Cleaning rollers for cleaning robots

Abstract

To improve a robot's capability of picking up debris.SOLUTION: A cleaning roller mountable to a cleaning robot is featured. The cleaning roller includes an elongate member extending along a longitudinal axis of the cleaning roller, and a vane extending outward from the elongate member. The vane includes a first vane portion attached to the elongate member, and a second vane portion attached to the first vane portion. The first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller. The first vane portion extends along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction. The second vane portion extends along a second axis angled relative to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] This specification relates to a cleaning roller, and more particularly to a cleaning robot.

Background Art

[0002] An autonomous cleaning robot can vacuum the floor, operate a rotatable member conveyed by the robot to pick up dust and debris from the floor, and navigate across the floor to avoid obstacles. While the robot moves across the floor, the robot rotates the rotatable member, and the rotatable member can engage with the dust and debris and guide the dust and debris toward the vacuum airflow generated by the robot. Thereby, the rotatable member and the vacuum airflow can cooperate to enable the robot to pick up the dust and debris.

Summary of the Invention

Means for Solving the Problems

[0003] A cleaning roller for an autonomous cleaning robot can be rotated during the cleaning operation of the robot such that the roller engages with the floor and picks up dust and debris from the floor as the robot moves across the floor. The roller includes vanes configured to sweep across the floor as the roller rotates. The vanes can include a plurality of interconnecting portions that form at least one bend. For example, a first portion of the vane can extend in a first direction, and a second portion of the vane attached to the first portion can extend in a second direction different from the first direction.

[0004] The advantages of the cleaning roller, cleaning head, and cleaning robot described herein may include, but are not limited to, the advantages described below and elsewhere in this specification. The implementation of the roller blades can improve the robot's debris pickup ability. For example, the bends in the blades can allow the blades to sweep across the floor over a greater distance along the radial axis when the roller rotates and engages the floor surface than blades that extend radially outward and have no bends. The bends in the blades can also make it possible to cancel out the angular misalignment of the blades by the rotation of the roller, thus allowing the blades to maintain their directionality with respect to the floor surface when sweeping across the floor. The robot can include multiple blades to further improve its debris pickup ability. In some implementations, the tip of the blade can include surface features to improve the blade's debris pickup ability. Convex or concave features along the tip can allow the blade to contact the floor surface with more force and agitate the debris on the floor surface, thereby making it possible to more easily draw the debris into the robot by the air flow using the robot's vacuum system. The helical path for the blades along the cleaning roller can move the debris swept up by the blades toward the center of the roller. Thus, these helical paths can allow the mechanical agitation of the debris to cooperate with the air flow generated by the robot's vacuum assembly, and in particular, move the debris toward the area of the roller where the force of the air flow generated by the vacuum assembly is greatest.

[0005] The roller can further be configured to improve the mobility of the robot. For example, the roller can be symmetric with respect to the central axis plane of the roller. Such symmetry can reduce the tendency of the roller to generate a lateral force on the robot when the robot moves along the floor surface and when the roller contacts the floor surface. As a result, the roller is less likely to cause the robot to skid laterally, for example, in the right or left direction, when the robot moves in the forward driving direction. The blades of the roller can also be configured to improve the mobility of the robot. The blades can be sufficiently flexible to reduce the likelihood that the blades will affect the direction of movement of the robot when the blades contact the floor surface. In some implementations, the roller can include features that enable the roller to assist the robot in moving over obstacles on the floor surface. For example, the roller can include protrusions extending from the cleaning roller that engage obstacles on the floor surface. The protrusions can be made sufficiently rigid to enable the roller to engage the obstacles and lift the robot over the obstacles, thus enabling the robot to move over the obstacles.

[0006] The roller can further include features that reduce the amount of noise generated by the roller when the roller contacts the floor surface. The blades can extend along a helical path along the surface of the cleaning roller, and such a configuration can reduce the amount of noise generated by the roller. In some implementations, the first and second portions of the blades are shaped to reduce the stiffness of the blades and thus reduce noise. The roller can further include one or more openings along the blades that can further serve as noise-reducing features. The roller can include one or more openings along the blades, for example, at various positions along the roller, such as at the center of the roller, at a quarter point along the roller, or at other positions along the roller, to reduce the stiffness of the roller. The reduced stiffness of the roller can further reduce the noise generated by the roller when the roller contacts an object, such as the floor surface or debris.

[0007] The roller can include features for reducing its sensitivity to wear of the blades. For example, the contact surface between the blades of the roller and the elongated member to which the blades are attached can reduce the sensitivity to wear of the blades. For example, the blades can extend tangentially from the elongated member, and thus the likelihood of stress concentration near the location where the blades are attached to the elongated member is reduced.

[0008] In one aspect, a cleaning roller mountable on a cleaning robot is taken up. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller, and blades extending outward from the elongated member. The blades include a first blade portion attached to the elongated member and a second blade portion attached to the first blade portion. The first blade portion extends from the elongated member at a position intersecting the radial axis of the cleaning roller. The first blade portion extends tangentially away from the radial axis along a first axis inclined with respect to the radial axis. The second blade portion extends along a second axis inclined with respect to the first axis. The first angle between the first axis and the radial axis is greater than the second angle between the second axis and the radial axis.

[0009] In another aspect, a cleaning head for a vacuum cleaner is taken up. The cleaning head includes a conduit and a cleaning roller configured to sweep dust and debris into the conduit. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller, and blades extending outward from the elongated member. The blades include a first blade portion attached to the elongated member and a second blade portion attached to the first blade portion. The first blade portion extends from the elongated member at a position intersecting the radial axis of the cleaning roller. The first blade portion extends tangentially away from the radial axis along a first axis inclined with respect to the radial axis. The second blade portion extends along a second axis inclined with respect to the first axis. The first angle between the first axis and the radial axis is greater than the second angle between the second axis and the radial axis.

[0010] In another aspect, the cleaning robot includes a drive system that moves the robot across the floor surface and a cleaning roller that can be mounted on the cleaning robot. The cleaning roller is rotatable about the longitudinal axis of the cleaning roller in a first rotational direction. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and vanes extending outward from the elongated member. The vanes include a first vane portion attached to the elongated member and a second vane portion attached to the first vane portion. The first vane portion extends from the elongated member at a position intersecting the radial axis of the cleaning roller. The first vane portion extends tangentially away from the radial axis along a first axis inclined with respect to the radial axis. The second vane portion extends along a second axis inclined with respect to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis.

[0011] In some implementations, the vanes can include a first vane, and the cleaning roller can include a plurality of vanes including at least the first vane and the second vane. The second vane extends outward from the shell away from the longitudinal axis of the cleaning roller and can be offset from the first vane in a tangential direction.

[0012] In some implementations, the cleaning roller can include a plurality of vanes including the first vane and the second vane. Each of the plurality of vanes can be symmetric with respect to a plane. The plane can be positioned perpendicular to the longitudinal axis of the cleaning roller at the center of the cleaning roller. In a further implementation, the radial axis can be a first radial axis, and the second vane can be attached to the shell at a position intersecting the second radial axis of the cleaning roller. The first and second radial axes can form an angle between 30 degrees and 90 degrees.

[0013] In some implementations, the elongated member can be cylindrical. The first axis can extend tangentially from around the elongated member.

[0014] In some implementations, the tangential direction can be the second tangential direction. The second blade portion can include a first surface facing the first tangential direction and a second surface facing the second tangential direction. The first and second surfaces can be disposed between the tip of the second blade portion and the first blade portion, and the first surface can be curved. In a further implementation, the first surface can be concave. In a further implementation, the first surface can be convex.

[0015] In some implementations, the radial axis can be the first radial axis, and the second blade portion can extend through the second radial axis of the cleaning roller. The second axis can form an angle of 5 degrees or less with the second radial axis.

[0016] In some implementations, the blade segments can extend along a helical path along an elongated member. In a further implementation, the helical path can be the first helical path, and the blade segment can be the first segment of the blade. The second segment of the blade can extend along a second helical path along the elongated member. In a further implementation, the first helical path can extend along the elongated member in the tangential direction of the cleaning roller from a first end of the first helical path to a second end of the first helical path. The first end of the first helical path can be disposed near the first longitudinal end of the cleaning roller, and the second end of the first helical path can be disposed near the center of the cleaning roller. The second helical path can extend along the elongated member in the tangential direction of the cleaning roller from a first end of the second helical path to a second end of the second helical path. The first end of the second helical path can be disposed near the second longitudinal end of the cleaning roller, and the second end of the second helical path can be disposed near the center of the cleaning roller. In a further implementation, the first helical path can be symmetric with respect to the second helical path with respect to a plane. The plane can be positioned perpendicular to the longitudinal axis of the cleaning roller at the center of the cleaning roller. In a further implementation, the pitch of the helical path can be between 300 millimeters and 900 millimeters.

[0017] In some embodiments, the cleaning roller can further include a protrusion extending outward from the elongated member away from the longitudinal axis. The height of the outer tip of the blade relative to the elongated member may be greater than the height of the outer tip of the protrusion relative to the shell. In a further embodiment, the protrusion can have a maximum thickness between 8 millimeters and 18 millimeters. In a further embodiment, the protrusion can taper from the elongated member towards the outer tip of the protrusion. In a further embodiment, the protrusion can be a first protrusion, and the cleaning roller can further include a second protrusion extending outward from the elongated member away from the longitudinal axis. The blade can be disposed between the first protrusion and the second protrusion. In a further embodiment, the height of the outer tip of the protrusion relative to the elongated member can be between 0.25 centimeters and 2.0 centimeters.

[0018] In some embodiments, the blade can include an opening extending along the central portion of the cleaning roller. The opening can extend only partially through the blade from the elongated member towards the outer tip of the blade. In a further embodiment, the opening can extend from the elongated member towards the outer tip of the blade. In a further embodiment, the opening can taper towards the outer tip of the blade. In a further embodiment, the opening can include a maximum width between 2 millimeters and 8 millimeters. In a further embodiment, the first blade portion can include a first section extending from the first longitudinal end portion of the cleaning roller towards the central portion of the cleaning roller and a second section extending from the second longitudinal end portion of the cleaning roller towards the central portion of the cleaning roller. The first section of the first blade portion can be separated from the second section of the first blade portion by the opening, and the second blade portion can extend continuously along the blade from the first longitudinal end portion of the cleaning roller to the second longitudinal end portion of the cleaning roller.

[0019] In some implementations, the blade can be a first blade, and the cleaning roller can further include a second blade. The first blade can include a first longitudinal end near the first longitudinal end of the cleaning roller and a second longitudinal end near the center of the cleaning roller. The second blade can include a first longitudinal end near the second longitudinal end of the cleaning roller and a second longitudinal end near the center of the cleaning roller. The second longitudinal end of the first blade can be spaced from the second longitudinal end of the second blade.

[0020] In some implementations, the outer diameter of the cleaning roller can be uniform along the length of the cleaning roller. The outer diameter can be at least partially defined by the blades.

[0021] In some implementations, the elongated member can be cylindrical along the length of the cleaning roller.

[0022] In some implementations, the first blade portion can include a first end attached to the elongated member and a second end attached to the second blade portion. The first radial distance between the first end of the first blade portion and the longitudinal axis of the cleaning roller can be 50% to 90% of the second radial distance between the second end of the first blade portion and the longitudinal axis of the cleaning roller.

[0023] In some implementations, the length from the first end to the second end of the second blade portion can be 25% to 75% of the length from the first end to the second end of the first blade portion.

[0024] In some implementations, the first length from the first end to the second end of the first blade portion can be between 0.5 centimeter and 3 centimeters. The second length from the first end to the second end of the second blade portion can be between 0.2 centimeter and 1.5 centimeters.

[0025] In some embodiments, the thickness of the first blade portion can be between 0.5 millimeter and 4 millimeters.

[0026] In some embodiments, the maximum thickness of the second blade portion can be between 2 millimeters and 5 millimeters.

[0027] In some embodiments, the overall diameter of the cleaning roller can be between 30 millimeters and 90 millimeters, and the overall length of the cleaning roller is between 10 centimeters and 50 centimeters.

[0028] In some embodiments, the blade can further include a third portion attached to the second blade portion. The third portion of the blade can extend along a third axis that is inclined with respect to the second axis. The third angle between the third axis and the radial axis may be smaller than the second angle between the second axis and the radial axis. In a further embodiment, the third portion of the blade can include the tip of the blade.

[0029] In another aspect, a cleaning roller mountable on a cleaning robot is taken up. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and blades attached to the elongated member. The blades include a first blade portion extending from a first end attached to the elongated member to a second end, a second blade portion extending from a first end attached to the second end of the first blade portion to a second end including the tip of the blade, and a bend at the location where the second end of the first blade portion is attached to the first end of the second blade portion.

[0030] In some embodiments, the first end of the first blade portion can be attached to an elongated member along a position intersecting the first radial axis of the cleaning roller, and the tip of the blade can be arranged along the second radial axis of the cleaning roller. In a further embodiment, the angle between the first radial axis and the second radial axis can be between 20 degrees and 70 degrees. In a further embodiment, the first blade portion can extend along a first axis, and the second blade portion can extend along a second axis. The angle between the first axis and the first radial axis can be greater than the angle between the second axis and the first radial axis. In a further embodiment, the angle between the first axis and the second axis can be between 90 degrees and 170 degrees.

[0031] In some embodiments, the length of the second blade portion can be 25% to 75% of the length of the first blade portion.

[0032] In some embodiments, the second blade portion can include a first surface facing the first tangential direction and a second surface facing the second tangential direction. The first surface can include a convex portion. In a further embodiment, the convex portion of the first surface of the second blade portion can be connected to the first blade portion, and the first surface of the second blade portion can further include a concave portion connected to the convex portion. In a further embodiment, the first blade portion can include a first surface facing the first tangential direction and a second surface facing the second tangential direction. The first and second surfaces of the first blade portion can be parallel to each other.

[0033] In some embodiments, the tip can be in a scoop shape.

[0034] In some embodiments, the maximum thickness of the first blade portion can be between 1 millimeter and 4 millimeters. In a further embodiment, the maximum thickness of the second blade portion can be 10% to 75% greater than the maximum thickness of the first blade portion.

[0035] In some embodiments, the height of the blade with respect to the elongated member can be between 0.5 centimeter and 2.5 centimeters.

[0036] In another aspect, a cleaning roller mountable on a cleaning robot is taken up. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and blades attached to the elongated member. The blades include a first bend and a second bend. The first bend is disposed between the elongated member and the second bend, and the second bend is disposed between the first bend and the tip of the blade.

[0037] In some embodiments, the blade can include a first blade portion extending outward from the elongated member and a second blade portion extending outward from the first blade portion. The first blade portion can be attached to the second blade portion at the first bend. In a further embodiment, the blade can include a third blade portion extending outward from the second blade portion and terminating at the tip of the blade. The second blade portion can be attached to the third blade portion at the second bend. In a further embodiment, the length of the second blade portion can be 15% - 35% of the length of the first blade portion. In a further embodiment, the length of the third blade portion can be 10% - 30% of the length of the first blade portion. In a further embodiment, the blade can be attached to the elongated member at a position intersecting the radial axis of the cleaning roller, the first blade portion can extend along a first axis, and the second blade portion can extend along a second axis. The angle between the first axis and the radial axis can be greater than the angle between the second axis and the radial axis. In a further embodiment, the third blade portion can extend along a third axis, and the angle between the second axis and the radial axis can be less than the angle between the third axis and the radial axis. In a further embodiment, the angle between the first axis and the second axis can be between 90 degrees and 170 degrees. In a further embodiment, the angle between the second axis and the third axis can be between 90 degrees and 170 degrees. In a further embodiment, the angle between the third axis and the first axis can be between 5 degrees and 15 degrees or less.

[0038] In another aspect, a cleaning roller that can be mounted on a cleaning robot is taken up. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller and blades attached to the elongated member. The blades extend along a helical path extending in the longitudinal direction along the elongated member. The blades include an opening extending along the central portion of the cleaning roller.

[0039] In some implementations, the opening can include a slit.

[0040] In some implementations, the opening can extend away from the elongated member and toward the outer tip of the blade. The opening can taper toward the outer tip of the blade. In further implementations, the opening can include a maximum width between 2 millimeters and 8 millimeters. In further implementations, the opening can be symmetric with respect to the central cross-section of the cleaning roller.

[0041] In some implementations, the opening can extend away from the elongated member and toward the outer tip of the blade, and can extend only partially through the blade. In further implementations, the opening can extend from the elongated member toward the outer tip of the blade.

[0042] In some implementations, the blade can include a first blade portion, a second blade portion, and a bend at the location where the first blade portion is attached to the second blade portion. The opening can extend through the entire length of the first blade portion. In further implementations, the distal end point of the opening can coincide with the position where the first blade portion is attached to the second blade portion. In further implementations, the blade can extend along the entire length of the elongated member. In further implementations, the first blade portion can include a first section and a second section. The first section can be separated from the second section by the opening. In further implementations, the second blade portion can extend continuously along the entire length of the elongated member.

[0043] In another aspect, a cleaning roller that can be mounted on a cleaning robot is taken up. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller, blades attached to the elongated member, and protrusions attached to the elongated member. The protrusions extend outward from the elongated member. The height of the protrusions on the upper side of the elongated member is lower than the height of the blades on the upper side of the elongated member.

[0044] In some implementations, the blades can be flexible and the protrusions can be hard protrusions.

[0045] In some implementations, the protrusions can taper from the elongated member towards the tip of the protrusions.

[0046] In some implementations, the protrusions can be substantially triangular protrusions from the elongated member.

[0047] In some implementations, the height of the protrusions on the upper side of the elongated member can be between 0.25 centimeters and 2.0 centimeters. In further implementations, the height of the blades can be 25% to 100% greater than the height of the protrusions.

[0048] In some implementations, the protrusions can include a first surface facing the first tangential direction of the cleaning roller and a second surface facing the second tangential direction of the cleaning roller. The length of the first surface can be greater than the length of the second surface. In further implementations, the length of the first surface can be 1.5 times to 2.5 times longer than the length of the second surface.

[0049] In some implementations, the maximum thickness of the protrusions can be between 8 millimeters and 18 millimeters.

[0050] In some implementations, the blades can be the first blades attached to the elongated member, and the cleaning roller can further include second blades. The protrusions can be disposed between the first blades and the second blades.

[0051] In some implementations, the protrusion can extend in the longitudinal and circumferential directions along an elongated member along a spiral path.

[0052] In another aspect, a cleaning roller that can be mounted on a cleaning robot is taken up. The cleaning roller includes an elongated member extending along the longitudinal axis of the cleaning roller, blades attached to the elongated member, and protrusions attached to the elongated member. The protrusion can extend outward from the elongated member and can include an opening for receiving a hair brush.

[0053] In some implementations, the opening can extend radially inward from the surface of the protrusion.

[0054] In some implementations, the opening can include a rectangular portion.

[0055] In some implementations, the first portion of the blade can extend outward and tangentially, and the opening can face tangentially.

[0056] In some implementations, the height of the protrusion with respect to the elongated member can be less than the height of the blade with respect to the elongated member.

[0057] In some implementations, the opening can include a first portion adjacent to the surface of the protrusion and a second portion adjacent to the first portion of the opening. In further implementations, the width of the first portion of the opening can be less than the width of the second portion of the opening. In further implementations, the width of the first portion can be between 1 millimeter and 4 millimeters. In further implementations, the width of the second portion can be 1.5 to 2.5 times longer than the width of the first portion.

[0058] In another aspect, the cleaning robot includes a drive system that moves the robot across the floor and a cleaning roller that matches any of the exemplary cleaning rollers described herein. In some implementations, the cleaning robot includes another cleaning roller that matches any of the exemplary cleaning rollers described herein.

[0059] Details of one or more implementations of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other potential features, aspects, and advantages will be apparent from the description, the drawings, and the claims.

Brief Description of the Drawings

[0060]

Figure 1A

Figure 1B

Figure 1C

Figure 2A

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Figure 4B

Figure 4C

Figure 4D

Figure 4F

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Figure 5A

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DETAILED DESCRIPTION OF THE INVENTION

[0061] Figure 1A is a side cross-sectional view of the cleaning robot 102 during the cleaning operation. During the cleaning operation, the cleaning robot 102 can clean the floor surface 10. The cleaning head 100 for the cleaning robot 102 includes one or more rotatable members, such as a cleaning roller 104 arranged to engage with the dust and debris 106 on the floor surface 10. The robot 102 rotates the roller 104 and operates the vacuum assembly 119 to move around the floor surface 10 while taking in the dust and debris 106 from the floor surface 10. During the cleaning operation, while the robot 102 moves around the floor surface 10, the roller 104 rotates to lift the dust and debris 106 from the floor surface 10 and into the robot 102. The rotation of the roller 104 facilitates the movement of the dust and debris 106 towards the inside of the robot 102. The outer surface of the roller 104 contacts and engages with the dust and debris 106 and then guides the dust and debris 106 towards the inside of the robot 102. The contact between the roller 104 and the dust and debris 106 further agitates the dust and debris 106, enabling the dust and debris 106 to be more easily sucked into the robot 102.

[0062] Referring to FIG. 1B, the roller 104 includes an elongated member 107 and vanes 114 that extend outward from the elongated member 107 away from the longitudinal axis X1 of the roller 104. The elongated member 107 is a structural member that extends along the longitudinal axis X1. In some implementations, the elongated member 107 extends from the first end portion 149 of the roller 104 to the second end portion 150 of the roller 104. In the example shown in FIG. 1B, the roller 104 includes a sheath 110 and a support structure 109 within the sheath 110. The sheath 110 includes a shell 112 and vanes 114. The elongated member 107 includes or corresponds to the shell 112 of the sheath 110.

[0063] FIG. 1C shows a side cross-sectional view of the roller 104 with a portion of the roller 104 engaged with the floor surface 10. In particular, a portion of the blade 114 engages the floor surface 10 when the roller 104 rotates. Referring to FIG. 1C, the blade 114 includes a bend 115 at the location where a first portion 116 of the blade 114 meets a second portion 118 of the blade 114. As described herein, such a configuration can reduce the amount of torque required to rotate the roller 104 and improve the debris pickup ability of the roller 104, and thus enable the robot 102 (shown in FIG. 1A) to sweep the floor surface 10 more efficiently.

[0064] Exemplary cleaning robot The autonomous cleaning robot described herein is a type of vacuum cleaner that can operate autonomously across a floor surface. Referring to FIG. 1A, the robot 102 is an autonomous cleaning robot that moves autonomously around the floor surface 10 while taking in debris 106 from various parts of the floor surface 10. In the example shown in FIGS. 1A and 2A, the robot 102 includes a main body 200 that can move around the floor surface 10. In some cases, the main body 200 includes a plurality of connection structures on which movable components of the robot 102 are mounted. For example, the connection structures forming the main body 200 include an external housing that covers the internal components of the robot 102, a chassis on which drive wheels 210a, 210b and rollers 104 are mounted, a bumper mounted on the external housing, a lid for the internal cleaning bin of the robot 102, and the like.

[0065] The main body 200 includes a front part 202a having a substantially rectangular shape and a rear part 202b having a substantially semi-circular shape. For example, the front part 202a is the front 1 / 3 to front 1 / 2 of the robot 102, and the rear part 202b is the rear 1 / 2 to 2 / 3 of the robot 102. As shown in FIG. 2A, the front part 202a includes two lateral sides 204a, 204b that are substantially perpendicular to the front side 206 of the front part 202a. In some implementations, the width W1 of the robot 102, for example, the distance between the two lateral sides 204a and 204b, is between 20 cm and 60 cm, for example, between 20 cm and 40 cm, between 30 cm and 50 cm, and between 40 cm and 60 cm.

[0066] The robot 102 includes a drive system including actuators 208a, 208b, for example, a motor operable using drive wheels 210a, 210b. The actuators 208a, 208b are mounted inside the main body 200 and are operably connected to the drive wheels 210a, 210b rotatably mounted on the main body 200. The drive wheels 210a, 210b support the main body 200 on the floor surface 10. When driven, the actuators 208a, 208b rotate the drive wheels 210a, 210b, enabling the robot 102 to move autonomously around on the floor surface 10.

[0067] The robot 102 includes a controller 212 that operates the actuators 208a, 208b so that the robot 102 runs autonomously across the floor surface 10 during the cleaning operation. The actuators 208a, 208b are operable to drive the robot 102 in the forward driving direction 117 (shown in FIG. 2A) and to turn the robot 102. In some implementations, the robot 102 includes caster wheels 211 that support the main body 200 on the floor surface 10. For example, the caster wheels 211 support the rear part 202b of the main body 200 on the floor surface 10, and the drive wheels 210a, 210b support the front part 202a of the main body 200 on the floor surface 10.

[0068] As shown in FIGS. 1A and 2A, the vacuum assembly 119 is conveyed within the main body 200 of the robot 102, for example, within the rear portion 202b of the main body 200. Referring particularly to FIG. 2A, the controller 212 operates the vacuum assembly 119 to generate an air flow 120 that flows out of the main body 200 through the main body 200 in the vicinity of the roller 104. For example, the vacuum assembly 119 includes an impeller that generates the air flow 120 when rotating. The vacuum assembly 119 generates the air flow 120 when the roller 104 rotates to take in the dust and debris 106 into the robot 102. The cleaning bin 122 mounted within the main body 200 is configured to store the dust and debris 106 taken in by the robot 102. The filter 123 within the main body 200 separates the dust and debris 106 from the air flow 120 before the air flow 120 enters the vacuum assembly 119 and is discharged out of the main body 200. In this context, the dust and debris 106 are captured in both the cleaning bin 122 and the filter 123 before the air flow 120 is discharged from the main body 200.

[0069] As shown in FIG. 2A, the cleaning head 100 and the roller 104 are disposed within the front portion 202a of the main body 200 between the lateral sides 204a and 204b. The roller 104 is operably connected to the actuation mechanism of the robot 102. In particular, the roller 104 is operably connected to an actuation mechanism that includes a drive mechanism connected to the actuator 214 of the robot 102 such that the torque provided by the actuator 214 can be transmitted to drive the roller 104. The cleaning head 100 and the roller 104 are disposed in front of the cleaning bin 122, and the cleaning bin 122 is disposed in front of the vacuum assembly 119. In the example of the robot 102 described with respect to FIG. 2A, the substantially rectangular front portion 202a of the main body 200 allows the roller 104 to be longer than, for example, a cleaning roller for a cleaning robot having a circular main body.

[0070] The roller 104 is mounted on the housing 124 of the cleaning head 100 and is mounted indirectly or directly, for example, on the main body 200 of the robot 102. In particular, when the back surface of the front portion 202a faces the floor surface 10, the roller 104 is mounted on the back surface of the front portion 202a of the main body 200 such that the roller 104 engages with the dust and debris 106 on the floor surface 10 during the cleaning operation. In some implementations, the housing 124 of the cleaning head 100 is mounted on the main body 200 of the robot 102. In this context, the roller 104 is also mounted on the main body 200 of the robot 102 and is mounted indirectly on the main body 200, for example, through the housing 124. Alternatively or additionally, the cleaning head 100 is a removable assembly of the robot 102, and the housing 124 in which the roller 104 is mounted is removably mounted on the main body 200 of the robot 102. The housing 124 and the roller 104 are removable from the main body 200 as a unit such that the cleaning head 100 can be easily replaced with a replacement cleaning head.

[0071] In some implementations, rather than being removably mounted on the main body 200, the housing 124 of the cleaning head 100 corresponds to an integral part of the main body 200 of the robot 102 rather than being a separate component from the main body 200. The roller 104 is mounted on the main body 200 of the robot 102 and is mounted directly, for example, on an integral part of the main body 200. The roller 104 is removably separable from the housing 124 of the cleaning head 100 and / or from the main body 200 of the robot 102 such that the roller 104 can be easily cleaned or replaced with a replacement roller. As described herein, when the roller 104 is removed from the housing 124, the roller 104 can include a collection well for fibrous dust and debris that can be easily accessed and cleaned by the user.

[0072] Referring to FIGS. 1A and 2A, when the roller 104 is mounted on the housing 124, it is disposed adjacent to a dust pan 125 extending along the roller 104. In some implementations, the dust pan 125 extends along the entire length of the roller 104 or at least 90% of the entire length of the roller 104. The dust pan 125 is disposed under at least a portion of the roller 104 and is arranged to receive the debris 106 swept up by the roller 104. In this context, the dust pan 125 can be arranged in the rotational direction of the roller 104 with respect to the area where the roller 104 contacts the floor surface 10 such that any debris within the area contacting the roller 104 is swept into the dust pan 125.

[0073] The roller 104 is rotatable with respect to the housing 124 of the cleaning head 100 and with respect to the main body 200 of the robot 102. The roller 104 is rotatable about a longitudinal axis X1 of the roller 104. The longitudinal axis X1 can be parallel to the floor surface 10. In some cases, the longitudinal axis X1 is perpendicular to the forward driving direction 117 of the robot 102. Referring to FIGS. 1B and 1C, the center 113 of the roller 104 is disposed along the longitudinal axis X1 of the roller 104 and corresponding to the midpoint of the length L1 of the roller 104. In this context, the center 113 is disposed along the rotation axis of the roller 104. The length L1 of the roller 104 is, for example, between 10 cm and 50 cm, such as between 10 cm and 30 cm, between 20 cm and 40 cm, between 30 cm and 50 cm, between 20 cm and 30 cm, between 22 cm and 26 cm, between 23 cm and 25 cm, or about 24 cm. The length L1 is, for example, between 70% and 90% of the overall width W1 of the robot 102, such as between 70% and 80% of the overall width W1 of the robot 102, between 75% and 85%, and between 80% and 90%.

[0074] Referring to the exploded view of the cleaning head 100 shown in FIG. 2B, the roller 104 includes an elongated member 107 and vanes 114. In the example shown in FIG. 2B, the roller includes a sheath 110 and a support structure 109. The sheath 110 includes a shell 112 and vanes 114. The elongated member 107 can include or correspond to the shell 112 of the sheath 110. The support structure 109 includes a core 140 and an end cap 141 mounted on the core 140. The core 140 easily supports the sheath 110, particularly the shell 112. The end cap 141 can be mounted on the main body 200 of the robot 102, thereby mounting the roller 104 on the robot 102.

[0075] In some implementations, the sheath 110 is a single molded article formed from one or more elastomeric materials. The shell 112 and its corresponding vanes 142 are part of the single molded article. For example, the roller 104 is an elastomeric roller characterized by patterned vanes 142, including for example vanes 114, distributed along the outer surface of the roller 104. The vanes 142 of the roller 104 contact the floor surface 10 along the length of the roller 104 and receive a frictional force that is steadily applied during rotation without the accompaniment of a brush having flexible bristles. Additionally, the vanes 142 of the roller 104 can be designed to have a certain amount of stiffness that does not have flexible bristles. The vanes 142 can withstand some force so that they do not bend in response to force when the vanes 142 contact the floor surface 10. Symmetrically, flexible bristles may bend in response to the force between the bristles and the floor surface 10. The high surface friction of the sheath 110 enables the sheath 110 to engage with debris 106 and guide the debris 106 towards the interior of the robot 102, for example towards the air duct 128 (shown in FIG. 1A) within the robot 102.

[0076] Furthermore, similar to the cleaning roller having unique hairs extending radially from the rod member, roller 104 has vanes 142 extending radially outward. However, unlike the hairs, the vanes 142 extend continuously along the outer surface of the shell 112 in the longitudinal direction. The vanes 142 extend tangentially along the outer surface of the shell 112. However, other suitable configurations are also contemplated. For example, in some implementations, roller 104 may include hairs, elongated flexible flaps, or combinations thereof to agitate the floor surface in addition to or as an alternative to vanes 142.

[0077] Referring to FIG. 2A, in some implementations, to sweep debris 106 toward roller 104, robot 102 includes a brush 233 that rotates about a non-horizontal axis, e.g., an axis that forms an angle between 75 degrees and 90 degrees with floor 10. For example, the non-horizontal axis forms an angle between 75 degrees and 90 degrees with the longitudinal axis X1 of roller 104. Robot 102 includes an actuator 235 operably connected to brush 233. Brush 233 extends beyond the outer perimeter of body 200 so that it can engage debris 106 on portions of floor 10 that are generally inaccessible to roller 104.

[0078] During the cleaning operation shown in FIG. 1A, controller 212 operates actuators 208a, 208b to move robot 102 across floor 10. Thus, when brush 233 is present, controller 212 operates actuator 235 to rotate brush 233 about the non-horizontal axis to engage debris 106 that is inaccessible to roller 104. In particular, brush 233 can engage debris 106 near the walls of the environment and brush the debris 106 toward roller 104. Brush 233 sweeps debris 106 toward roller 104 so that the debris 106 can be engaged by roller 104 and swept into robot 102.

[0079] The controller 212 operates the actuator 214 to rotate the roller 104 around the vertical axis X1. When rotated, the roller 104 engages with the debris 106 on the floor surface 10 and moves the debris 106 towards the dust pan 125 and towards the air duct 128. As shown in FIG. 1A, the roller 104 rotates in the counterclockwise direction 130 and sweeps the debris on the floor surface 10 towards above the dust pan 125 or into the air duct 128.

[0080] The controller 212 also operates the vacuum assembly 119 to generate an air flow 120. The vacuum assembly 119 is operated to generate the air flow 120 through the region 132 between the dust pan 125 and the roller 104, and not only moves the debris 106 swept up by the roller 104 above the dust pan 125, but also can move the swept debris 106 into the air duct 128. The air flow 120 conveys the debris 106 into the cleaning bin 122 that collects the debris 106 carried by the air flow 120. In this context, both the vacuum assembly 119 and the roller 104 facilitate the intake of the debris 106 from the floor surface 10. The air duct 128 receives the air flow 120 containing the debris 106 and guides the air flow 120 into the cleaning bin 122. The debris 106 accumulates in the cleaning bin 122. While the roller 104 rotates, the roller 104 applies a force to the floor surface 10 to agitate the debris on the floor surface 10. The agitation of the debris 106 can remove the debris 106 from the floor surface 10, whereby the roller 104 can more easily contact the debris 106, and thereby the air flow 120 generated by the vacuum assembly 119 can more easily convey the debris 106 towards the inside of the robot 102. In some implementations, the blades of the roller 104 (e.g., the blades 114 shown in FIG. 1C) contact the dust pan 125 when the roller 104 rotates, and thus sweep the debris along the dust pan 125 towards the air duct 128.

[0081] Exemplary cleaning robot Various implementations of a cleaning roller, such as roller 104, are described herein. FIGS. 3A and 3B show an example of roller 104 that includes an outer sheath 110 and a support structure 109.

[0082] Referring to FIG. 3B, as described herein, support structure 109 includes a core 140 and an end cap 141 mounted on core 140. Support structure 109 is a rigid internal structure that provides radial support to sheath 110, which may be less rigid and more flexible than support structure 109. In some implementations, support structure 109 is attached to sheath 110 such that sheath 110 and support structure 109 are joined tangentially to each other, for example, along a contact surface that extends along a path perpendicular to the radial axis of roller 104.

[0083] Core 140 includes a sleeve 144, support members 146a, 146b, 146c (collectively referred to as support members 146), and a shaft portion 148. Support structure 109 further includes an end cap 141. End cap 141 is engaged with shaft portion 148 and can be mounted on the body 200 of robot 102. Support structure 109 is rotatably coupled to sheath 110 such that rotation of support structure 109 results in rotation of sheath 110.

[0084] The support members 146 are arranged along the shaft portion 148 and are spaced apart from each other. The support members 146 can include, for example, a ring-shaped portion that engages with the shaft portion 148 around the outer periphery of the cross-section of the shaft portion 148. The support members 146 can be attached to the shaft portion 148 using, for example, an adhesive, a mechanical connection, or another suitable connection mechanism. The support member 146a is arranged near the first end portion 149 of the roller 104, the support member 146b is arranged at or near the center 113 of the roller 104, and the support member 146c is arranged near the second end portion 150 of the roller 104. The support member 146a can be arranged at a distance between 5% and 15% of the length L1 from the first end portion 149 of the roller 104, and the support member 146c can be arranged at a distance between 5% and 15% of the length L1 from the second end portion 150 of the roller 104.

[0085] The sleeve 144 is arranged around the support members 146 and at least partially around the shaft portion 148. The sleeve 144 is, for example, cylindrical. The inner surface of the sleeve 144 is engaged with the support members 146, and the outer surface of the sleeve 144 is engaged with the shell 112 of the sheath 110. The sleeve 144 can support the sheath 110 radially using the support members 146. In particular, the support members 146 can be rigid members that prevent the sheath 110 from deflecting radially towards the longitudinal axis X1. The sheath 110 can deflect more easily towards the longitudinal axis X1 within the region of the support structure 109 between the support members 146.

[0086] The sheath 110 is arranged around at least a part of the support structure 109. The sheath 110 and, in particular, the shell 112 are arranged around at least a part of the sleeve 144, the support member 146, and the shaft portion 148. The outer diameter D1 of the roller 104 is defined by the sheath 110 and, in particular, by the blades 142 of the sheath 110. The outer diameter D1 is uniform over a length L1 (shown in FIG. 1B). In some implementations, the diameter D1 of the roller 104 is between 30 millimeters and 90 millimeters, for example, between 30 millimeters and 60 millimeters, between 40 millimeters and 70 millimeters, between 50 millimeters and 80 millimeters, or between 60 millimeters and 90 millimeters. In some implementations, the outer diameter D1 of the roller 104 corresponds to the outer diameter of the roller 104 when the roller 104 is not rotating. The outer diameter of the roller 104 may increase when the roller 104 rotates due to centrifugal force.

[0087] Figures 4A - 4E illustrate an example of the sheath 110. As shown in Figure 4A, the sheath 110 includes a shell 112 and blades 142 (including blades 114). In some implementations, the shell 112 is a cylindrical member that includes an inner surface 152 disposed in contact therewith around a support structure 109 (shown in Figure 3B). The shell 112 is cylindrical over the length of the sheath 110. The shell 112 can have a wall thickness between 0.5 mm and 3 mm, for example, between 0.5 mm and 1.5 mm, between 1 mm and 2 mm, between 1.5 mm and 2.5 mm, or between 2 mm and 3 mm. In some implementations, the sheath 110 of the roller 104 is an integral component including the shell 112 and the blades 142. Each of the blades 142 has one end fixed to the outer surface of the shell 112 and another free end. The height of each of the blades 142 is defined as the distance from the fixed end in the shell 112, for example, the attachment point to the shell 112, to the free end. Referring briefly to Figure 4D, for example, the height H1 of the blade 114 is between 0.5 cm and 2.5 cm, for example, between 1 cm and 2 cm, between 1.25 cm and 1.75 cm, or between 1.4 cm and 1.6 cm. In some implementations, the height H1 of the blade 114 is 30% - 70% of twice the radial distance between the diameter of the sheath 110 and the tip 154 of the blade 114 and the longitudinal axis X1. The free end sweeps the outer periphery of the sheath 110 while the roller 104 rotates. The outer periphery is consistent along the length of the roller 104.

[0088] Referring to Figures 4B - 4D, the blade 114 is, in some cases, a flexible portion of the sheath 110 that engages the floor surface 10 when the roller 104 rotates during a cleaning operation. Referring to Figure 4B, the blade 114 deflects when the roller 104 rotates and the blade 114 contacts the floor surface 10. The blade 114 is tilted backward with respect to the rotation direction of the roller 104 so that the blade 114 deflects more easily in response to contact with the floor surface 10.

[0089] The blade 114 includes a first portion 116, a second portion 118, and a bend 115 at the location where the first portion 116 and the second portion 118 are attached to each other. The first portion 116 is attached to the shell 112, and the second portion 118 is attached to the first portion 116 at the bend 115. In particular, the first end 116a of the first portion 116 is attached to the shell 112, and the second end 116b of the first portion 116 is attached to the first end 118a of the second portion 118. Referring to FIG. 4C, the first portion 116 of the blade 114 is attached to the shell 112 at a position intersecting the radial axis Y1 of the roller 104. The first portion 116 of the blade 114 extends away from the radial axis Y1 and away from the tangential direction Z1 along the tangential direction Z2 along an axis y1 inclined with respect to the radial axis Y1. The second portion 118 of the blade 114 extends along an axis y2 inclined with respect to the axis y1 along which the first portion 116 of the blade 114 extends. The angle between the axis y1 and the radial axis Y1, for example, the minimum angle, is greater than the angle between the axis y2 and the radial axis Y1, for example, the minimum angle. The second portion 118 of the blade 114 terminates at the tip 154 of the blade 114. The tip 154 is arranged along the axis y2 and the radial axis Y2.

[0090] In an implementation where the shell 112 is cylindrical, the first portion 116 of the blade 114 can extend tangentially from the outer circumference of the shell 112. In some implementations, the angle between the axis y1 along which the first portion 116 of the blade 114 extends and the radial axis Y1 is between 70 degrees and 110 degrees, for example, between 80 degrees and 100 degrees, between 85 degrees and 95 degrees, or between 88 degrees and 92 degrees, or about 85, 90 or 95 degrees. The angle between the axis y1 along which the first portion 116 of the blade 114 extends and the axis y2 along which the second portion 118 of the blade 114 extends is between 90 degrees and 170 degrees, for example, between 90 degrees and 150 degrees, between 90 degrees and 130 degrees, or between 90 degrees and 110 degrees, or about 95, 105 or 115 degrees. The angle between the radial axis Y1 and the radial axis Y2 can be between 20 degrees and 70 degrees, for example, between 25 degrees and 65 degrees, between 30 degrees and 60 degrees, between 35 degrees and 55 degrees, or between 40 degrees and 50 degrees.

[0091] As described herein, the second portion 118 of the blade 114 extends along the axis y2. In some implementations, the second portion 118 of the blade 114 extends through the radial axis Y2 of the roller 104. The angle between the radial axis Y2 and the radial axis y2 can be between 0 degrees and 15 degrees, for example, 10 degrees, 5 degrees, 3 degrees, or 1 degree or less. In some implementations, the axis y2 extends along the radial axis Y2 and coincides with the radial axis Y2.

[0092] Referring to FIG. 4E showing an enlarged view of the blade 114, the first portion 116 of the blade 114 includes a first surface 156 and a second surface 158. The first surface 156 faces in the tangential direction Z1 and away from the tangential direction Z2, and the second surface 158 faces in the tangential direction Z2 and away from the tangential direction Z1. The thickness T1 of the first portion 116 of the blade 114 is between 0.5 millimeter and 4 millimeters, for example, between 0.5 millimeter and 1 millimeter, between 1 millimeter and 3 millimeters, between 1.5 millimeters and 3.5 millimeters, or between 2 millimeters and 4 millimeters. The first surface 156 and the second surface 158 are substantially parallel to each other. The first portion 116 extends outward from the shell 112 and terminates at the bend 115. The maximum thickness T2 of the second portion 118 of the blade 114 is between 2 millimeters and 5 millimeters, for example, between 2 millimeters and 4 millimeters, between 2 millimeters and 3 millimeters, or between 2 millimeters and 2.5 millimeters. The maximum thickness T2 of the second portion 118 of the blade 114 is 10% - 75% greater than the thickness T1 of the first portion 116 of the blade 114, for example, 10% - 50%, 10% - 40%, or 20% - 35% greater than the thickness T1 of the first portion 116 of the blade 114.

[0093] The dimensions of the first portion 116 and the second portion 118 of the blade 114 may vary between implementation forms. Also referring to FIG. 4D, the radial distance R1 between the first end 116a of the first portion 116 and the longitudinal axis X1 is between 1 centimeter and 3 centimeters, for example, between 1 centimeter and 2 centimeters, between 1.5 centimeters and 2.5 centimeters, or between 2 centimeters and 3 centimeters. The radial distance R2 between the second end 116b of the first portion 116 and the longitudinal axis X1 is between 1.5 centimeters and 3.5 centimeters, for example, between 1.5 centimeters and 2.5 centimeters, between 2 centimeters and 3 centimeters, or between 2.5 centimeters and 3.5 centimeters. The radial distance R1 is 50% to 90% of the radial distance R2, for example, between 50% and 80% of the radial distance R2, between 50% and 75% of the radial distance R2, or between 50% and 70% of the radial distance R2. The length L2 of the first portion 116, that is, the length between the first end 116a of the first portion 116 and the second end 116b of the first portion 116, is between 0.5 centimeter and 3 centimeters, for example, between 0.5 centimeter and 2.5 centimeters, between 0.5 centimeter and 2 centimeters, or between 1 centimeter and 2 centimeters. The length L3 of the second portion 118, that is, the length between the first end 118a of the second portion 118 and the second end 118b of the second portion 118, is between 0.2 centimeter and 1.5 centimeters, for example, between 0.2 centimeter and 1.2 centimeters, between 0.2 centimeter and 1 centimeter, or between 0.4 centimeter and 1 centimeter. The length L3 of the second portion 118 is 25% to 75% of the length L2 of the first portion 116, for example, between 30% and 70% of the length L2 of the first portion 116, between 35% and 65% of the length L2 of the first portion 116, or between 40% and 50% of the length L2 of the first portion 116. The total length of the blade 114 is between 1.5 centimeters and 4 centimeters, for example, between 1.5 centimeters and 3.5 centimeters, between 1.5 centimeters and 3 centimeters, or between 1.75 centimeters and 2.75 centimeters.

[0094] Referring to FIG. 4E, the second portion 118 of the blade 114 includes a first surface 160 and a second surface 162. The first and second surfaces 160, 162 of the second portion 118 are disposed between the tip 154 of the blade 114 and the first portion 116 of the blade 114. The first surface 160 faces in the tangential direction Z1 and away from the tangential direction Z2, and the second surface 162 faces in the tangential direction Z2 and away from the tangential direction Z1. The first surface 160 of the second portion 118 is connected to the first surface 156 of the first portion 116, and the second surface 162 of the second portion 118 is connected to the second surface 158 of the first portion 116.

[0095] In some implementations, the first surface 160 is convex or includes a convex portion. In some implementations, the first surface 160 is straight or includes a straight portion. In some implementations, the first surface 160 is concave or includes a concave portion. In some implementations, the first surface 160 includes at least one of a straight portion, a concave portion, or a convex portion. In some implementations, the second surface 162 is straight or includes a straight portion. In some implementations, the second surface 162 is convex or includes a convex portion. In some implementations, the second surface 162 is concave or includes a concave portion. In some implementations, the second surface 162 includes at least one of a straight portion, a concave portion, or a convex portion. In the example shown in FIG. 4E, the first surface 160 includes a convex portion 160a attached to the first portion 116 of the blade and a concave portion 160b attached to the convex portion 160a. In some implementations, the tip 154 is scoop-shaped so as to enable the blade 114 to easily convey debris into the robot 102. For example, the tip 154 includes at least a portion of the concave portion 160b of the first surface 160.

[0096] As described herein, in some implementations, the sheath 110 can include a plurality of blades 142, each of which can include features similar to those described in connection with the blade 114. Each of the blades 142 can be symmetric with respect to a central cross-section 172 (shown in FIG. 4F) that is perpendicular to the longitudinal axis X1 of the roller 104 and located at the center 113 of the roller 104. As shown in FIGS. 4B-4D, the blade 142 includes the blade 114 and the blade 164. The blade 164 can be geometrically similar to the blade 114, except that the blade 164 is disposed at different positions along the shell 112. The blade 164 extends outward from the shell 112 at a position offset in the tangential direction Z1 from the position where the blade 114 extends outward from the shell 112. For example, the position where the blade 164 extends outward from the shell 112 can coincide with the radial axis Y3 of the roller 104. The angle between the radial axis Y3 and the radial axis Y1 can be between 30 degrees and 90 degrees, for example, between 30 degrees and 45 degrees, between 45 degrees and 60 degrees, between 60 degrees and 75 degrees, or between 75 degrees and 90 degrees. The angle between the radial axis Y3 and the radial axis Y1 can be equal to the angle between the radial axis Y1 and the radial axis Y2. In some implementations, the second portion 166 of the blade 164 extends along the radial axis Y1, and the blade 164 extends through the position where the blade 114 intersects the shell 112, as described herein. The second portion 166 can include geometric features similar to those described for the second portion 118 of the blade 114.

[0097] As shown in FIG. 4B, the sheath 110 can include eight blades 142. In other implementations, the sheath 110 can include fewer or more blades, such as two, three, four, five, six, seven, nine, or more blades. In some implementations, the sheath 110 includes four to twelve blades, for example, four to eight blades, six to ten blades, or eight to twelve blades. As described herein, the configuration of the blade 114 can improve the debris pickup ability of the roller 104. Although some features have been described in connection with the blade 114, in some implementations, the blade 142 can include some or all of these features.

[0098] Referring to FIG. 4F, the section 168 of the blade 114 extends along the shell 112 along the spiral path 170. The spiral path for the portion of the blade 114 can move the debris swept up by the roller 104 towards the center 113 of the roller 104, and the force of the airflow sucked by the vacuum assembly 119 (shown in FIG. 2A) can be strongest along the length of the roller 104. The spiral path can also reduce the amount of noise generated by the roller 104 when the blade 114 contacts the floor surface 10.

[0099] The spiral path 170 extends longitudinally and circumferentially along the shell 112, for example, along the longitudinal axis X1 and along the tangential direction Z2. The spiral path 170 extends along the shell 112 in the tangential direction Z2 (shown in FIG. 4C) of the roller 104 from the first end 170a of the spiral path 170 to the second end 170b of the spiral path 170. The first end 170a of the spiral path 170 is disposed near the first terminal end 149 of the roller 104, and the second end 170b of the spiral path 170 is disposed near the central cross-section 172. The section 168 extends from the first terminal end 149 of the roller 104 through the center 113 of the roller 104 and perpendicularly to the longitudinal axis X1 (shown in FIG. 1B) to the central cross-section 172.

[0100] The blade 114 can form a herringbone pattern along the shell 112. For example, the section 174 of the blade 114 extends along the shell 112 along a spiral path 176, and the section 174 having the section 168 of the blade 114 can form a herringbone pattern. Accordingly, the spiral path 176 extends longitudinally and circumferentially along the shell 112. The spiral path 176 extends along the shell 112 in the tangential direction Z2 of the roller 104 (shown in FIG. 4C) from the first end 176a of the spiral path 176 to the second end 176b of the spiral path 176. The first end 176a of the spiral path 176 is disposed near the second terminal end 150 of the roller 104, and the second end 176b of the spiral path 176 is disposed near the central cross section 172. The section 174 extends from the second terminal end 150 of the roller 104 to the central cross section 172. The section 168 of the blade 114 is connected to the section 174 of the blade 114 at the central cross section 172. In some implementations, the section 168 and the section 174 are symmetric with respect to each other with respect to the central cross section 172. The pitch of the spiral path 170 and the pitch of the spiral path 176 can be between 300 millimeters and 900 millimeters, for example, between 300 millimeters and 600 millimeters, between 400 millimeters and 700 millimeters, between 500 millimeters and 800 millimeters, or between 600 millimeters and 900 millimeters.

[0101] In some implementations, the roller 104 includes an opening 178 disposed at or near the center 113 of the roller 104. The opening 178 can reduce the noise generated by the roller 104 when the roller 104 contacts the floor surface by reducing the stiffness of the blade 114 towards a part near the center 113 of the roller 104. In some implementations, the opening 178 is symmetric with respect to the central cross section 172 of the roller 104.

[0102] The opening 178 (also shown in FIG. 4A) extends along a longitudinal portion of the roller 104 that is at least partially symmetric with respect to the central portion 182 of the roller 104 and has a length between 25% and 50% of the length L1 of the roller 104. The opening 178 can extend outwardly away from the shell 112 toward the outer periphery of the roller 104 and can extend through the blade 114. For example, the opening 178 can extend only partially through the blade 114 toward the tip 154 of the blade 114 (shown in FIG. 4B). In some implementations, the opening 178 extends outwardly from the shell 112 toward the tip 154 of the blade 114. The opening 178 can taper toward the tip 154 of the blade 114. For example, the length of the opening 178 along the longitudinal axis X1 can decrease from near the shell 112 to near the tip 154 of the blade 114. The maximum length L4 of the opening 178 along the longitudinal axis X1 can be between 15 millimeters and 45 millimeters, such as between 15 millimeters and 30 millimeters, between 20 millimeters and 35 millimeters, between 25 millimeters and 40 millimeters, or between 30 millimeters and 45 millimeters.

[0103] As shown in FIG. 4F, in some implementations, the opening 178 extends through the entire first portion 116 of the blade 114, for example, through the entire length of the first portion 116 of the blade 114, without passing through or only partially passing through the second portion 118 of the blade 114. For example, the opening 178 terminates at a distal end point 179 that coincides with the first end 118a (shown in FIG. 4B) of the second portion 118 of the blade 114. This distal end point 179 coincides with the location where the first portion 116 of the blade 114 is attached to the second portion 118 of the blade 114. The first portion 116 of the blade 114 along section 168 of the blade 114 can be separated from the first portion 116 of the blade 114 along section 174 of the blade 114. In particular, the section of the first portion 116 of the blade 114 along section 168 of the blade 114 is separated from the section of the first portion 116 of the blade 114 along section 174 of the blade 114 by the opening 178. The second portion 118 of the blade 114 can extend continuously along the blade 114 from the first end portion 149 of the roller 104 to the second end portion 150 of the roller 104, for example, along at least 90% - 95% of the length L1 of the roller 104 (shown in FIG. 1B). Although described as extending through the entire first portion 116 of the blade 114, in some implementations, the opening 178 can extend through the second portion 118 of the blade 114 without passing through the first portion 116 of the blade 114 except partially.

[0104] The opening 178 can be one of a plurality of openings 180, and each of the openings 180 extends through a corresponding one of the blades 142. Each of the openings 180 can have features similar to those described for the opening 178. In some implementations, each of the openings 180 can extend only through a portion of the first portion 116 of the blade 114, for example, only along the base of the first portion 116 where the first portion 116 is attached to the elongate member 107. The openings 180 can reduce the total power consumption for driving the roller 104 by reducing the overall stiffness of the blade 114.

[0105] Alternative Implementations Some implementation forms have been described. Nevertheless, it will be understood that various modified forms can be created. Some implementation forms described in this specification are described with respect to roller 104 or other rollers described in this specification. The features described with respect to these implementation forms are not limited to these implementation forms and are applicable to other implementation forms.

[0106] Robot 102 is described as having a rectangular front portion 202a and a semi-circular rear portion 202b. However, in some implementation forms, the outer perimeter of robot 102 defines another suitable shape. For example, in some cases, the body 200 of robot 102 has a substantially circular shape. Alternatively, the body 200 of robot 102 has a substantially rectangular, substantially square, substantially ellipsoidal, or substantially roulo polygonal shape.

[0107] Some rollers described in this specification are described as including a support structure that includes a core, and the core includes a support member and a shaft portion. However, the support structure may vary in other implementation forms. For example, roller 104 is described as including support structure 109, and support structure 109 in turn includes core 140 and end cap 141. Core 140 is described as including sleeve 144, support members 146a, 146b, 146c, and shaft portion 148. In some implementation forms, support structure 109 can be an integral component that supports sheath 110. In some implementation forms, support structure 109 includes a portion of or corresponds to elongate member 107. For example, in some implementation forms, blade 114 can be directly attached to support structure 109. In some implementation forms, blade 114 is integral with support structure 109.

[0108] The sheath 110 is described as having a cylindrical-shaped shell 112, but in some implementations, the shell 112 includes a frustum-shaped portion. For example, the shell 112 can include two divided parts divided by the central cross-section 172 of the roller 104. The two divided parts can each be frustum-shaped. The blades 142 of the roller 104 can extend outward from the shell 112 such that the outer diameter of the sheath 110 is uniform along the length of the sheath 110.

[0109] The support structure 109 is described as being inside the sheath 110. In some implementations, the support structure 109 includes components separated from the components of the sheath 110. In some implementations, the support structure 109 and the sheath 110 are integral with each other. For example, the roller 104 can be an integral structure. The roller 104 can be a solid structure including the blades 142. In some examples where the roller 104 is a solid structure, instead of including the shell 112 and the support structure 109, the roller 104 can include a rod member extending along the longitudinal axis X1 of the roller 104. The blades 114 can extend along the rod member. The rod member can be solid.

[0110] Some rollers are described herein as having multiple blades, but in some implementations, the roller includes a single blade. For example, the roller 104 is described as having multiple blades 142, but in some implementations, the roller 104 includes a single blade, such as the blade 114.

[0111] Some rollers are described herein as having blades with portions that extend along a helical path that extends along an elongate member. These helical paths and these portions of the blades that extend along the trajectories of these helical paths may vary in some implementations. For example, segments 168 and 174 are described as being part of blades 114 that extend over the entire length of sheath 110, but in some implementations, sheath 110 includes a first blade that extends along the entire length of the first half of sheath 110 and a second blade that extends along the entire length of the second half of sheath 110. Except that the first and second blades are spaced apart from each other and are circumferentially offset from each other, for example, tangentially offset from each other, the first and second blades have geometric features similar to those of segments 168, 174 of blade 114, respectively, as described herein. For example, the first blade can extend along a first helical path having a pitch similar to the pitch described herein with respect to helical path 170, and the second blade can extend along a second helical path having a pitch similar to the pitch described herein with respect to helical path 176. The first longitudinal end of the first helical path with respect to the first blade can be circumferentially offset, for example, tangentially offset, from the first longitudinal end of the second helical path with respect to the second blade. The second longitudinal end of the first helical path with respect to the first blade can be circumferentially offset, for example, tangentially offset, from the second longitudinal end of the second helical path with respect to the second blade.

[0112] The first blade can extend from the first end portion 149 of the roller 104 to at least the central cross-section 172 of the roller 104, and in some implementations, can extend into the second half of the sheath 110 beyond the central cross-section 172. Similarly, the second blade can extend from the second end portion 150 of the roller 104 to at least the central cross-section 172 of the roller 104, and in some implementations, can extend into the first half of the sheath 110 beyond the central cross-section 172. Thus, the first blade and the second blade can circumferentially overlap each other along at least a portion of the central portion 182 of the roller 104.

[0113] The first blade can be part of a set of first blades along the first half of the roller 104, the second blade can be part of a set of second blades along the second half of the roller 104, the set of first blades is circumferentially offset from the set of second blades along the second half of the roller 104, whereby the set of first blades is separated from the set of second blades. Each blade of the set of first blades is disposed between a pair of corresponding blades of the set of second blades, and each blade of the set of second blades is disposed between a pair of corresponding blades of the set of first blades.

[0114] The blade 114 is described as having segments 168, 174 that extend along opposite helical paths, but in some implementations, referring to FIG. 7, the blades 704 of the sheath 702 extend along a helical path 706 that extends along the entire length of the sheath 702. The pitch of the helical path 706 can be between 300 millimeters and 900 millimeters, for example, between 300 millimeters and 600 millimeters, between 400 millimeters and 700 millimeters, between 500 millimeters and 800 millimeters, or between 600 millimeters and 900 millimeters.

[0115] The spiral path along which the blade 114 portion extends is described as having a pitch, but in some implementations, the pitch of the spiral path may not be uniform over the entire length of the roller 104. In some implementations, the pitch of the spiral path 170 or the spiral path 176 may vary, for example, increasing or decreasing from the outer end portion of the roller 104 towards the center 113 of the roller 104.

[0116] Some of the rollers described herein include an opening along the blade of the roller. For example, the roller 104 is described as having a single opening 178 near the center 113 of the roller 104 in some implementations. In some implementations, the roller 104 includes a plurality of openings disposed along the length of the blade 114. The plurality of openings may be spaced apart from each other and symmetrically distributed throughout the length of the blade 114. For example, the plurality of openings are symmetric with respect to the central cross-section 172.

[0117] Some of the rollers described herein can include features in addition to vanes that extend out from the elongated member of the roller. In some implementations, the roller includes protrusions for supporting the roller against obstacles on the floor surface under the robot. For example, referring to FIG. 5A, sheath 502 can be similar to sheath 110 (shown in FIG. 4A), except that sheath 502 includes a protrusion 504 that extends outward away from the longitudinal axis X2 (not shown) of the roller from an elongated member, such as shell 506 of sheath 502 (similar to shell 112). Protrusion 504 can be a rigid protrusion from shell 506. In particular, vane 503 (similar to vane 114 described herein) can be relatively more flexible than protrusion 504. Since the roller is moved over obstacles on the floor surface, vane 503 can flex in response to contacting an obstacle. Protrusion 504 can flex relatively less than vane 503 in response to contacting an obstacle. Vane 503 can flex by an amount such that the height of vane 503 relative to shell 506 while vane 503 flexes is lower than the height of protrusion 504 relative to shell 506 while protrusion 504 flexes. Protrusion 504 can support the roller accordingly against the obstacle, and thus the roller can be enabled to move over the obstacle. In some implementations, protrusion 504 extends along a spiral path similar to the spiral path (e.g., spiral path 170) along which vane 503 extends, except that the spiral path along which protrusion 504 extends is circumferentially offset from the spiral path along which vane 503 extends.

[0118] Referring to FIG. 5B, the height H2 (similar to the height H1 described with respect to the blade 114) of the outer tip 510 of the blade 503 (similar to the blade 114) relative to or on the shell 506 is greater than the height H3 of the outer tip 512 of the protrusion 504 relative to or on the shell 506. The ratio of the height H2 to the height H3 can be selected such that the blade 503 contacts the protrusion 504 before the protrusion 504 interacts with an obstacle under the robot. For example, when a roller contacts an obstacle on the floor surface, the blade 503 can flex in response to the contact. Since the blade 503 flexes, the blade 503 moves towards the protrusion 504 until the blade 503 contacts the protrusion 504. The blade 503 is supported against the protrusion 504 and can contact the obstacle. Thus, the blade 503 and the protrusion 504 together can support the roller against the obstacle, and thus the roller can move over the obstacle. The height H2 can be 25% to 150% greater than the height H3, for example, 25% to 50%, 50% to 75%, or 75% to 100% greater than the height H3. The height H3 of the protrusion 504 can be between 0.25 cm and 2.0 cm, for example, between 0.25 cm and 1.5 cm, between 0.5 cm and 2 cm, or between 0.5 cm and 1.5 cm, or between 0.6 cm and 1.2 cm.

[0119] The protrusion 504 can taper from the shell 506 towards the tip 512 of the protrusion 504. The protrusion 504 can have a maximum thickness between 8 millimeters and 18 millimeters, for example, between 8 millimeters and 14 millimeters, between 10 millimeters and 16 millimeters, or between 12 millimeters and 18 millimeters. The maximum thickness of the protrusion 504 can be at the base of the protrusion 504 where the protrusion 504 is attached to the shell 506. The protrusion 504 can be substantially triangular or can have a part of a triangle. For example, the protrusion 504 can include a surface 514 facing in the tangential direction Z3 and a surface 516 facing in the tangential direction Z4, and the surface 514 and the surface 516 form two sides of a substantially triangular protrusion from the shell 506.

[0120] Referring to FIG. 5C, the length L5 of the surface 514, that is, the distance between the tip 512 of the protrusion 504 and the position of the surface 514 along the shell 506, is greater than the length L6 of the surface 516, that is, the distance between the tip 512 of the protrusion 504 and the position of the surface 516 along the shell 506. For example, the length L5 can be 1.5 to 2.5 times longer than the length L6. Referring back to FIG. 5B, the angle between the surface 514 and the radial axis Y4 extending through the tip 512 of the protrusion 504 can be between 30 degrees and 60 degrees, and the angle between the surface 514 and the radial axis Y4 can be 15 degrees or less.

[0121] The protrusion 504 can be one of the plurality of protrusions 518 of the sheath 502. For example, as shown in FIG. 5B, the sheath 502 can include two protrusions 518. In other implementations, the sheath 502 can include fewer or more protrusions, such as one protrusion, three protrusions, four protrusions, five protrusions, six protrusions, seven protrusions, eight protrusions, or more. The blade 503 can be circumferentially disposed between the two protrusions 518. In an implementation where the sheath 502 includes a plurality of blades 520 (similar to the blades 142), each protrusion 518 can be circumferentially disposed between two corresponding adjacent blades 520. Similar to the blade 142, the protrusion 518 can extend along a helical path along the outer surface of the shell 506, and the helical path has a pitch similar to the pitch of the helical path of the blade 520.

[0122] The configuration of the roller protrusion may vary in some implementations. In some implementations, referring to FIG. 6A, the sheath 602 can be similar to the sheath 502 except that the protrusion 604 of the sheath 602 includes an opening 606. The opening 606 can be for receiving a hairbrush. The hairbrush can be an elongated member containing flexible hairs. The elongated member can extend through the opening 606 from the first longitudinal end of the protrusion 604 to the second longitudinal end of the protrusion. The hairs of the elongated member can be used to sweep the debris on the floor and agitate the debris.

[0123] The protrusion 604 is disposed between two vanes including vane 610 and vane 611. The opening 606 is disposed in the vicinity of a shell 608 (similar to shell 112) of an elongated member, such as sheath 602. Similar to the protrusion 504, the protrusion 604 can be harder than the vane 610 (similar to vane 114) of the sheath 602 and can have geometric features that give the protrusion 604 a hardness similar to the geometric features of the protrusion 504. For example, the maximum thickness of the protrusion 604 can be similar to the maximum thickness of the protrusion 504, and the height of the protrusion 604 can be similar to the height H3 of the protrusion 504. In some implementations, the height of the protrusion 604 can be selected such that the protrusion 604 directly contacts an obstacle under the robot and enables the roller to move over the obstacle. Different from the implementation where the vane contacts the protrusion and the vane and the protrusion together support the roller against the obstacle, in some implementations, the protrusion directly contacts the obstacle and supports the roller against the obstacle. In such an implementation, the height of the protrusion relative to the height of the vane is greater than the height of the protrusion relative to the height of the vane in an implementation where both the vane and the protrusion support the roller against the obstacle. For example, in an implementation where the protrusion directly supports the roller against the obstacle, the height of the protrusion can be at least 35% of the height of the vane, such as at least 40%, at least 45%, or at least 50% of the height of the vane. In an implementation where the protrusion supports the roller against the obstacle through the vane after the vane deflects, the height of the protrusion can be at most 70% of the height of the vane, such as at most 65%, at most 60%, at most 55%, or at most 50% of the height. In such an implementation, the protrusion also prevents the vane from deflecting further after the vane contacts the protrusion. Whether the protrusion supports the roller against the obstacle through the vane or directly can also depend on the tangential distance between the roller and the protrusion and the flexibility of the vane.

[0124] Referring to FIG. 6B, the opening 606 can include a rectangular or square cross-sectional portion. The opening 606 can have a maximum width between 2 millimeters and 8 millimeters.

[0125] Referring to FIG. 6C, the protrusion 604 includes a surface 654 facing in a first tangential direction and a set of surfaces including surfaces 656, 658, 660, and 662 facing in a second tangential direction. The surfaces 654, 656, 658, 660, and 662 are each straight. The surface 662 extends outward from the shell 608, the surface 660 extends outward from the surface 662, the opening 606 extends between the surface 662 and the surface 658, the surface 658 extends outward from the opening 606, and the surface 656 extends outward from the surface 658. The surface 658 and the surface 654 intersect at the tip 664 of the protrusion 604.

[0126] The opening 606 extends radially inward from the surfaces 658, 660. The opening 606 faces in the second tangential direction. The opening 606 includes a first portion 650 adjacent to the second portion 652. The first portion 650 extends from the surfaces 658, 660 to the second portion 652 of the opening 606. The first portion 650 can be rectangular. The second portion 652 extends from the first portion 650 toward the shell 608. The second portion 652 is rectangular. The second portion 652 is radially inward of the first portion 650 and is thus disposed closer to the longitudinal axis of the roller than the first portion 650 of the opening 606. The first portion 650 has a width W2 and the second portion 652 has a width W3. The width W2 is smaller than the width W3. The width W2 is between 1 millimeter and 4 millimeters, for example, between 1 millimeter and 3 millimeters, between 1.5 millimeters and 3.5 millimeters, or between 2 millimeters and 4 millimeters. The width W3 is 1.5 to 2.5 times longer than the width W2.

[0127] In some embodiments, as shown in FIG. 6B, sheath 602 may be similar to sheath 502, except that blade 610 may include a first portion 612, a second portion 614, and a third portion 616. Blade 610 may include a first bend 618 where the first portion 612 is attached to the second portion 614 and a second bend 620 where the second portion 614 is attached to the third portion 616. The first bend 618 is between the shell 608 and the second bend 620, and the second bend 620 is between the first bend 618 and the tip 622 of the blade 610. The first end 612a of the first portion 612 is attached to the shell 608 at a position intersecting the radial axis Y5 (not shown) of the roller, and the second end 612b of the first portion 612 is attached to the first end 614a of the second portion 614 at the first bend 618. The second end 614b of the second portion 614 is attached to the first end 616a of the third portion 616 at the second bend 620. The third portion 616 terminates at the tip 622.

[0128] The first, second, and third portions 612, 614, 616 extend along axes y4, y5, y6, respectively. The angle between axis y4 and the radial axis Y5 is the same as the angle between axis y1 and the radial axis Y1 described herein. The angle between axis y4 and the radial axis Y5 is greater than the angle between axis y5 and the radial axis Y5. The angle between axis y6 and the radial axis Y5 may be substantially the same as the angle between axis y4 and the radial axis Y5, for example, within 85% to 95% of the angle between axis y4 and the radial axis Y5. For example, the angle between axis y6 and axis y4 is 5 degrees to 15 degrees or less. The angle between axis y5 and the radial axis Y5 is less than the angle between axis y6 and the radial axis Y6. In some embodiments, axis y6 is parallel to axis y4. In some embodiments, the angle between axis y6 and the radial axis Y5 may be less than the angle between axis y4 and the radial axis Y5.

[0129] The angle between axis y4 and axis y5 can be between 90 degrees and 170 degrees, for example, between 90 degrees and 150 degrees, between 90 degrees and 130 degrees, or between 90 degrees and 110 degrees, or about 95, 105, or 115 degrees. The angle between axis y5 and axis y6 can be between 90 degrees and 170 degrees, for example, between 90 degrees and 150 degrees, between 90 degrees and 130 degrees, or between 90 degrees and 110 degrees, or about 95, 105, or 115 degrees. The angle between axis y4 and axis y6 can be less than 20 degrees, for example, less than 15 degrees, less than 10 degrees, or less than 5 degrees.

[0130] The first and second portions 612, 614 of the blade 610 can have a thickness similar to that described for the first and second portions 116, 118 of the blade 114, as described herein. The thickness of the third portion 616 can taper towards the tip 622 in some implementations.

[0131] The length L7 of the first portion 612 of the blade 610 is between 0.5 centimeter and 3 centimeters, for example, between 0.5 centimeter and 2.5 centimeters, between 0.5 centimeter and 2 centimeters, or between 1 centimeter and 2 centimeters. The length L8 of the second portion 614 of the blade 610 is between 0.2 centimeter and 1 centimeter, for example, between 0.2 centimeter and 0.8 centimeter, or between 0.4 centimeter and 1.0 centimeter. The length L9 of the third portion 616 of the blade 610 is between 0.2 centimeter and 0.8 centimeter, for example, between 0.2 centimeter and 0.6 centimeter, or between 0.4 centimeter and 0.8 centimeter. The length L9 is between 10% and 30% of the length L7, for example, between 10% and 20% of the length L7, 15% or 25%, or between 20% and 30% of the length L7. The length L9 is between 60% and 90% of the length L8, for example, between 60% and 80% of the length L8, between 65% and 85% of the length L8, or between 70% and 90% of the length L8. The length L8 is between 15% and 35% of the length L7, for example, between 15% and 25% of the length L7, between 20% and 30% of the length L7, or between 25% and 35% of the length L7.

[0132] The aperture 178 is described as tapering towards the outer tip of the blade 114, but in some implementations, the aperture 178, the aperture 180, or a combination thereof can be a slit extending through the thickness of the blade 114. The slit can have a uniform width and can extend through the entire length of the first portion 116 of the blade 114 or through only a portion of the first portion 116 of the blade 114.

[0133] The first portion 116 of the blade 114 shown in FIG. 4B and the first and second portions 612, 614 shown in FIG. 6B are straight portions having a uniform thickness, and the surface facing the first tangential direction is shown to be substantially parallel to the surface facing the second tangential direction. In some implementations, these portions can include curves, protrusions, non-uniform thicknesses, or other geometric features.

[0134] Although some of the above examples are described with respect to a single roller 104, in some implementations, the robot 102 can include multiple rollers. For example, the robot 102 can include two rollers. In some implementations, the first roller can be different from the second roller, for example, can include some features different from the features of the second roller.

[0135] The roller 104 is described as having a sheath 110, and the elongate member 107 is described as corresponding to the shell 112 of the sheath 110, but in other implementations, the elongate member 107 can vary. In some implementations, the elongate member 107 is a cylindrical rod, a square rod, or a rod of another prism. In some implementations, the elongate member 107 is hollow, and in some implementations, the elongate member 107 is solid. Referring to FIG. 8, the roller 800 includes blades 802 and an elongate member 804. The blades 802 can be geometrically similar to any of the blades described herein, for example, the blade 114. In contrast to the blade 114, the blade 802 is separate from the elongate member 804 and is slidable longitudinally with respect to the elongate member 804. In particular, to assemble the roller 800, the blade 802 is placed over a slot 806 that extends longitudinally along the elongate member 804. The blade 802 includes a proximal portion 808 that fits into the slot 806. The proximal portion 808 is configured to prevent the blade 802 from moving radially outward with respect to the elongate member 804. For example, the proximal portion 808 includes a taper in the radially outward direction, and the slot 806 also tapers in the radially outward direction. In some implementations, the elongate member 804 is part of the sheath of the roller 800. In other implementations, the elongate member 804 is part of the core of the roller 800.

[0136] Although the roller 800 is described by way of example, the features of the blade 802 may be applicable to other implementations. For example, in some implementations, the blades 114 of the roller 104 can include features similar to those of the blade 802. In some implementations, if the roller includes a protrusion, the protrusion can be slidable within a slot along an elongated member.

[0137] As described herein, in implementations where the cleaning roller includes a protrusion, the quantity and configuration of the protrusion may vary. In the example shown in FIG. 5A, the roller includes two protrusions 518. Referring to FIG. 9, a sheath 900 for the cleaning roller can include protrusions 902 and blades 904. The protrusions 902 can have a geometric configuration similar to that of the protrusions 518.

[0138] The protrusions 902 and the blades 904 are configured such that when the roller contacts an obstacle on the floor under the robot, as described herein, the protrusions 902 contact the blades 904. In this context, when the roller moves over an obstacle, the blades 904 flex to contact the protrusions 902, and the blades 904 and the protrusions 902 support the roller against the obstacle, enabling the roller to clear the obstacle. Unlike the sheath 502, the sheath 900 includes corresponding protrusions 902 for each blade 904. In particular, each protrusion 902 adjacent to a corresponding blade 904 as shown in FIG. 9 in the counterclockwise direction prevents the corresponding blade 904 from flexing further after the blade 904 contacts the protrusion 902. In some implementations, the protrusions 902 prevent a first portion of the blade 904 (similar to the first portion 116 described herein) from flexing further after the blade 904 contacts the protrusions 902. For example, the protrusions 902 have a height that is at most 50% of the height of the blade 904, for example, at most 40%, at most 35%, or at most 30% of the height of the blade 904.

[0139] As described herein, in some implementations, the protrusions can be configured such that the blades do not contact the protrusions when the blades contact an obstacle on the floor. In the example shown in FIG. 10, the sheath 1000 includes blades 1002a, 1002b and protrusions 1004a, 1004b. Unlike the protrusion 518, the protrusions 1004a, 1004b are not triangular in shape and extend radially outward along a path similar to the path of the blades 1002a, 1002b. In particular, the protrusions 1004a, 1004b can include a plurality of interconnecting portions at the bends along the protrusions 1004a, 1004b.

[0140] The protrusions 1004a, 1004b are configured to contact an obstacle on the floor under the robot before the blades 1002a, 1002b bend and contact the protrusions 1004a, 1004b. In particular, as shown in FIG. 10, the blades 1002a, 1002b adjacent to the protrusions 1004a, 1004b in the clockwise direction bend in the counterclockwise direction. The height of the blades 1002a, 1002b relative to the shell 1006 of the sheath 1000 decreases to a position below the height of the protrusions 1004a, 1004b when the blades 1002a, 1002b bend and decreases to this position before contacting the protrusions 1004a, 1004b. The protrusions 1004a, 1004b can include bends 1008a, 1008b that allow the protrusions 1004a, 1004b to extend tangentially away from the blades 1002a, 1002b. Unlike the protrusion 518 having a tapered thickness outward from the shell 1006, the protrusions 1004a, 1004b can have a uniform thickness from near the shell 1006 to near the distal tips of the protrusions 1004a, 1004b. The uniform thickness can be thicker than the thickness of the blades 1002a, 1002b so that the protrusions 1004a, 1004b can more easily support a roller against an obstacle on the floor. For example, the protrusions 1004a, 1004b can be 50% - 200% thicker than the blades 1002a, 1002b, for example, between 50% and 150%, 75% and 175%, or 100% and 200% thicker than the blades 1002a, 1002b.

[0141] In the example shown in FIG. 11, the sheath 1100 includes blades 1102a, 1102b, 1102c, 1102d and protrusions 1104a, 1104b, 1104c, 1104d. The example shown in FIG. 11 is similar to the example shown in FIG. 10 in that the protrusions 1104a, 1104b, 1104c, 1104d are configured to contact an obstacle on the floor surface under the robot before each of the blades 1102a, 1102b, 1102c, 1102d bends and contacts the protrusions 1104a, 1104b, 1104c, 1104d. The protrusions 1104a, 1104b, 1104c, 1104d have a maximum thickness that is greater than the thickness of the protrusions 1004a, 1004b described with respect to FIG. 10. In some implementations, the maximum thickness of the protrusions 1104a, 1104b, 1104c, 1104d is similar to the maximum thickness of the protrusions 518 or 604 described elsewhere in this specification. When the blades 1102a, 1102b, 1102c, 1102d bend in response to contacting an obstacle on the floor surface, the protrusions 1104a, 1104b, 1104c, 1104d have a sufficient height with respect to the blades 1102a, 1102b, 1102c, 1102d adjacent to the protrusions 1104a, 1104b, 1104c, 1104d in the clockwise direction as shown in FIG. 11 and a sufficient distance from the blades 1102a, 1102b, 1102c, 1102d so that the blades 1102a, 1102b, 1102c, 1102d do not contact the protrusions 1104a, 1104b, 1104c, 1104d before the protrusions 1104a, 1104b, 1104c, 1104d contact the obstacle. The protrusions 1104a, 1104b, 1104c, 1104d can assist the rollers in moving over the obstacle when contacting the obstacle.

[0142] The features described with respect to some implementations can be combined or modified in consideration of the features of other implementations. Accordingly, other embodiments are within the scope of the claims.

Description of Reference Numerals

[0143] 10 Floor surface 100 Cleaning head 102 Cleaning robot 104 Roller 106 Debris 107 Elongated member 109 Support structure 110 Sheath 112 Shell 113 Center 114 Blade 115 Bend 116 First part 116a First end of the first part 116b Second end of the first part 117 Forward drive direction 118 Second part 118a First end of the second part 118b Second end of the second part 119 Vacuum assembly 120 Airflow 122 Cleaning bin 123 Filter 124 Housing 125 Dustpan 128 Conduit 130 Counterclockwise 132 Region 140 Core 141 End cap 142 Pattern blade 144 Sleeve 146 Support member 146a Support member 146b Support member 146c Support member 148 Shaft part 149 First terminal end 150 Second terminal end 152 Inner surface 154 Tip 156 First surface 158 Second surface 160 First surface 160a Convex surface part 160b Concave surface part 162 Second surface 164 Blade 166 Second part 168 division 170 spiral path 170a first end of the spiral path 170b second end of the spiral path 172 central cross-section 174 vane division 176 spiral path 176a first end of the spiral path 176b second end of the spiral path 178 opening 179 distal end point 180 opening 182 central part 200 body 202a front part 202b rear part 204a lateral side 204b lateral side 206 front side 208a actuator 208b actuator 210a drive wheel 210b drive wheel 211 caster wheel 212 controller 214 actuator 233 brush 235 actuator 502 sheath 503 vane 504 protrusion 506 shell 510 outer tip of the vane 512 outer tip of the protrusion 514 surface 516 surface 518 protrusion 520 vane 602 sheath 604 protrusion 606 opening 608 shell 610 vane 611 vane 612 first part 612a first end of the first part The second end of the first part of 612b 614 The second part 614a The first end of the second part 614b The second end of the second part 616 The third part 616a The first end of the third part 618 The first bend 620 The second bend 622 The tip of the blade 650 The first part 652 The second part 654 Surface 656 Surface 658 Surface 660 Surface 662 Surface 664 Tip 702 Sheath 704 Blade 706 Spiral path 800 Roller 802 Blade 804 Elongated member 806 Slot 808 Proximal part 900 Sheath 902 Protrusion 904 Blade 1000 Sheath 1002a Blade 1002b Blade 1004a Protrusion 1004b Protrusion 1006 Shell 1008a Bend 1008b Bend 1100 Sheath 1102a Blade 1102b Blade 1102c Blade 1102d Blade 1104a Protrusion 1104b Protrusion 1104c Protrusion 1104d Protrusion

Claims

1. 1. A cleaning roller mountable on a cleaning robot, the cleaning roller including an elongated member extending along a longitudinal axis of the cleaning roller and a vane extending outwardly from the elongated member, the vane comprising: a first blade portion attached to the elongated member, the first blade portion extending from the elongated member at a location that intersects a radial axis of the cleaning roller, the first blade portion extending tangentially away from the radial axis along a first axis that is inclined relative to the radial axis; a second blade portion attached to the first blade portion, the second blade portion extending along a second axis that is inclined relative to the first axis, a first angle between the first axis and the radial axis being greater than a second angle between the second axis and the radial axis; Including the cleaning roller.

2. 2. The cleaning roller of claim 1, wherein the vane comprises a first vane, and the cleaning roller comprises a plurality of vanes including at least the first vane and a second vane, the second vane extending outwardly from the elongate member away from the longitudinal axis of the cleaning roller and offset from the first vane in the tangential direction.

3. 2. The cleaning roller of claim 1, wherein the cleaning roller comprises a plurality of blades including the first blade and the second blade, each of the plurality of blades being symmetrical about a plane, the plane being located at a center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller.

4. 4. The cleaning roller of claim 3, wherein the radial axis is a first radial axis, the second vane is attached to the elongate member at a location that intersects with a second radial axis of the cleaning roller, and the first and second radial axes form an angle between 30 degrees and 90 degrees.

5. The cleaning roller of claim 1 , wherein the elongated member is cylindrical and the first axis extends tangentially from a circumference of the elongated member.

6. 2. The cleaning roller of claim 1, wherein the tangential direction is a second tangential direction, the second blade portion includes a first surface facing the first tangential direction and a second surface facing the second tangential direction, the first and second surfaces being disposed between a tip of the second blade portion and the first blade portion, and the first surface is curved.

7. The cleaning roller of claim 6 , wherein the first surface is concave.

8. 7. The cleaning roller of claim 6, wherein the first surface is convex.

9. the radial axis being a first radial axis and the second blade portion extending through a second radial axis of the cleaning roller; The cleaning roller of claim 1 , wherein the second axis forms an angle of 5 degrees or less with the second radial axis.

10. The cleaning roller of claim 1 , wherein the vane segments extend along a helical path along the elongate member.

11. the helical path is a first helical path and the section of the blade is a first section of the blade; The cleaning roller of claim 10 , wherein a second section of the vane extends along a second helical path along the elongate member.

12. the first helical path extends along the elongate member in the tangential direction of the cleaning roller from a first end of the first helical path to a second end of the first helical path, the first end of the first helical path being located near a first longitudinal terminus of the cleaning roller, and the second end of the first helical path being located near a center of the cleaning roller; 12. The cleaning roller of claim 11, wherein the second helical path extends along the elongated member in the tangential direction of the cleaning roller from a first end of the second helical path to a second end of the second helical path, the first end of the second helical path being positioned near a second longitudinal terminal end of the cleaning roller and the second end of the second helical path being positioned near the center of the cleaning roller.

13. 12. The cleaning roller of claim 11, wherein the first helical path is symmetric to the second helical path about a plane, the plane lying at a center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller.

14. 11. The cleaning roller of claim 10, wherein the pitch of the helical path is between 300 and 900 millimeters.

15. 2. The cleaning roller of claim 1, further comprising a protrusion extending outwardly from the elongated member away from the longitudinal axis, wherein a height of an outer tip of the vane relative to the elongated member is greater than a height of an outer tip of the protrusion relative to the elongated member.

16. 16. The cleaning roller of claim 15, wherein the protrusions have a maximum thickness between 8 and 18 millimeters.

17. 16. The cleaning roller of claim 15, wherein the projections taper from the elongate members toward the outer tips of the projections.

18. 16. The cleaning roller of claim 15, wherein the protrusion is a first protrusion and the cleaning roller further includes a second protrusion extending outwardly from the elongated member away from the longitudinal axis, the vane being disposed between the first protrusion and the second protrusion.

19. 16. The cleaning roller of claim 15, wherein the height of the outer tips of the projections relative to the elongate member is between 0.25 centimeters and 2.0 centimeters.

20. 2. The cleaning roller of claim 1, wherein the vane includes an aperture extending along a center of the cleaning roller, the aperture extending only partially through the vane, away from the elongated member, toward an outer tip of the vane.

21. 21. The cleaning roller of claim 20, wherein the opening extends from the elongate member toward the outer tip of the vane.

22. 21. The cleaning roller of claim 20, wherein the openings taper toward the outer tips of the vanes.

23. 21. The cleaning roller of claim 20, wherein the opening comprises a maximum width between 2 and 8 millimeters.

24. the first blade portion includes a first section extending from a first longitudinal end of the cleaning roller toward the center of the cleaning roller and a second section extending from a second longitudinal end of the cleaning roller toward the center of the cleaning roller, the first section of the first blade portion being separated from the second section of the first blade portion by the opening; 21. The cleaning roller of claim 20, wherein the second flight portion extends continuously along the flight from the first longitudinal terminal end of the cleaning roller to the second longitudinal terminal end of the cleaning roller.

25. the blade is a first blade, the cleaning roller further comprises a second blade, the first blade comprises a first longitudinal end proximate a first longitudinal end of the cleaning roller and a second longitudinal end proximate a center of the cleaning roller, and the second blade comprises a first longitudinal end proximate a second longitudinal end of the cleaning roller and a second longitudinal end proximate the center of the cleaning roller; The cleaning roller of claim 1 , wherein the second longitudinal end of the first blade is spaced from the second longitudinal end of the second blade.

26. 2. The cleaning roller of claim 1, wherein an outer diameter of the cleaning roller is uniform over a length of the cleaning roller, the outer diameter being at least partially defined by the vanes.

27. The cleaning roller of claim 1 , wherein the elongated member is cylindrical over the length of the cleaning roller.

28. 2. The cleaning roller of claim 1, wherein the first blade portion includes a first end attached to the elongate member and a second end attached to the second blade portion, and a first radial distance between the first end of the first blade portion and the longitudinal axis of the cleaning roller is 50% to 90% of a second radial distance between the second end of the first blade portion and the longitudinal axis of the cleaning roller.

29. 2. The cleaning roller of claim 1, wherein a length from a first end of the second blade portion to a second end of the second blade portion is 25% to 75% of a length from a first end of the first blade portion to a second end of the first blade portion.

30. 2. The cleaning roller of claim 1, wherein a first length from a first end of the first blade portion to a second end of the first blade portion is between 0.5 centimeters and 3 centimeters, and a second length from a first end of the second blade portion to a second end of the second blade portion is between 0.2 centimeters and 1.5 centimeters.

31. The cleaning roller of claim 1 , wherein the first blade portion has a thickness between 0.5 and 4 millimeters.

32. The cleaning roller of claim 1 , wherein the maximum thickness of the second blade portion is between 2 and 5 millimeters.

33. 10. The cleaning roller of claim 1, wherein the overall diameter of the cleaning roller is between 30 and 90 millimeters and the overall length of the cleaning roller is between 10 and 50 centimeters.

34. 2. The cleaning roller of claim 1, wherein the vane further includes a third portion attached to the second vane portion, the third portion of the vane extending along a third axis that is inclined relative to the second axis, and a third angle between the third axis and the radial axis is less than the second angle between the second axis and the radial axis.

35. 35. The cleaning roller of claim 34, wherein the third portion of the flight comprises a tip of the flight.

36. The cleaning roller of claim 1 , wherein the cleaning roller comprises a sheath containing the vanes and the elongate members.

37. A cleaning robot, a drive system for moving the cleaning robot across a floor surface; a cleaning roller mountable on the cleaning robot, the cleaning roller being rotatable about a longitudinal axis of the cleaning roller in a first rotational direction, the cleaning roller comprising: an elongate member extending along the longitudinal axis of the cleaning roller; and a vane extending outwardly from the elongated member away from the longitudinal axis of the cleaning roller, the vane comprising: a first portion attached to the elongated member, the first portion of the vane being attached to the elongated member at a location that intersects a radial axis of the cleaning roller, the first portion of the vane extending tangentially away from the radial axis along a first axis that is inclined relative to the radial axis; and a second portion attached to the first portion of the blade, the second portion of the blade extending along a second axis inclined relative to the first axis, a first angle between the first axis and the radial axis being greater than a second angle between the second axis and the radial axis.

38. 1. A cleaning head for a vacuum cleaner, the cleaning head comprising: A conduit and a cleaning roller configured to sweep debris into the conduit, the cleaning roller rotatable about its longitudinal axis in a first rotational direction, the cleaning roller comprising: an elongate member extending along the longitudinal axis of the cleaning roller; and a vane extending outwardly from the elongated member away from the longitudinal axis of the cleaning roller, the vane comprising: a first portion attached to the elongated member, the first portion of the vane being attached to the elongated member at a location that intersects a radial axis of the cleaning roller, the first portion of the vane extending tangentially away from the radial axis along a first axis that is inclined relative to the radial axis; a second portion attached to the first portion of the vane, the second portion of the vane extending along a second axis that is inclined relative to the first axis, a first angle between the first axis and the radial axis being greater than a second angle between the second axis and the radial axis.

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