A robot cleaning system includes a debris collection volume, a vacuum airway configured to deliver debris to the debris collection volume, and a cleaning head in pneumatic communication with the vacuum airway. The cleaning head includes two shape-changing resilient tubes separated by an air gap oppo
A robot cleaning system includes a debris collection volume, a vacuum airway configured to deliver debris to the debris collection volume, and a cleaning head in pneumatic communication with the vacuum airway. The cleaning head includes two shape-changing resilient tubes separated by an air gap opposing the vacuum airway. The cleaning head is operable in a first configuration, where the two shape-changing resilient tubes rotate against a cleaning surface engaged by the cleaning head to agitate debris on the cleaning surface to pass through the air gap and into the vacuum airway, and a second configuration, where both shape changing resilient tubes deform opposite one another to roll an object larger than the air gap to pass into the vacuum airway.
대표청구항▼
1. A robot cleaning system comprising: a debris collection volume;a vacuum airway configured to deliver debris to the debris collection volume; anda cleaning head in pneumatic communication with the vacuum airway, the cleaning head comprising: two resilient shape-changing tubes separated by an air g
1. A robot cleaning system comprising: a debris collection volume;a vacuum airway configured to deliver debris to the debris collection volume; anda cleaning head in pneumatic communication with the vacuum airway, the cleaning head comprising: two resilient shape-changing tubes separated by an air gap opposing the vacuum airway; anda form-following housing surrounding an outer circumferential periphery of each of the shape-changing tubes, the housing spaced from a radially outermost part of each of the shape-changing tubes by less than or equal to about 1 mm;wherein the cleaning head is operable in: a first configuration wherein the two shape-changing tubes rotate against a cleaning surface to agitate debris to pass through the air gap and into the vacuum airway; anda second configuration wherein both shape-changing tubes deform opposite one another to roll an object larger than the air gap to pass into the vacuum airway. 2. The robot cleaning system of claim 1, wherein upon the introduction of an object larger than the air gap, one or more of the shape-changing tubes partially deforms in cross section from a circular cross-sectional shape to an altered cross-sectional shape to permit the debris to roll between the shape-changing tubes. 3. The robot cleaning system of claim 1, wherein a narrowest portion of the air gap has a width of between about 1 mm and about 2 mm. 4. The robot cleaning system of claim 1, wherein each of the shape-changing tubes has a circumferential wall and a plurality of agitator vanes extending outwardly along the circumferential wall. 5. The robot cleaning system of claim 4, wherein each agitator vane extends from the circumferential wall by a height of at least 10% of a diameter of the respective shape-changing tube, and a narrowest portion of the air gap is formed between respective agitator vanes of the two opposing shape-changing tubes. 6. The robot cleaning system of claim 4, wherein the housing surrounds between about 125 degrees and about 175 degrees of an outer circumferential periphery of each of the shape-changing tubes, the form-following housing spaced from a radially outermost part of each of the shape-changing tubes by a distance that allows one or more air dams to form between the agitator vanes and the housing. 7. A robot cleaning system comprising: a debris collection volume;a vacuum airway configured to deliver debris to the debris collection volume; anda cleaning head in pneumatic communication with the vacuum airway, the cleaning head comprising: two resilient shape-changing tubes separated by an air gap opposing the vacuum airway, each shape-changing tube having a circumferential wall;a plurality of agitator vanes extending outwardly along the circumferential wall of each shape-changing tube to agitate and direct debris from a cleaning surface location directly beneath the vacuum airway through the air gap, the agitator vanes extending into the air gap, the agitator vanes of one shape-changing tube non-overlapping with the agitator vanes of the other shape-changing tube; anda form-following housing surrounding between about 125 degrees and about 175 degrees of an outer circumferential periphery of each of the shape-changing tubes, the housing spaced from a radially outermost part of each of the shape-changing tubes by a distance that allows one or more air dams to form between the agitator vanes and the housing;wherein the cleaning head is operable in: a first configuration wherein the two shape-changing tubes rotate against a cleaning surface engaged by the cleaning head to agitate debris on the cleaning surface to pass through the air gap and into the vacuum airway; anda second configuration wherein both shape-changing tubes deform opposite one another to roll an object larger than the air gap to pass into the vacuum airway. 8. The robot cleaning system of claim 7, wherein the housing is spaced from the radially outermost part of each of the shape-changing tubes by less than or equal to about 1 mm. 9. The robot cleaning system of claim 7, wherein upon the introduction of an object larger than the air gap, one or more of the shape-changing tubes partially deforms in cross section from a circular cross-sectional shape to an altered cross-sectional shape and/or deforms off-center to permit the debris to roll between the shape-changing tubes. 10. The robot cleaning system of claim 7, wherein a narrowest portion of the air gap has a width of between about 1 mm and about 2 mm. 11. The robot cleaning system of claim 10, wherein the housing surrounds about 150 degrees of an outer circumferential periphery of each of the shape-changing tubes. 12. The robot cleaning system of claim 7, wherein a cross sectional area of the air gap between the shape-changing tubes is substantially equal to or less than a cross sectional area of the vacuum airway. 13. The robot cleaning system of claim 7, wherein a ratio of the area of the air gap to an area of a planar cross section taken across the vacuum airway is between about 1:1 and 10:1. 14. The robot cleaning system of claim 13, wherein a ratio of the area of the air gap to an area of a planar cross section taken across the vacuum airway is about 4:1. 15. The robot cleaning system of claim 7, wherein each agitator vane extends from the corresponding circumferential wall by a height of at least 10% of a diameter of the respective shape-changing tube and a narrowest portion of the air gap formed between respective agitator vanes of the two opposing shape-changing tubes has a width of about 1 mm. 16. The robot cleaning system of claim 7, wherein at least one agitator vane defines a V-shaped chevron, the chevron having a central tip, a first leg extending from the central tip to a first end of the shape-changing tube and a second leg extending from the central tip to a second end of the shape-changing tube, the legs of the V-shaped chevron arranged at an angle of between about 5 degrees and about 10 degrees relative to a linear longitudinal path traced on a surface of the corresponding circumferential wall and extending from the first end of the shape-changing tube to the second end of the shape-changing tube, the central tip of the V-shaped chevron located directly in line with a center of the vacuum airway. 17. A robot cleaning system comprising: a debris collection volume;a vacuum airway configured to deliver debris to the debris collection volume; anda cleaning head in pneumatic communication with the vacuum airway, the cleaning head comprising: two resilient shape-changing tubes separated by an air gap opposing the vacuum airway;a plurality of agitator vanes extending outwardly along the circumferential wall of each shape-changing tube; anda form-following housing surrounding between about 125 degrees and about 175 degrees of an outer circumferential periphery of each of the shape-changing tubes, the housing spaced from a radially outermost part of each of the shape-changing tubes by a distance that allows one or more air dams to form between the agitator vanes and the housing;wherein the cleaning head is operable in: a first configuration wherein the two shape-changing tubes rotate against a cleaning surface engaged by the cleaning head to agitate debris on the cleaning surface to pass through the air gap and into the vacuum airway; anda second configuration wherein both shape changing resilient tubes deform opposite one another to roll an object larger than the air gap to pass into the vacuum airway. 18. The robot cleaning system of claim 17, wherein the housing is spaced from a radially outermost part of each of the shape-changing tubes by less than or equal to about 1 mm. 19. The robot cleaning system of claim 17, wherein a portion of the vacuum airway defines a deflecting slope above the air gap that redirects debris along the vacuum airway toward the debris collection bin, the deflecting slope having an angle of about 45 degrees relative to a vertical axis with respect to the cleaning surface. 20. The robot cleaning system of claim 19, wherein the deflecting slope of the vacuum airway comprises a rigid material adjoined to a remainder of the vacuum airway at a sealed elastomeric overmolded joint. 21. The robot cleaning system of claim 20, wherein the elastomeric overmolded joint is downstream from the deflecting slope and has a downward slope in an operating position. 22. The robot cleaning system of claim 17, wherein the cleaning head further comprises a mounting linkage attached to a rearward portion of the cleaning head, the linkage configured to lift the cleaning head assembly from the cleaning surface by pivoting the cleaning head about one or both ends of the mounting linkage.
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