As well as the delicate and pet owner brushrolls, Kirby's standard brush roller is also available in regular and stiff bristle variants. The latter was introduced with the Diamond Edition if I remember correctly, and has carried on through to the present day Sentria II. As is usually the case with Kirby it is backwards compatible, allowing this upgrade to be fitted to any model from the G5 onwards.
Other than those already mentioned, the only other brand I can think of with interchangeable brushes is Vorwerk. However, the idea here isn't quite the same as what you're getting at (different brushes for different carpet types), rather a means of switching between different cleaning functions. Late model Vorwerks come with a pair of regular brush rollers for vacuuming, a set of beater bars used to vibrate dust mites and dead skin cells out of mattresses, and a pair of densely bristled rollers mounted in cassettes used for dry cleaning. No longer any need for the separate dry cleaning head, as the power nozzle now does everything.