Robotic vacuum

An autonomous mobile robot for cleaning a cleaning surface comprises:

• a chassis having a drive system mounted therein in communication with a control system;
• a cleaning head assembly having a lower cage and mounted to the chassis;
• a debris collection bin mounted to the chassis;
• a vacuum airway having a vacuum inlet and an airway outlet, and configured to deliver debris from the cleaning head assembly to the debris collection bin, the vacuum airway extending between the cleaning assembly and the debris collection bin;
• a cleaning head module connected to the chassis and having a rotatably engaged front roller comprising a front shape-changing resilient tube positioned adjacent to a rotatably engaged rear roller including a rear shape-changing resilient tube, the front roller and rear roller being located beneath the vacuum inlet to the vacuum airway;
• and
• a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube integrally molded with a plurality of longitudinal vanes distributed about the circumference thereof, and an adjacent rear roller including a rear shape-changing resilient tube integrally molded with a plurality of longitudinal vanes distributed about the circumference thereof, rotatably opposing therewith beneath the vacuum inlet,
• wherein the longitudinal vanes are each less than ⅔ of a narrowest air gap between the front shape-changing resilient tube and the rear shape changing resilient tube, so that the longitudinal vanes agitate and direct debris from a cleaning surface location directly beneath the narrowest air gap to the narrowest air gap.

An autonomous mobile robot for cleaning a cleaning surface comprises:

• a chassis having a drive system mounted therein in communication with a control system;
• a cleaning head assembly having a lower cage and mounted to the chassis;
• a debris collection bin mounted to the chassis;
• a vacuum airway having a vacuum inlet and an airway outlet positioned adjacent the debris collection bin, and configured to deliver debris from the cleaning head assembly to the debris collection bin, the vacuum airway extending between the cleaning head assembly and the debris collection bin and being in fluid communication with an impeller disposed within the debris collection bin;
• and
• a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube and an adjacent rear roller including a rear shape-changing resilient tube rotatably opposing therewith beneath the vacuum inlet,
• wherein a surface of the front shape-changing-tube and a surface rear shape-changing tube are separated by a narrowest air gap such that the vacuum draw directed from the vacuum airway is concentrated within the narrowest air gap,
• wherein a cross sectional area of the narrowest air gap between the front roller and the rear roller is substantially equal to or less than a cross sectional area of the vacuum inlet such that the air flow within the narrowest air gap is substantially equal to or greater than the air flow in the airway, and
• wherein the airway includes a deflecting slope above the narrowest air gap that redirects debris along the vacuum airway toward the debris collection bin.