Mobile cleaning robot with spacers

Abstract

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

Description

[Technical Field]

[0001] Priority claims This application is a continuation of and claims the benefit of priority to U.S. Patent Application No. 17 / 994,486, filed November 28, 2022, the contents of which are incorporated herein by reference in their entirety.

[0002] FIELD OF THE INVENTION The embodiments described herein relate generally to mobile cleaning robots, and more particularly to mobile cleaning robots with spacers. [Background technology]

[0003] Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks within an environment such as a home. The autonomous cleaning robot can navigate across a floor surface and avoid obstacles while suctioning the floor surface and operating a rotatable member carried by the robot to collect debris from the floor surface. As the robot navigates across the floor surface, it can rotate the rotatable member, which can engage debris and guide it toward a suction airflow generated by the robot. The rotatable member and the suction airflow can cooperate to cause the robot to collect debris. Summary of the Invention [Problem to be solved by the invention]

[0004] An autonomous mobile cleaning robot can be useful for automatically or autonomously cleaning a portion of an environment, such as one or more rooms, by collecting debris from surfaces in the room. The collection can be performed using a single roller. The blades of the single roller can be configured in a herringbone pattern, with the blades on each side of the roller having opposite pitches or helicities. Such a roller with a herringbone pattern can provide improved cleaning performance. The inventors have recognized, among other things, a need for a single roller that provides the benefits of a herringbone pattern while also providing reduced noise and reduced power consumption. [Means for solving the problem]

[0005] In certain systems with herringbone rollers, the inventors have recognized that replacing the center portion of the herringbone roller with a spacer may provide improved noise performance and power consumption.

[0006] The present disclosure describes devices and methods that can help address this issue, such as by including a roller that can include a first elongated member, a second elongated member, and a spacer. Each of the first elongated member, the second elongated member, and the spacer can be engageable with a surface of the environment. The first elongated member and the second elongated member can include a spiral or herringbone pattern to aid in collecting debris from the surface of the environment. The spacer can prevent debris from collecting between the first elongated member and the second elongated member.

[0007] For example, a mobile cleaning robot may include a roller core, a first elongated member, a second elongated member, and a spacer. The roller core may extend along a longitudinal axis of the roller. The first elongated member may be engageable with a floor surface. The first elongated member may at least partially surround a first portion of the roller core. The second elongated member may also be engageable with a floor surface. The second elongated member may at least partially surround a second section of the roller core. The spacer may at least partially surround the roller core between the first elongated member and the second elongated member. The spacer may be engageable with the floor surface and configured to prevent debris collection between the first elongated member and the second elongated member.

[0008] In the drawings, which are not necessarily to scale, like numerals may represent like components in different views. Like numerals with different subscripts may represent different instances of like components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. [Brief explanation of the drawings]

[0009] [Figure 1A] FIG. 2 is a bottom view of the mobile cleaning robot. [Figure 1B] FIG. 2 is a cross-sectional view of the mobile cleaning robot. [Figure 2] FIG. 1 is a perspective view of an example roller. [Figure 3] FIG. 1 is a perspective view of an example roller. [Figure 4] FIG. 1 is an enlarged perspective view of an example roller. [Figure 5] 1 is a perspective view of an example of a spacer. [Figure 6] 1A and 1B are top views of example spacers. [Figure 7] FIG. 10 is a side view of an example spacer. [Figure 8] FIG. 10 is a perspective view of an alternative example of a roller. [Figure 9] FIG. 1 is a block diagram illustrating an example of a machine in which one or more embodiments may be implemented. DETAILED DESCRIPTION OF THE INVENTION

[0010] An autonomous mobile cleaning robot may be useful for automatically or autonomously cleaning a portion of an environment, such as a room, by collecting debris from surfaces in the room. The collection may be performed using a single roller. The use of a single roller may enable a roller design that can help reduce the amount of energy required during a cleaning operation compared to a two-roller design. In an example, the single roller may include different patterns to help collect debris, such as fibrous debris and particulate debris, from the surface of a floor.

[0011] For example, the first and second elongated members may each include one or more blades (or vanes) extending longitudinally along the longitudinal axis of the roller in a helical pattern. In another example, the first and second elongated members may include one or more blades extending longitudinally along the longitudinal axis of the roller in a herringbone pattern. In a herringbone pattern, the helical pattern on the first elongated member may rotate in a counter-rotating direction around the roller core as the helical pattern on the second elongated member. In an example, during operation, a roller with first and second elongated members with opposing helical patterns (or herringbone patterns) forming a single body may generate more noise than desired and may require additional power to rotate the roller.

[0012] Thus, the first elongate body and the second elongate body can be detached from each other so that they can be distorted independently of each other. However, when the first elongate body and the second elongate body are distorted, a gap may form between the first elongate body and the second elongate body. The gap between the first elongate body and the second elongate body can reduce the efficiency of debris collection and can create a trap in which fibrous debris can wrap around the roller.

[0013] The present disclosure describes devices and methods that can help address these issues, such as by providing a mobile cleaning robot that includes a roller with a first elongated member, a second elongated member, and a spacer. In an example, the spacer can be provided on the roller core between the first elongated member and the second elongated member. The spacer can have a diameter smaller than the rest diameters of the first elongated member and the second elongated member to help reduce stress at the middle of the roller when the roller is operatively rotated and contacts the floor. The smaller diameter can help reduce the amount of power required to operate the roller. The spacer can also at least partially fill the axial gap between the first elongated member and the second elongated member, which can help limit debris accumulation between the first elongated member and the second elongated member. Furthermore, the spacer can transfer debris between the first elongated member and the second elongated member.

[0014] Figure 1A shows a bottom view of the mobile cleaning robot 100. Figure 1B shows a cross-sectional view of the mobile cleaning robot 100 in an environment 40. Figures 1A and 1B are considered together below. Figure 1A shows the cross-sectional designation 1B-1B, and Figure 1B also shows directional arrows F and R.

[0015] The cleaning robot 100 may include a housing or body 102, a cleaning assembly 104, and a control system 106 (which may include a controller 108 and a memory device 110). The cleaning robot 100 may also include drive wheels 112, a motor 114, and a support skid 116. The cleaning assembly 104 may include a cleaning inlet 117, rollers 118 (or cleaning wheels), a suction system 119, a roller motor 120, and a dust pan 122 (or guide). The robot 100 may also include a cliff sensor 124, a proximity sensor 126, a bumper 128, a collision sensor 130, an obstacle monitoring sensor 132, and a brush 134 (or side brush 134) that includes a motor 136.

[0016] The housing 102 may be a rigid or semi-rigid structure made of materials such as one or more of metal, plastic, foam, elastomer, ceramic, composite, or combinations thereof. The housing 102 may be configured to support various components of the robot 100, such as the wheels 112, the controller 108, the cleaning assembly 104, the duster 122, and the side brushes 134. The housing 102 may define a structural perimeter of the robot 100. In some examples, the housing 102 comprises a chassis, a cover, a base plate, and a bumper assembly. The robot 100 may be a domestic robot and thus may have a small profile so that it can fit under furniture in a home.

[0017] The rollers 118 of the cleaning assembly 104 may be rotatably connected to the housing 102 near a cleaning inlet 117 (optionally positioned at a forward portion of the robot 100), where the rollers 118 may extend horizontally across the robot 100. The rollers 118 may be connected to a roller motor 120 to drive the rollers 118 to rotate relative to the housing 102 to help collect dust and debris from the environment 40 through the cleaning inlet 117. The suction system 119 may include a fan or impeller and a motor operable by the controller 108 to control the fan to generate airflow between the rollers 118, through the cleaning inlet 117, and into a dirt bin 138 (shown in FIG. 1B ).

[0018] The roller 118 can be of several types, such as when optimized based on the environment 40, as discussed further below. The roller 118 can have bristles or brushes that can be effective in separating (or agitating) debris within the carpet fibers for suction by the robot 100. The roller 118 can also have wings, vanes, or flexible members extending therefrom that can be relatively effective in separating debris within the carpet fibers for suction by the robot 100, while also being effective in removing debris from hard surfaces. The roller 118 does not have to have fins, wings, or bristles that can be effective in removing debris from hard surfaces. The roller 118 can be other types of rollers in other examples.

[0019] The controller 108 can be located within the housing and can be a programmable controller, such as a single-board or multi-board computer, a direct digital controller (DDC), or a programmable logic controller (PLC). In other examples, the controller 108 can be any computing device, such as a portable computer, e.g., a smartphone, tablet, laptop, desktop computer, or any other computing device that includes processing, storage, and communications capabilities. The storage device 110 can be one or more types of storage devices, such as volatile or non-volatile storage, read-only storage (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, other storage devices, and other storage media. The storage device 110 can be located within the housing 102 and can be connected to and accessible by the controller 108.

[0020] The control system 106 may further include a sensor system with, for example, one or more electrical sensors. The sensor system may generate signals indicating the current location of the robot 100 as it progresses along the floor surface 50, as described herein. The controller 108 may be configured to execute instructions to perform one or more operations as described herein.

[0021] The drive wheels 112 may be supported by the body 102 of the robot 100, may be partially within the housing 102, and may extend through a bottom portion of the housing 102. The wheels 112 may also be connected to a shaft and may be rotatable therewith, and the wheels 112 may be configured to be driven by motors 114 to propel the robot 100 along the surface 50 of the environment 40, and the motors 114 may be in communication with the controller 108 to control such movement of the robot 100 in the environment 40.

[0022] The skids 116 may be low-friction elements connected to the robot's body 102 and may be passive objects configured to help balance the robot 100 in the environment 40. Together, the drive wheels 112 and the skids 116 may cooperate to support the chassis 102 above the floor surface 50. For example, one skid 116 may be positioned at the rear portion of the chassis 102, and the drive wheels 112 may be positioned in front of the skids 116. In another example, the cleaning robot 100 may include two wheels 112 and casters to help balance the cleaning robot 100.

[0023] The dust pan 122 may be connected to the body 102 and may be engageable with the floor surface 50 (as shown in FIG. 1B ) to help direct debris 75 from the environment 40 toward the suction duct 139 for collection in the collection bin 138. The rollers 118 may also be engageable with the dust pan 122 to direct debris 75 toward the suction duct 139. As discussed in more detail below, the dust pan 122 may be actively or passively retractable to help improve the mobility of the robot 100.

[0024] The cliff sensors 124 may be positioned along a bottom portion of the housing 102. Each of the cliff sensors 124 may be an optical sensor that may be configured to detect the presence or absence of an object below it, such as the floor surface 50. The cliff sensors 124 may be connected to the controller 108. The proximity sensor 126 may be positioned near a front portion of the housing 102. In other examples, the proximity sensor 126 may be positioned in other portions of the housing 102. The proximity sensor 126 may comprise an optical sensor that faces outward from the housing 102 and may be configured to generate a signal based on the presence or absence of an object in front of the optical sensor. The proximity sensor 126 may be connected to the controller.

[0025] The bumper 128 may be removably secured to the housing 102 or may be movable relative to the housing 102 while being mounted to the housing 102. In some examples, the bumper 128 may form part of the housing 102. The collision sensor 130 may be connected to the housing 102 and may be engageable or configured to interact with the bumper 128. The collision sensor 130 may comprise a break beam sensor, a capacitive sensor, a switch, or other sensor capable of detecting contact between the robot 100, i.e., the bumper 128, and an object in the environment 40. The collision sensor 130 may be connected to the controller 108.

[0026] The robot may optionally include an image capture device, which may be a camera connected to the housing 102. The image capture device may be configured to generate signals based on images of the environment 40 of the robot 100 as the robot 100 moves across the floor surface 50.

[0027] The obstacle monitoring sensors 132 may comprise optical sensors facing outward from the sides of the housing 102, which may be configured to detect the presence or absence of objects adjacent to the sides of the housing 102. The obstacle monitoring sensors 132 may emit light beams horizontally, in a direction perpendicular to the forward drive direction F of the robot 100. In some examples, at least some of the proximity sensors 126 and the obstacle monitoring sensors 132 may comprise optical emitters and optical detectors. The optical emitters emit light beams outward from the robot 100, e.g., horizontally outward, and the optical detectors detect reflections of the light beams that reflect off objects near the robot 100. The robot 100 can determine the reflected intensity (or optionally the time of flight of the light beam), for example using the controller 108, to thereby determine the distance between the optical detector and the object, and thus the distance between the robot 100 and the object.

[0028] The brushes 134 may be connected to an underside of the robot 100 and may be connected to motors 136 operable to rotate the side brushes 134 relative to the housing 102 of the robot 100. The side brushes 134 may be configured to engage debris and move the debris toward the cleaning assembly 104 or away from the edge of the environment 40. The motors 136 configured to drive the side brushes 134 may be in communication with the controller 108.

[0029] In some example operations, the robot 100 may be propelled in a forward drive direction or a reverse drive direction. The robot 100 may also be propelled to turn in place or to turn while moving in a forward drive direction or a reverse drive direction.

[0030] The controller 108 can execute software stored in the memory device 110 to operate various motors of the robot 100, causing the robot 100 to perform various driving and cleaning behaviors. For example, when the controller 108 causes the robot 100 to perform a task, the controller 108 can operate the motor 114 to drive the drive wheels 112 and propel the robot 100 along the floor surface 50. The controller 108 can also operate the motor 120 to rotate the rollers 118, the motor 136 to rotate the brushes 134, and the motor of the suction system 119 to generate airflow.

[0031] The roller 118 may be rotatable about an axis (shown in FIG. 1B ) to contact the floor surface 50 and agitate debris 75 on the floor surface 50 as the rotatable member 118 rotates relative to the housing 102. The rotatable member 118 agitates the debris 75 on the floor surface 50 to direct the debris 75 from the cleaning inlet 117 toward a suction duct 139 (shown in FIG. 1B ) and into a dirt bin 138 within the robot 100. The suction system 119 may operate in conjunction with the cleaning assembly 104 to draw the debris 75 from the floor surface 50 into the dirt bin 138. In some cases, the airflow generated by the suction system 119 may create sufficient force to draw the debris 75 on the floor surface 50 upward through the suction duct 139 and into the dirt bin 138. The brush 134 may be rotatable about a non-horizontal axis in a manner that brushes debris on the floor surface 50 into the cleaning path of the cleaning assembly 104 as the robot 100 moves.

[0032] Various sensors on the robot 100 may be used to assist the robot in navigating and cleaning within the environment 40. For example, the cliff sensor 124 may detect obstacles such as drop-offs and cliffs below the portion of the robot 100 where the cliff sensor 124 is located. The cliff sensor 124 may send a signal to the controller 108 so that the controller 108 can reorient the robot 100 based on the signal from the cliff sensor 124. The proximity sensor 126 may generate a signal based on the presence or absence of an object in front of the optical sensor. For example, detectable objects may include obstacles such as furniture, walls, people, and other objects in the environment 40 of the robot 100. The proximity sensor 126 may send a signal to the controller 108 so that the controller 108 can reorient the robot 100 based on the signal from the proximity sensor 126.

[0033] In some examples, the collision sensor 130 can be used to detect movement of the bumper 128 of the robot 100. The collision sensor 130 can send a signal to the controller 108 so that the controller 108 can reorient the robot 100 based on the signal from the collision sensor 130. In some examples, the obstacle monitoring sensor 132 can detect detectable objects, including obstacles such as furniture, walls, people, and other objects in the environment of the robot 100. In some implementations, the sensor system can include obstacle monitoring sensors along the sides, which can detect the presence or absence of objects adjacent to the sides. One or more of the obstacle monitoring sensors 132 can also serve as obstacle detection sensors, similar to the proximity sensors described herein.

[0034] The robot 100 may also include sensors for tracking the distance traveled by the robot 100. For example, the sensor system may include encoders associated with the motors 114 for the drive wheels 112, which may track the distance traveled by the robot 100. In some implementations, the sensors may include optical sensors that face downward toward the floor surface. The optical sensors may be positioned to direct light through the bottom of the robot 100 toward the floor surface 50. The optical sensors may detect reflections of light and may detect the distance traveled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

[0035] The controller 108 can use data collected by sensors in the sensor system to control the driving behavior of the robot 100 during a mission. For example, the controller 108 can use sensor data collected by obstacle detection sensors (cliff sensors 124, proximity sensors 126, and collision sensors 130) of the robot 100 to enable the robot 100 to avoid obstacles in the environment of the robot 100 during a mission.

[0036] The sensor data can also be used by the controller 108 for simultaneous localization and mapping (SLAM) techniques, in which the controller 108 extracts features of the environment represented by the sensor data and builds a map of the floor surface 50 of the environment. Sensor data collected by an image capture device can also be used for techniques such as vision-based SLAM (VSLAM), in which the controller 108 extracts visual features corresponding to objects in the environment 40 and builds a map using these visual features. As the controller 108 directs the robot 100 around the floor surface 50 during a mission, the controller 108 can use SLAM techniques to detect features represented in the collected sensor data and compare them to previously stored features to determine the location of the robot 100 within the map. The map formed from the sensor data can indicate the locations of passable and impassable spaces within the environment. For example, the locations of obstacles can be indicated on the map as impassable spaces, and the locations of open floor spaces can be indicated on the map as passable spaces.

[0037] Sensor data collected by any of the sensors may be stored in the storage device 110. Other data generated for the SLAM technique, including cartography data forming a map, may also be stored in the storage device 110. This data generated during a mission may include persistent data generated during a mission that can be used during further missions. In addition to storing software for causing the robot 100 to perform its actions, the storage device 110 may store data resulting from the processing of the sensor data for access by the controller 108. For example, a map may be usable and updatable from one mission to another by the controller 108 of the robot 100 to navigate the robot 100 about the floor surface 50.

[0038] FIG. 2 shows a perspective view of an example roller 200. Roller 200 can be used in any mobile cleaning robot, such as robot 100, to improve the robot's cleaning capabilities. As previously discussed, an autonomous mobile cleaning robot can be useful for automatically or autonomously cleaning a portion of an environment, such as a room, by collecting debris from surfaces in the room. Collection can be performed using a single roller, such as roller 200. The blades of the single roller can be configured in a herringbone pattern, with the blades on each side of the roller having opposite pitches or helicities. Such a roller with a herringbone pattern can provide improved cleaning performance.

[0039] 3 shows a perspective view of an example roller 300, such as roller 118 from FIGS. 1A and 2. Roller 300 may be engageable with surface 50 of environment 40 (shown in FIG. 1A) to collect debris from surface 50. Roller 300 may be an elongated body and operatively rotatable about longitudinal axis LA. Roller 300 may include a roller core 310, a first elongated member 320, a second elongated member 330, and a spacer 340.

[0040] The roller core 310 can extend along the longitudinal axis LA of the roller 300. The roller core 310 can couple the roller 300 to the mobile robot 100 (FIGS. 1A and 2). The roller core 310 can also provide radial support to the roller 300 when it engages the surface 50 (FIG. 1A). In an example, the roller core 310 can be operably connected at one end to one or more motors, such as the roller motor 120 from FIG. 1A, to rotate the roller 300 about the longitudinal axis LA, and can be supported by bearings at the opposite end. The roller core 310 can be made from one or more of a polymer, a metal, a foam, a ceramic, a composite, an alloy, or the like.

[0041] The first elongated member 320 can be engageable with a floor surface, such as surface 50 from FIG. 1A. The first elongated member 320 can at least partially surround the first portion 312 of the roller core 310. In examples, the first elongated member 320 can be a solid polymer or rubber. In other examples, the first elongated member 320 can be made from a combination or composite material, such as a polymer, rubber, or metal.

[0042] The second elongated member 330 may be engageable with a floor surface, such as surface 50. The second elongated member 330 may at least partially surround the second portion 314 of the roller core 310. In an example, the second elongated member 330 may be a single piece of polymer or rubber. In another example, the second elongated member 330 may be made from a combination or composite material, such as a polymer, rubber, or metal. In an example, the first elongated member 320 and the second elongated member 330 may be configured to contact the floor surface simultaneously while the mobile cleaning robot is cleaning the floor surface. In another example, the first elongated member 320 and the second elongated member 330 may be configured to contact the floor surface at different times. For example, the first elongated member 320 and the second elongated member 330 may be designed to alternately contact the floor surface.

[0043] As shown in FIG. 3 , the first elongated member 320 and the second elongated member 330 may be axially spaced apart from each other at the roller core 310. The space between the first elongated member 320 and the second elongated member 330 can help reduce noise generation by the roller 300 and can help lower the power required to operate the roller 300. However, the gap between the first elongated member 320 and the second elongated member 330 can result in the loss of debris, such as particulate debris within the first elongated member 320 or the second elongated member 330 or between the first elongated member 320 and the second elongated member 330. For example, particulate debris on the surface of the floor between the first elongated member 320 and the second elongated member 330 may not be captured by the roller 300. Additionally, particulate debris within either the first elongate member 320 or the second elongate member 330 may fall into the gap and escape from the first elongate member 320 or the second elongate member 330, respectively. The gap between the first elongate member 320 and the second elongate member 330 may also create a void space that may trap and cause entanglement of fibrous debris, such as, for example, hair, thread, or other fibrous debris. To reduce the gap between the first elongate member 320 and the second elongate member 330 and to help reduce the loss of particulate debris and the accumulation of fibrous debris between the first elongate member 320 and the second elongate member 330, a spacer 340 may be provided between the first elongate member 320 and the second elongate member 330.

[0044] The spacer 340 can at least partially surround the roller core 310 and can be engageable with a floor surface, such as surface 50. The spacer 340 can prevent the roller 300 from losing particulate debris by engaging the particulate debris between the first elongated member 320 and the second elongated member 330, e.g., by lifting or flicking it toward a dustpan, and by preventing particulate debris within the first elongated member 320 or the second elongated member 330 from escaping into the gap between the first elongated member 320 and the second elongated member 330. The spacer 340 can also guide or shuttle fibrous debris between the first elongated member 320 and the second elongated member 330 to prevent the fibrous debris from collecting or becoming wrapped in the gap between the first elongated member 320 and the second elongated member 330. The spacer 340 can be made from a material such as foam, polymer, rubber, or any combination thereof. In other examples, the spacer 340 may include bristles. In examples, the length of the bristles may be adjusted based on the diameter of the bristles. For example, if the bristles have a larger diameter, the bristles may be longer but still have sufficient stiffness to move particulate debris. For example, the bristles may have sufficient stiffness to lift particulate debris from a floor surface or to bounce particulate debris toward the dustpan. In alternative examples, the bristles may have a smaller diameter and be shorter to have sufficient stiffness to move debris. For example, shorter bristles may have sufficient stiffness to lift particulate debris from a floor surface or to bounce particulate debris toward the dustpan.

[0045] 4 shows an enlarged perspective view of an example of a roller 300. The first elongated member 320 may include a first shell 402, a first blade (or wing, hereafter referred to as first blade 404), and a second blade (or wing, hereafter referred to as second blade 406). The first shell 402 may extend the entire length of the first elongated member 320. In other examples, the first shell 402 may extend a portion of the length of the first elongated member 320. The first blade 404 may extend radially outward from the first shell 402. The first blade 404 may extend along at least a portion of the longitudinal axis LA. The second blade 406 may also extend radially outward from the first shell 402. The second blade 406 may extend along at least a portion of the longitudinal axis LA. The first vane 404 and the second vane 406 can be made from a polymer, foam, metal, ceramic, rubber, or any combination thereof. In an example, the first shell 402, the first vane 404, and the second vane 406 can be made from the same material. In another example, the first shell 402, the first vane 404, and the second vane 406 can be made from different materials. In yet another example, the first shell 402 can be made from a first material, and the first vane 404 and the second vane 406 can be made from a second material. In an example, the first vane gap 408 can be between 2 millimeters and 10 millimeters. In another example, the first vane gap 408 can be between 3 millimeters and 5 millimeters.

[0046] The first vane 404 and the second vane 406 may extend around the first elongate member 320, such as in a spiral pattern. The first vane 404 and the second vane 406 may be circumferentially spaced from one another to define a first vane gap 408 therebetween.

[0047] The first vane gap 408 can aid in collecting debris from the floor surface. For example, the first vane gap 408 can be or define at least a portion of a void in the first elongated member 320 within which debris can collect and disperse. The extension of the first vane 404 and the second vane 406 along the first shell 402 can thereby help guide debris within the first vane gap 408 along the first elongated member 320 and toward a cleaning inlet, such as the cleaning inlet 117 from FIGS. 1A and 2 . The first vane gap 408 and the extension of the first vane 404 and the second vane 406 along the first shell 402 can also help disperse debris across the floor surface.

[0048] The first vane gap 408 may also help provide flexibility for the first vane 404 and the second vane 406. For example, the first vane gap 408 may be spaced apart to allow the first vane 404 and the second vane 406 to deflect upon contact with a floor surface. The deflection of the first vane 404 and the second vane 406 may help the first elongated member 320 to collect debris from a variety of different floor surfaces.

[0049] The second elongated member 330 may comprise a second shell 412, a third blade (or wing, hereafter third blade 414), and a fourth blade (or wing, hereafter fourth blade 416). The second shell 412 may extend the entire length of the second elongated member 330. In other examples, the second shell 412 may extend a portion of the length of the second elongated member 330. The third blade 414 may extend radially outward from the second shell 412. The third blade 414 may also extend along at least a portion of the longitudinal axis LA. The fourth blade 416 may extend radially outward from the second shell 412. The fourth blade 416 may also extend along at least a portion of the longitudinal axis LA. The third vane 414 and the fourth vane 416 may be circumferentially spaced apart from one another to define a second vane gap 418 therebetween. The second shell 412, the third vane 414, and the fourth vane 416 may be made from a material such as a polymer, foam, metal, ceramic, rubber, or any combination thereof. In an example, the second shell 412, the third vane 414, and the fourth vane 416 may be made from the same material. In another example, the second shell 412, the third vane 414, and the fourth vane 416 may be made from different materials. In yet another example, the second shell 412 may be made from a first material, and the third vane 414 and the fourth vane 416 may be made from a second material.

[0050] The second vane gap 418 can assist the second elongated member 330 in dust collection and in the malleability of the third vane 414 and the fourth vane 416 in the same manner as discussed above in which the first vane gap 408 can assist the first elongated member 320.

[0051] In an example, the first and second vanes 404, 406 of the first elongate member 320 and the third and fourth vanes 414, 416 of the second elongate member 330 can deflect radially inward and deflect tangentially upon contact with the surface of the floor. The first, second, 406, third, 414, and fourth vanes 416 can together define a deflected diameter 420 (shown in FIG. 1B ) at a point of maximum deflection when any of the first, second, 406, third, 414, or fourth vane 416 deflects from engagement with the floor surface.

[0052] The distortion of the vanes, such as first vane 404, second vane 406, third vane 414, and fourth vane 416, can help the mobile cleaning robot collect debris from surfaces in the environment because the distortion can increase the contact force between the vanes and the debris to help collect debris from surfaces in the environment and to lift the debris into vane gaps, such as first vane gap 408 and second vane gap 418. Because the distortion of the vanes, such as first vane 404, second vane 406, third vane 414, and fourth vane 416, distorts radially inward and tangentially, the vanes increase potential energy that can also help lift particulate debris as roller 300 rotates, which in turn reduces pressure toward an equilibrium state because the vanes are no longer in contact with the floor surface. When the mobile cleaning robot engages large particulate debris, the large particulate debris can distort the first blade 404, the second blade 406, the third blade 414, or the fourth blade 416, increasing the potential energy within the blades and aiding in the collection of the large particulate debris by flicking or lifting the large particulate debris from the floor surface. Any of the first blade 404, the second blade 406, the third blade 414, or the fourth blade 416 can collect the debris from the floor surface and direct it toward a duster, such as the duster 122 in FIG. 1A . In an example, the surface of the floor or particulate debris can come into contact with the first blade 404, causing the first blade 404 to distort toward the second blade 406. Directing the first blade 404 toward the second blade 406 can direct the debris toward the first blade gap 408. Dirt that collects in the first vane gap 408 may be guided towards the dust pan by the first vane 404 and the second vane 406 as the roller 300 rotates.

[0053] In another example, the surface of the floor or particulate debris can come into contact with the third vane 414 and deflect the third vane 414 toward the fourth vane 416. The third vane 414 deflecting toward the fourth vane 416 can direct the debris toward the fourth vane 416. Debris collected in the first vane gap 408 and the second vane gap 418 can be guided, such as lifted or flipped, toward the dust pan by the second vane 406 and the fourth vane 416, respectively, as the roller 300 rotates.

[0054] As the first blade 404, the second blade 406, the third blade 414, and the fourth blade 416 deflect, a gap forms between the first elongated member 320 and the second elongated member 330. The gap between the first elongated member 320 and the second elongated member 330 can increase noise during robot operation and can provide a collection area for fibrous debris between the first elongated member 320 and the second elongated member 330, potentially reducing debris collection at the center of the roller 300. Therefore, a spacer 340 can be provided between the first elongated member 320 and the second elongated member 330 to reduce noise of the roller 300, prevent fibrous debris from collecting between the first elongated member 320 and the second elongated member 330, and prevent debris from escaping the roller 300 between the first elongated member 320 and the second elongated member 330.

[0055] The spacer 340 will be discussed in more detail with reference to FIGS. 5-7. FIG. 5 illustrates a perspective view of an example spacer 340. FIG. 6 illustrates a top view of an example spacer 340. FIG. 7 illustrates a side view of an example spacer 340. The spacer 340 may include a base 426 and a body 430. The body 430 may include a first outer surface 432 and a second outer surface 434. The first surface 432 may be opposite the body 430 from the second surface 434. The body 430 may also include a plurality of wings, including first wings 436A-436N and second wings 438A-438N. In an example, the body 430 may also include a shape extending from the body 430 to prevent fibrous debris from wrapping around the roller 300 between the first elongated member 320 and the second elongated member 330. For example, bristles or wires or the like may extend from the body 430 to reduce the gap between the first elongate member 320 and the second elongate member 330 created by distortion of any portion of the first elongate member 320 or the second elongate member 330.

[0056] The base 426 can be connected to the roller core 310 at a radially inner surface of the base 426. The base 426 can extend circumferentially around the roller core 310 and extend radially outward from the roller core 310. In an example, the base 426 can be integral with the roller core 310. In an example, the base 426 can be connected to the roller core 310 to secure the spacer 340 to the roller core 310. The base 426 can be made from a material such as a plastic, a polymer, a metal, a rubber, a foam, a ceramic, an alloy, or any combination thereof.

[0057] The body 430 can extend circumferentially around the base 426. The body 430 can also extend radially outward from the base 426. The body 430 can be configured to limit debris accumulation between the first elongated member 320 and the second elongated member 330. Thus, the body 430 can fill the entire gap (or at least a portion of the gap) between the first elongated member 320 and the second elongated member 330. The body 430 can be integral with the base 426 such that the base 426 and the body 430 are one and the same, integral component. In an example, the base 426 and the body 430 can be separate components, and the body 430 can be connected to the base 426. The body 430 can be made from a material such as plastic, polymer, foam, ceramic, metal, rubber, or any combination thereof. The body 430 can be made from the same material as the base 426. In other examples, the body 430 can be made from a different material than the base 426 .

[0058] The first vanes 436 can extend axially from the first surface 432 of the body 430. The first vanes 436 can also extend axially from the second surface 434 such that they can extend at least partially from the first surface 432 and the second surface 434 into the first vane gap 408 (as shown in FIG. 4 ). The first vanes 436 can also extend radially outward at an angle from the base 426 to the periphery of the body 430 such that the first vanes 436 at the base 426 can be circumferentially spaced from the first vanes 436 at the periphery of the body 430.

[0059] The second vanes 438 can extend axially from the first surface 432 of the body 430. The second vanes 438 can also extend axially from the second surface 434 such that they can extend at least partially from the first surface 432 and the second surface 434 into the second vane gap 418 (as shown in FIG. 4 ). The second vanes 438 can also extend radially outward at an angle from the base 426 to the periphery of the body 430 such that the second vanes 438 at the base 426 can be circumferentially spaced from the second vanes 438 at the periphery of the body 430.

[0060] The first wing 436 and the second wing 438 can define the maximum bending of the first wing 404, the second wing 406, the third wing 414, or the fourth wing 416. Additionally, the first wing 436 and the second wing 438 can help support the first wing 404, the second wing 406, the third wing 414, and the fourth wing 416 when the first wing 404, the second wing 406, the third wing 414, and the fourth wing 416 are deflected from the surface of the floor. As such, the first wing 436 and the second wing 438 can help prevent plastic deformation of the first wing 404, the second wing 406, the third wing 414, or the fourth wing 416.

[0061] In examples, spacer 340 can have a major diameter 440 such that spacer 340 can be within major diameter 440. Major diameter 440 of spacer 340 can be less than or equal to strained diameter 420. In other examples, major diameter 440 of spacer 340 can be slightly larger than strained diameter 420.

[0062] 3 and 4 , the first vane 404 and the second vane 406 can extend away from the spacer 340 in a first spiral pattern, and the third vane 414 and the fourth vane 416 can extend away from the spacer 340 in a second spiral pattern. In an example, the first spiral pattern can be symmetrical with the second spiral pattern about the spacer 340, thus forming a herringbone pattern across the first elongated member 320 and the second elongated member 330. In other examples, the first vane 404 and the second vane 406 can extend away from the spacer 340 symmetrically in any pattern. For example, the first vane 404 and the second vane 406 can extend horizontally from the spacer 340.

[0063] 8 shows a perspective view of an alternative example roller 800, such as roller 118 from FIGS. 1A and 2 or roller 300 from FIGS. 3 and 4. Roller 800 may be engageable with surface 50 of environment 40 (shown in FIG. 1A) to collect debris from surface 50. Roller 800 may be an elongated body and operatively rotatable about longitudinal axis LA. Roller 800 may include a roller core 810, a first elongated member 820, a second elongated member 830, and a spacer 840.

[0064] As shown in FIG. 8 , the spacer 840 can include bristles extending from the roller core 810. The spacer 840 can function similarly to the spacer 340, as discussed above. As shown in FIG. 8 , the spacer 840 can extend laterally within the first elongated member 820 and the second elongated member 830 to help fill gaps between the first elongated member 820 and the second elongated member 830 that are formed when a portion of either the first elongated member 820 or the second elongated member 830 distorts during rotation of the roller 800. As shown in FIG. 8 , the bristles of the spacer 840 can also extend the entire length of the roller 800, along the first elongated member 320 and the second elongated member 330.

[0065] FIG. 9 shows a schematic diagram of a method 900 according to at least one example of the present disclosure. Method 900 can be a method of operating a mobile cleaning robot with a spacer. More specific examples of method 900 are discussed below. While the steps or actions of the method are shown in a particular order for convenience and clarity, many of the actions discussed may be performed in a different order or in parallel without substantially affecting other actions. Method 900 includes actions performed by multiple different entities, devices, or systems. It is understood that a subset of the actions discussed in method 900 that may be attributable to a single entity, device, or system may be considered separate and independent processes or methods.

[0066] In step 902, method 900 may include operating a drive wheel, such as drive wheel 112 of FIG. 1A of a mobile cleaning robot, to navigate the mobile cleaning robot, such as robot 100 from FIGS. 1A and 2, about an environment, such as surface 50 of environment 40 from FIG. 1B.

[0067] At step 904, method 900 may include operating a cleaning assembly to capture debris from a surface of an environment to operate the mobile cleaning robot in a cleaning mode, where the cleaning assembly may include a roller, such as roller 300 initially shown in FIG. 3, rotatable relative to the body of the mobile cleaning robot and engageable with the surface to direct the debris toward the suction duct. The roller may include a roller core that may extend along a longitudinal axis of the roller. A first elongated member may circumferentially surround a first portion of the roller core. A second elongated member may circumferentially surround a second portion of the roller core. A spacer, such as spacer 340 from FIGS. 3-7, may at least partially circumferentially surround a roller core, such as roller core 310 initially shown in FIG. 3, between a first elongated member, such as first elongated member 320 shown in FIGS. 3 and 4, and a second elongated member, such as second elongated member 330 shown in FIGS. 3 and 4. The spacer may be engageable with a floor surface and may be configured to prevent debris collection between the first elongate member and the second elongate member.

[0068] At step 906, method 900 may include preventing debris within the first elongated member and the second elongated member from collecting between the first elongated member and the second elongated member. For example, the spacer can keep debris within the first elongated member within the first elongated member, such as to encourage lifting of the debris within the first elongated member toward a dust pan, such as dust pan 122 of FIGS. 1A and 2. The spacer can also keep debris within the second elongated member within the second elongated member, such as to encourage lifting of the debris within the second elongated member toward the dust pan.

[0069] In step 908, the method 900 may include directing debris wrapped around the first elongated member toward the second elongated member. In step 910, the method 900 may include directing debris wrapped around the second elongated member toward the first elongated member. For example, hair, threads, strings, or any elongated member that may wrap around a roller or the like may be transferred to a spacer between the first and second elongated members. Reducing the amount of wrapped debris that may collect between the first and second elongated members can reduce the time required to remove the wrapped debris and help maintain the dirt collection performance of the roller. For example, wrapped debris can be collected from either the first or second elongated member toward the end of the roller core so as not to affect the performance of the mobile cleaning robot.

[0070] Additional Notes and Examples The following non-limiting examples of the present subject matter detail particular aspects that, among other things, solve the problems and provide the benefits discussed herein.

[0071] Example 1 is a roller for a mobile cleaning robot comprising: a roller core extending along a longitudinal axis of the roller; a first elongated member engageable with a floor surface, the first elongated member at least partially surrounding a first portion of the roller core; a second elongated member engageable with the floor surface, the second elongated member at least partially surrounding a second portion of the roller core; and a spacer at least partially surrounding the roller core between the first and second elongated members, the spacer engageable with the floor surface and configured to prevent dirt collection between the first and second elongated members.

[0072] In Example 2, the subject matter of Example 1 includes the first elongated member comprising a first shell, a first blade extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, and a second blade extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, the first blade and the second blade being circumferentially spaced from each other to define a first blade gap therebetween.

[0073] In Example 3, the subject matter of Example 2 includes the first vane and the second vane extending in a first spiral pattern around the first elongate member.

[0074] In Example 4, the subject matter of Example 3 includes the second elongate member further comprising: a second shell; a second vane extending radially outward from the second shell and extending along at least a portion of the longitudinal axis; and a fourth vane extending radially outward from the second shell and extending along at least a portion of the longitudinal axis, the third vane and the fourth vane being circumferentially spaced from one another to define a second vane gap therebetween.

[0075] In Example 5, the subject matter of Example 4 includes the third vane and the fourth vane extending from the spacer in a second helical pattern, the second helical pattern being symmetrical about the spacer to the first helical pattern.

[0076] In Example 6, the subject matter of Examples 4-5 includes that the spacer comprises a base connected to the roller core, extending circumferentially around the roller core and extending radially outward from the roller core, and a body extending circumferentially around the base and extending radially outward from the base.

[0077] In Example 7, the subject matter of Example 6 includes the spacer body further comprising: a first feather extending axially from a first surface of the body, the first feather also extending axially from the second surface such that the first feather extends at least partially from the first surface and a second surface of the body into the first vane gap; and a second feather circumferentially spaced from the first feather and extending axially from the first surface, the second feather also extending axially from the second surface such that the second feather extends at least partially from the first surface and the second surface into the second vane gap.

[0078] In Example 8, the subject matter of Example 7 includes the first and second vanes of the first elongated member and the third and fourth vanes of the second elongated member compress radially inwardly, provided that the first elongated member or the second elongated member contacts the floor, and the first, second, third, and fourth vanes together define a strained diameter at a position of maximum strain when any of the first, second, third, and fourth vanes strains from engagement with the floor surface.

[0079] In Example 9, the subject matter of Example 8 includes the spacer having a major diameter such that the spacer is within the major diameter, and the major diameter of the spacer is less than or equal to the distorted diameter.

[0080] In Example 10, the subject matter of Examples 7-9 includes, wherein the first surface of the body and the second surface of the body define a width of the body.

[0081] In Example 11, the subject matter of Example 10 includes the body having a width between 2 millimeters and 10 millimeters.

[0082] In Example 12, the subject matter of Examples 6-11 includes the spacer comprising a first portion and a second portion, the first portion and the second portion being removably coupled to one another.

[0083] In Example 13, the subject matter of Examples 6-12 includes, wherein the body of the spacer comprises a plurality of bristles extending radially outward from the body of the spacer.

[0084] Example 14 is a mobile cleaning robot comprising: a body including a suction duct; and a cleaning assembly operable to capture debris from a surface of an environment, the cleaning assembly comprising a roller rotatable relative to the body and engageable with the surface to direct the debris towards the suction duct, the roller comprising a roller core extending along a longitudinal axis of the roller, a first elongated member circumferentially surrounding a first portion of the roller core, a second elongated member circumferentially surrounding a second portion of the roller core, and a spacer at least partially circumferentially surrounding the roller core between the first elongated member and the second elongated member, the spacer being engageable with a floor surface and configured to prevent debris collection between the first elongated member and the second elongated member.

[0085] In Example 15, the subject matter of Example 14 includes the first elongated member comprising a first shell, a first wing extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, and a second wing extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, the first wing and the second wing being circumferentially spaced from each other to define a first wing gap therebetween.

[0086] In Example 16, the subject matter of Example 15 includes, wherein the first wing and the second wing extend in a spiral pattern around the first elongated member.

[0087] In Example 17, the subject matter of Example 16 includes the second elongate member further comprising a second shell, a second wing extending radially outward from the second shell and extending along at least a portion of the longitudinal axis, and a fourth wing extending radially outward from the second shell and extending along at least a portion of the longitudinal axis, the third wing and the fourth wing being circumferentially spaced from each other to define a second wing gap therebetween.

[0088] In Example 18, the subject matter of Example 17 includes the spacer comprising: a base connected to the roller core and extending circumferentially around at least a portion of the roller core and extending radially outward from the roller core; and a body extending circumferentially around at least a portion of the base and extending radially outward from the base, the body comprising a first surface extending circumferentially around the body and a second surface opposite the first surface and extending circumferentially around the body.

[0089] In Example 19, the subject matter of Example 18 includes the spacer body further comprising: a first feather extending axially from the first surface, the first feather also extending axially from the second surface such that the first feather extends at least partially from the first surface and the second surface into the first blade gap; and a second feather circumferentially spaced from the first feather and extending axially from the first surface, the second feather also extending axially from the second surface such that the second feather extends at least partially from the first surface and the second surface into the second blade gap.

[0090] In Example 20, the subject matter of Example 19 includes wherein the first wing and the second wing of the first elongated member and the third wing and the fourth wing of the second elongated member compress radially inwardly under the condition that the first elongated member or the second elongated member contacts a surface of the environment, and the first wing, the second wing, the third wing, and the fourth wing together define a strained diameter at a location of maximum strain when any of the first wing, the second wing, the third wing, and the fourth wing strains from engagement with the surface of the environment.

[0091] In Example 21, the subject matter of Example 20 includes the spacer having a major diameter at a periphery of the spacer, the major diameter of the spacer being less than or equal to the distorted diameter of the first elongate member and the second elongate member.

[0092] Example 22 is a method of operating a mobile cleaning robot, the method including: operating drive wheels of the mobile cleaning robot to navigate the mobile cleaning robot about an environment; and operating a cleaning assembly to capture debris from surfaces in the environment to operate the mobile cleaning robot in a cleaning mode, the cleaning assembly comprising a roller rotatable relative to a body of the mobile cleaning robot and engageable with a surface to direct the debris toward a suction duct, the roller comprising a roller core extending along a longitudinal axis of the roller, a first elongated member circumferentially surrounding a first portion of the roller core, a second elongated member circumferentially surrounding a second portion of the roller core, and a spacer at least partially circumferentially surrounding the roller core between the first elongated member and the second elongated member, the spacer being engageable with a floor surface and configured to prevent debris collection between the first elongated member and the second elongated member.

[0093] In Example 23, the subject matter of Example 22 includes directing debris on the first elongated member toward the second elongated member with a spacer.

[0094] In Example 24, the subject matter of Example 23 includes using a spacer to direct debris on the second elongated member toward the first elongated member.

[0095] In Example 25, the subject matter of Example 24 includes the steps of preventing debris within the first elongate member and the second elongate member from collecting between the first elongate member and the second elongate member, directing debris wrapped around the first elongate member toward the second elongate member, and directing debris wrapped around the second elongate member toward the first elongate member.

[0096] Example 26 is an apparatus equipped with means for carrying out any one of Examples 1 to 25.

[0097] In Example 27, the apparatus or method of any one or any combination of Examples 1 through 25 may be optionally configured such that all of the elements or options described are available for use or selection.

[0098] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of example, specific embodiments that may be practiced. These embodiments are also referred to herein as "examples." Such examples may include elements in addition to those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. Furthermore, the inventors also contemplate examples that use any combination or permutation of those elements (or one or more aspects thereof) shown or described, either with respect to the specific example (or one or more aspects thereof) or with respect to any other example (or one or more aspects thereof) shown or described herein.

[0099] All publications, patents, and patent documents referenced herein are incorporated by reference in their entirety as if individually incorporated by reference. In the event of a conflicting usage between this document and those documents so incorporated by reference, the usage in the incorporated references shall be considered supplemental to the usage in this document, and to the extent of any conflict, the usage in this document shall control.

[0100] The terms "a" or "an" are used herein, as is common in patent documents, to include one or more, independently of any other instance or use of "at least one" or "one or more." The term "or" is used herein to refer non-exclusively, unless otherwise indicated, to include "A or B," such as "A but not B," "B but not A," and "A and B." In the appended claims, the terms "including" and "in which" are used as the plain English equivalents of the respective terms "comprising" and "wherein." Also, in the following claims, the terms "including" and "comprising" are intended to be open-ended, i.e., systems, devices, articles, or processes that include elements in addition to the elements listed after such terms in a claim are still deemed to be within the scope of that claim. Moreover, in the following claims, terms such as "first," "second," and "third" are used merely as labels and are not intended to impose numerical requirements on their objects.

[0101] The above description is intended to be illustrative, not limiting. For example, the examples in the foregoing description (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be utilized by those skilled in the art, etc., upon review of the foregoing description. The Abstract is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims, but will allow the reader to quickly ascertain the nature of the technical disclosure. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be construed as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Accordingly, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separate embodiment. The scope of the embodiments should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. [Explanation of symbols]

[0102] 50 Floor surface 75 Garbage 100 Mobile Cleaning Robot 102 Housing, main body 104 Cleaning assembly 106 Control System 108 Control device 110 Storage device 112 driving wheel 114 Motor 116 Support Skid 117 Cleaning Entrance 118 Rollers, cleaning wheels, rotatable members 119 Suction System 120 Roller motor 122 Dust removal, guide section 124 Cliff Sensor 126 Proximity Sensor 128 Buffer 130 Collision sensor 132 Fault monitoring sensor 134 Brush, Lateral Brush 136 Motor 138 Garbage bins, collection bins 139 Suction duct 200 Laura 300 Laura 310 Roller core 312 First Part 314 Second Part 320 First elongated member 330 Second elongated member 340 Spacer 402 First Shell 404 First Feather 406 Second Feather 408 First blade gap 412 Second Shell 414 Third Feather 416 Fourth Feather 418 Second blade gap 420 distorted diameter 426 Basics 430 main body 432 first outer surface 434 Second outer surface 436, 436A, 436B, 436N First Feather 438, 438A, 438B, 438N Second Feather 440 main diameter 800 Lola 810 Roller core 820 First elongated member 830 Second elongated member 840 Spacer F forward drive direction LA Longitudinal Axis

Claims

1. A roller for a mobile cleaning robot, the roller comprising: a roller core extending along the longitudinal axis of the roller; a first elongated member engageable with a floor surface, the first elongated member at least partially surrounding a first portion of the roller core; a second elongated member engageable with the floor surface, the second elongated member at least partially surrounding a second portion of the roller core; a spacer at least partially surrounding the roller core between the first elongated member and the second elongated member, the spacer being engageable with the floor surface and configured to prevent debris collection between the first elongated member and the second elongated member; and A roller equipped with:

2. The first elongated member comprises: a first shell; a first vane extending radially outward from the first shell and extending along at least a portion of the longitudinal axis; a second blade extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, the first blade and the second blade being circumferentially spaced from one another to define a first blade gap therebetween; and The roller of claim 1 further comprising:

3. The second elongated member comprises: a second shell; and a third vane extending radially outward from the second shell and extending along at least a portion of the longitudinal axis; a fourth blade extending radially outward from the second shell and extending along at least a portion of the longitudinal axis, the third blade and the fourth blade being circumferentially spaced from one another to define a second blade gap therebetween; and The roller of claim 2 further comprising:

4. 4. The roller of claim 3, wherein the first and second vanes extend in a first spiral pattern around the first elongated member, and the third and fourth vanes extend in a second spiral pattern from the spacer, the second spiral pattern being symmetrical to the first spiral pattern about the spacer.

5. The spacer is a foundation connected to the roller core, extending circumferentially around the roller core and extending radially outward from the roller core; a body extending circumferentially around the foundation and extending radially outward from the foundation; 5. The roller according to claim 3 or 4, comprising:

6. The body of the spacer comprises: a first vane extending axially from a first surface of the body, the first vane also extending axially from the second surface such that the first vane extends at least partially from the first surface and from a second surface of the body into the first vane gap; a second vane circumferentially spaced from the first vane and extending axially from the first surface, the second vane also extending axially from the second surface such that the second vane extends at least partially from the first surface and the second surface into the second vane gap; The roller of claim 5 further comprising:

7. 7. The roller of claim 6, wherein the first and second vanes of the first elongated member and the third and fourth vanes of the second elongated member compress radially inward when the first elongated member or the second elongated member contacts the floor, and the first, second, third, and fourth vanes together define a deflected diameter at a point of maximum deflection when any of the first, second, third, and fourth vanes deflects from engagement with the floor surface.

8. 8. The roller of claim 7, wherein the spacer has a major diameter within which the spacer lies, the major diameter of the spacer being less than or equal to the distorted diameter.

9. 9. The roller of claim 5, wherein the spacer comprises a first portion and a second portion, the first portion and the second portion being removably coupled to one another.

10. 10. A roller according to any one of claims 5 to 9, wherein the body of the spacer comprises a plurality of bristles extending radially outwardly from the body of the spacer.

11. A mobile cleaning robot, a main body including a suction duct; 1. A cleaning assembly operable to capture debris from a surface in an environment, said cleaning assembly comprising: a roller rotatable relative to the body and engageable with the surface to direct debris towards the suction duct, the roller comprising: a roller core extending along the longitudinal axis of the roller; a first elongated member circumferentially surrounding a first portion of the roller core; a second elongated member circumferentially surrounding a second portion of the roller core; and a spacer at least partially circumferentially surrounding the roller core between the first elongated member and the second elongated member, the spacer being engageable with the surface and configured to prevent debris collection between the first elongated member and the second elongated member. A roller a cleaning assembly comprising: A mobile cleaning robot comprising:

12. The first elongated member comprises: a first shell; a first wing extending radially outward from the first shell and extending along at least a portion of the longitudinal axis; a second blade extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, the first blade and the second blade being circumferentially spaced from one another to define a first blade gap therebetween; and The mobile cleaning robot of claim 11 .

13. 13. The mobile cleaning robot of claim 12, wherein the first wing and the second wing extend in a spiral pattern around the first elongated member.

14. The second elongated member comprises: a second shell; and a third wing extending radially outward from the second shell and extending along at least a portion of the longitudinal axis; a fourth wing extending radially outward from the second shell and extending along at least a portion of the longitudinal axis, the third wing and the fourth wing being circumferentially spaced from one another to define a second wing gap therebetween; and The mobile cleaning robot of claim 13, comprising:

15. The spacer is a foundation connected to the roller core, extending circumferentially around at least a portion of the roller core, and extending radially outward from the roller core; a body extending circumferentially around at least a portion of the foundation and extending radially outward from the foundation, the body comprising: a first surface extending circumferentially around the body; and a second surface opposite the first surface and extending circumferentially around the body; A main body and The mobile cleaning robot of claim 14, comprising:

16. The body of the spacer comprises: a first vane extending axially from the first surface, the first vane also extending axially from the second surface such that the first vane extends at least partially from the first surface and the second surface into the first blade gap; a second vane circumferentially spaced from the first vane and extending axially from the first surface, the second vane also extending axially from the second surface such that the second vane extends at least partially from the first surface and the second surface into the second vane gap; The mobile cleaning robot of claim 15 further comprising:

17. 17. The mobile cleaning robot of claim 16, wherein the first wing and the second wing of the first elongated member and the third wing and the fourth wing of the second elongated member compress radially inward when the first elongated member or the second elongated member contacts a surface of an environment, and the first wing, the second wing, the third wing, and the fourth wing together define a strained diameter at a point of maximum strain when any of the first wing, the second wing, the third wing, and the fourth wing strains from engagement with the surface of the environment.

18. 18. The mobile cleaning robot of claim 17, wherein the spacer has a major diameter around the periphery of the spacer, the major diameter of the spacer being less than or equal to the distorted diameter of the first elongate member and the second elongate member.

19. 1. A method of operating a mobile cleaning robot, comprising: operating drive wheels of the mobile cleaning robot to navigate the mobile cleaning robot about an environment; operating a cleaning assembly to capture debris from surfaces in the environment so as to operate the mobile cleaning robot in a cleaning mode, the cleaning assembly comprising: a roller rotatable relative to a body of the mobile cleaning robot and engageable with the surface to direct debris toward a suction duct, a roller core extending along the longitudinal axis of the roller; a first elongated member circumferentially surrounding a first portion of the roller core; a second elongated member circumferentially surrounding a second portion of the roller core; and a spacer at least partially circumferentially surrounding the roller core between the first elongated member and the second elongated member, the spacer being engageable with the surface of the environment and configured to prevent debris collection between the first elongated member and the second elongated member; A roller comprising the steps of: A method comprising:

20. preventing debris within the first elongated member and the second elongated member from collecting between the first elongated member and the second elongated member; directing debris wrapped around the first elongated member toward the second elongated member; directing debris wrapped around the second elongated member toward the first elongated member; 20. The method of claim 19, comprising:

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