Patent ID: 8910342

Claim:
A robot cleaning system comprising: 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 comprising: two resilient shape-changing tubes separated by an air gap opposing the vacuum airway; and a 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; and a 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.