONGEREN) See figures 1-3 &6-11; and paragraphs 0032, 0039 &0066-0072 X 1-3, 6-12, 15, 16 &20 CN 116898348 A (VORWERK CO INTERHOLDING) See figures 1-6; and paragraphs 0075 &0120-0122 X 1-3, 6-12, 15, 16 &20 US 2021 / 0298548 Al (HOTARY et al ) See figures 1 &10-19; and paragraphs 0035, 0040, 0085-0087, 0104, 0105 &0111-0113 X 1-3,6-12, 15, 16 &20 US 2021 / 0045598 Al (KREBS) See figures 1-5; and paragraphs 0019, 0033-0036, 0039 &0065Categories:X Document indicating lack of novelty or inventive step A Document indicating technological background and / or state of the art. Y Document indicating lack of inventive step if P Document published on or after the declared priority' date but combined with one or more other documents of same category'. before the filing date of this invention. & Member of the same patent family E Patent document published on or after, but with priority date earlier than, the filing date of this application.Field of Search:International Classification:Subclass Subgroup Valid From A47L 0009 / 04 01 / 01 / 2006 A47L 0007 / 02 01 / 01 / 2006 A47L 0011 / 202 01 / 01 / 2006 A47L 0011 / 206 01 / 01 / 2006

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