An autonomous coverage robot includes a cleaning assembly having forward roller and rearward rollers counter-rotating with respect to each other. The rollers are arranged to substantially maintain a cross sectional area between the two rollers yet permitting collapsing therebetween as large debris is passed. Each roller includes a resilient elastomer outer tube and a partially air-occupied inner resilient core configured to bias the outer tube to rebound. The core includes a hub and resilient spokes extending between the inner surface of the outer tube and the hub. The spokes suspend the outer tube to float about the hub and transfer torque from the hub to the outer tube while 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 mobile cleaning robot movable within an environment can include a body, a drive arm, a container, a biasing element, and a link. The drive arm can be connected to the body and can be movable with respect to the body. The drive arm can support a drive wheel. The container can be connectable to the body and can be configured to carry a fluid therein. The biasing element can be connected to the drive arm to bias the drive wheel toward a floor surface. The link can be pivotably connected to the body and can be connected to the biasing element. The link can be engageable with the tank to adjust the biasing element based on an amount of the fluid in the container.

The present disclosure relates to an active obstacle crossing control method and system for cleaning robot, and a cleaning robot, the cleaning robot comprises an active obstacle crossing mechanism and an obstacle crossing driving device that drives the motion of the active obstacle crossing mechanism, the method comprises in case where an obstacle is on the cleaning path, identifying the height of the obstacle and the material type of the contact surface before the cleaning robot crosses the obstacle; in case where the height of the obstacles matches a predefined obstacle crossing height range corresponding to the material type, activating the active obstacle crossing function.

An obstacle crossing assembly includes: at least one traveling wheel group, where each traveling wheel group includes a front wheel and a rear wheel; a first connecting member, where the first connecting member is rotatably connected to the front wheel and the rear wheel respectively; and a second connecting member, where the second connecting member is rotatably connected to the first connecting member, the second connecting member is rotatably connected to a device main body of an owning device, and the second connecting member is disposed by extending towards a front end of the front wheel relative to the first connecting member. In an obstacle climbing stage of the front wheel, the first connecting member anticlockwise rotates to a stop position, and/or the second connecting member clockwise rotates to a stop position, to produce upward tension acting on the front wheel.