# US 11,998,151 B2 · Cleaning roller for cleaning robots > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,151 B2 - Document ID: US11998151B2 - Status: Granted - Kind: B2 - Application number: 17/705,895 - Filed: 2022-03-28 - Published: 2022-07-14 - Granted: 2024-06-04 - Earliest claimed: 2016-12-15 - Assignees: iRobot Corporation - Applicants: iRobot Corporation - Inventors: William Goddard; Matthew Blouin - Web page: https://patentgrep.com/patent/US11998151B2 ## CPC - A47L 11/4041: {Roll shaped surface treating tools} - A47L 9/0477: {Rolls} - A47L 11/24: Floor-sweeping machines, motor-driven - A47L 11/4013: {Contaminants collecting devices, i.e. hoppers, tanks or the like} - A47L 11/4044: {Vacuuming or pick-up tools; Squeegees} - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) ## Abstract A cleaning roller mountable to a cleaning robot includes an elongate shaft extending from a first end portion to a second end portion along an axis of rotation. The first and second end portions are mountable to the cleaning robot for rotating about the axis of rotation. The cleaning roller further includes a core affixed around the shaft and having outer end portions positioned along the elongate shaft and proximate the first and second end portions. The core tapers from proximate the first end portion of the shaft toward a center of the shaft. The cleaning roller further includes a sheath affixed to the core and extending beyond the outer end portions of the core. The sheath includes a first half and a second half each tapering toward the center of the shaft. ## Claims ### Claim 1 An autonomous cleaning robot comprising: a body; a drive operable to move the body across a floor surface; a first cleaning roller mounted to the body and rotatable about a first axis; and a second cleaning roller mounted to the body and rotatable about a second axis parallel to the first axis, wherein an outer surface of the first cleaning roller and an outer surface of the second cleaning roller define a separation between the outer surface of the first cleaning roller and the outer surface of the second cleaning roller, the separation extending along the first axis and increasing towards a center of a length of the first cleaning roller, and wherein the first cleaning roller comprises a vane extending radially outwardly from the outer surface of the first cleaning roller. ### Claim 2 (depends on 1) The autonomous cleaning robot of claim 1, wherein the separation increases linearly toward the center of the length of the first cleaning roller. ### Claim 3 (depends on 1) The autonomous cleaning robot of claim 1, wherein the separation is between 5 and 30 millimeters at the center of the length of the first cleaning roller. ### Claim 4 (depends on 1) The autonomous cleaning robot of claim 1, wherein the length of the first cleaning roller is between 20 and 30 centimeters. ### Claim 5 (depends on 1) The autonomous cleaning robot of claim 1, wherein a forward portion of the body has a substantially rectangular shape, and the first and second cleaning rollers are mounted to an underside of the forward portion of the body. ### Claim 6 (depends on 1) The autonomous cleaning robot of claim 1, further comprising: a vacuum assembly operable to generate an airflow through the separation to facilitate ingestion of debris from the floor surface; and a cleaning bin to receive the debris ingested from the floor surface. ### Claim 7 (depends on 1) The autonomous cleaning robot of claim 1, further comprising: one or more actuators to drive the first cleaning roller and the second cleaning roller, and a controller to operate the one or more actuators to rotate the first cleaning roller in a first direction and the second cleaning roller in a second direction opposite the first direction during a cleaning operation to facilitate ingestion of debris from the floor surface. ### Claim 8 (depends on 7) The autonomous cleaning robot of claim 7, wherein the first cleaning roller comprises a sheath defining the outer surface of the first cleaning roller, the sheath defining collection wells to store a portion of the debris. ### Claim 9 (depends on 1) The autonomous cleaning robot of claim 1, wherein a height of the vane proximate to a first end portion of the first cleaning roller is less than the height of the vane proximate to the center of the length of the first cleaning roller. ### Claim 10 (depends on 9) The autonomous cleaning robot of claim 9, wherein the height of the vane proximate to the first end portion of the first cleaning roller is between 1 and 5 millimeters, and the height of the vane proximate to the center of the length of the first cleaning roller is between 10 and 30 millimeters. ### Claim 11 (depends on 9) The autonomous cleaning robot of claim 9, wherein the height of the vane proximate to the first end portion of the first cleaning roller is 5% to 45% of the height of the vane proximate to the center of the length of the first cleaning roller. ### Claim 12 (depends on 1) The autonomous cleaning robot of claim 1, wherein the separation is constant during a rotation of the first cleaning roller about the first axis relative to the body. ### Claim 13 (depends on 12) The autonomous cleaning robot of claim 12, wherein the second cleaning roller comprises a vane extending radially outwardly from the outer surface of the second cleaning roller. ### Claim 14 (depends on 13) The autonomous cleaning robot of claim 13, wherein the vane of the first cleaning roller and the vane of the second cleaning define an air gap between the vane of the first cleaning roller and the vane of the second cleaning roller, wherein the air gap varies during the rotation of the first cleaning roller about the first axis relative to the body. ### Claim 15 A cleaning assembly for an autonomous cleaning robot, the cleaning assembly comprising: a first cleaning roller mountable to the autonomous cleaning robot along a first axis, the first cleaning roller being rotatable about the first axis when mounted to the autonomous cleaning robot; and a second cleaning roller mountable to the autonomous cleaning robot along a second axis parallel to the first axis, the second cleaning roller being rotatable about the second axis when mounted to the autonomous cleaning robot, wherein an outer surface of the first cleaning roller and an outer surface of the second cleaning roller define a separation between the outer surface of the first cleaning roller and the outer surface of the second cleaning roller, the separation extending along the first axis and increasing towards a center of a length of the first cleaning roller, and wherein the first cleaning roller comprises a vane extending radially outwardly from the outer surface of the first cleaning roller. ### Claim 16 (depends on 15) The cleaning assembly of claim 15, wherein the separation increases linearly toward the center of the length of the first cleaning roller. ### Claim 17 (depends on 15) The cleaning assembly of claim 15, wherein the separation is between 5 and 30 millimeters at the center of the length of the first cleaning roller. ### Claim 18 (depends on 15) The cleaning assembly of claim 15, wherein the length of the first cleaning roller is between 20 and 30 centimeters. ### Claim 19 (depends on 15) The cleaning assembly of claim 15, wherein the first cleaning roller comprises a sheath defining the outer surface of the first cleaning roller, the sheath defining collection wells to receive a portion of debris collected by the autonomous cleaning robot. ### Claim 20 (depends on 15) The cleaning assembly of claim 15, wherein a height of the vane proximate to a first end portion of the first cleaning roller is less than the height of the vane proximate to the center of the length of the first cleaning roller. ### Claim 21 (depends on 20) The cleaning assembly of claim 20, wherein the height of the vane proximate to the first end portion of the first cleaning roller is between 1 and 5 millimeters, and the height of the vane proximate to the center of the length of the first cleaning roller is between 10 and 30 millimeters. ### Claim 22 (depends on 20) The cleaning assembly of claim 20, wherein the height of the vane proximate to the first end portion of the first cleaning roller is 5% to 45% of the height of the vane proximate to the center of the length of the first cleaning roller.