Asymmetric wheel for mobile cleaning robot
An autonomous mobile cleaning robot can include a cleaning assembly and a drive wheel. The cleaning assembly can be configured to lift debris from a surface and direct the debris into a dustpan. The drive wheel can be configured to move the autonomous mobile cleaning robot on the surface. The drive wheel can include a first set of treads configured to climb an obstacle, a second set of treads configured to maintain continuous contact with a surface of a floor, and third set of treads configured to direct water underneath the third set of treads towards a center of the autonomous mobile cleaning robot.
1 . A drive wheel for a mobile cleaning robot, the drive wheel extending circumferentially around a central axis, the drive wheel comprising:
a first wall laterally spaced from a second wall;
a tread base extending between the first wall and the second wall;
a first tread section adjacent to the first wall, the first tread section comprising:
climbing treads extending laterally from the first wall towards the second wall and extending radially from the tread base, each climbing tread of the climbing treads including a circumferential length, each climbing tread of the climbing treads circumferentially spaced from each adjacent climbing tread by a distance substantially equal to the circumferential length;
a second tread section extending from the first tread section toward the second wall, the second tread section comprising:
continuous treads extending circumferentially continuously around the drive wheel and extending radially from the tread base, each continuous tread of the continuous treads laterally spaced from each adjacent continuous tread; and
a third tread section extending between the second tread section and the second wall, the third tread section comprising:
curved treads extending laterally and arcuately from a first edge adjacent to the second tread section to a second edge adjacent to the second wall, the curved treads extending radially from the tread base.
2 . The drive wheel of claim 1 , wherein the climbing treads comprise a first width and the continuous treads comprise a second width, and wherein a ratio between the first width and the second width is between 2 and 9.
3 . The drive wheel of claim 1 , wherein the curved treads comprise a first curved tread set and a second curved tread set.
4 . The drive wheel of claim 3 , wherein the first curved tread set comprises a first groove depth and the second curved tread set comprises a second groove depth, and wherein a ratio between the first groove depth and the second groove depth is between 1.4 and 1.8.
5 . The drive wheel of claim 3 , wherein the first curved tread comprises a first curved tread width and the second curved tread comprises a second curved tread width, and wherein a ratio between the second curved tread width and the first curved tread width is between 1 and 1.5.
6 . The drive wheel of claim 1 , further comprising:
a first treaded surface formed on the tread base, the first treaded surface including the first tread section, the second tread section, and the third tread section; and
a second treaded surface formed on the tread base opposite the first treaded surface, the second treaded surface extending from the first wall to the second wall, and the second treaded surface radially spaced from the first treaded surface.
7 . The drive wheel of claim 6 , wherein the second treaded surface comprises:
a first set of treads extending laterally from the first wall, extending circumferentially, and extending radially from the tread base, each tread of the first set of treads circumferentially spaced from each adjacent tread on the second treaded surface.
8 . The drive wheel of claim 7 , wherein the second treaded surface also comprises:
a second set of treads extending laterally from the second wall, extending circumferentially, and extending radially from the tread base, each tread of the second set of treads circumferentially spaced from each adjacent tread on the second treaded surface.
9 . The drive wheel of claim 8 , wherein the second treaded surface also comprises:
a ridge extending circumferentially around the second treaded surface, extending laterally, and extending radially from the tread base between the first set of treads and the second set of treads.
10 . The drive wheel of claim 8 , wherein the first treaded surface and the second treaded surface are configured to alternate between a radially outward position and a radially inward position by rotating the drive wheel about a circumferential midline of the tread base.