US Patent 10905297 Cleaning head including cleaning rollers for cleaning robots

A robot that includes a cleaning head including a first cleaning roller comprising a first sheath comprising a first shell and a first plurality of vanes extending along the first shell and extending radially outward from the first shell, the first shell tapering from end portions of the first sheath toward a center of the first cleaning roller, and the first plurality of vanes having a uniform height relative to a first axis of rotation of the first cleaning roller; and a second cleaning roller comprising a second sheath comprising a second shell and a second plurality of vanes extending along the second shell and extending radially outward from the second shell, the second shell being cylindrical along an entire length of the second cleaning roller, and the second plurality of vanes having a uniform height relative to a second axis of rotation of the second cleaning roller.