Robotic vacuum cleaning system

A cleaning assembly for a coverage robot, the cleaning assembly comprising:

• a cleaning head frame and a roller housing, the cleaning head frame defining a portion to which the roller housing is movably linked or immovably attached to the robot;
• a forward roller and a rearward roller counter-rotating with respect to each other in the roller housing to retrieve debris from a cleaning surface engaged by the rollers, the forward and rearward rollers arranged to substantially maintain a cross sectional area between the two rollers yet permitting collapsing therebetween as large debris is passed, each roller comprising:
• an integrally and homogenously formed resilient elastomer outer tube having inner and outer surfaces and defining a longitudinal axis;
• and
• a partially air-occupied inner resilient core more resilient than the outer tube and configured to bias the outer tube to rebound, the core comprising:
• a hub disposed along the longitudinal axis of the outer tube;
• and
• resilient spokes extending between the inner surface of the outer tube and the hub, the spokes suspending the outer tube to float about the hub and transferring torque from the hub to the outer tube, a trace length of each resilient spoke being longer than a radial distance between the hub and the inner surface of the outer tube, allowing the outer tube to momentarily deform or move offset from the hub during impact with debris larger than the cross sectional area between the two rollers.

A resilient compressible roller for rotatable engagement with an autonomous coverage robot, the roller comprising:

• a resilient flexible tube having inner and outer surfaces and defining a longitudinal axis;
• a hub disposed within the resilient flexible tube along the longitudinal axis;
• a rigid drive shaft supporting the hub and rotatably attachable to the robot;
• resilient spokes extending between the inner surface of the tube and the hub, the spokes suspending the tube to float about the hub and transferring torque from the drive shaft to the tube, a trace length of each spoke being longer than a radial distance between the drive shaft and the inner surface of the tube, allowing the tube to momentarily deform or move offset from the drive shaft during impact with debris;
• and
• at least one agitator extending outwardly from the outer surface of the tube;
• wherein the at least one agitator is integrally formed with the tube and 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 tube and a second leg extending from the central tip to a second end of the tube.