Abstract: An autonomous cleaning robot includes a drive system to maneuver the autonomous cleaning robot across a floor surface; a cleaning assembly for cleaning the floor surface; and a sensor system disposed at a forward portion of the autonomous cleaning robot. The sensor system includes a movable element having (i) a first configuration in which the movable element extends beyond a bottom surface of the autonomous cleaning robot by a first amount, and (ii) a second configuration in which the movable element extends beyond the bottom surface of the autonomous cleaning robot by a second amount less than the first amount; a spring mechanically coupled to the movable element, the spring being biased to hold the movable element in the first configuration; and a sensor assembly configured to generate a signal based on the configuration of the movable element.

Abstract: A mobile cleaning robot can include a body, a pad assembly, and a pad drive system. The pad assembly can be connected to the body and can be movable relative thereto. The pad drive system can be connected to the body and can be operable to move the pad assembly relative to the body between a stored position and a cleaning position.

Abstract: A wheel for an autonomous cleaning robot that maneuvers the robot on a floor surface includes a tire having first and second opposing outer edges and a middle portion having a tread pattern between the first and second outer edges, the tread pattern comprising a plurality of raised tread having trenches therebetween. Each of the plurality of raised tread includes a first raised tread portion extending from the first outer edge to the middle portion and substantially perpendicular to the first and second outer edges; a second raised tread portion extending at an angle away from the first raised tread portion; and a third raised tread portion extending from the second raised tread portion to the second outer edge and substantially perpendicular to the first and second outer edges, the third raised tread portion being laterally offset from the first raised tread portion.

Abstract: An autonomous cleaning robot includes a drive system to maneuver the autonomous cleaning robot across a floor surface; a cleaning assembly for cleaning the floor surface; and a sensor system disposed at a forward portion of the autonomous cleaning robot. The sensor system includes a movable element having (i) a first configuration in which the movable element extends beyond a bottom surface of the autonomous cleaning robot by a first amount, and (ii) a second configuration in which the movable element extends beyond the bottom surface of the autonomous cleaning robot by a second amount less than the first amount; a spring mechanically coupled to the movable element, the spring being biased to hold the movable element in the first configuration; and a sensor assembly configured to generate a signal based on the configuration of the movable element.

Abstract: A wheel for an autonomous cleaning robot that maneuvers the robot on a floor surface includes a tire having first and second opposing outer edges and a middle portion having a tread pattern between the first and second outer edges, the tread pattern comprising a plurality of raised tread having trenches therebetween. Each of the plurality of raised tread includes a first raised tread portion extending from the first outer edge to the middle portion and substantially perpendicular to the first and second outer edges; a second raised tread portion extending at an angle away from the first raised tread portion; and a third raised tread portion extending from the second raised tread portion to the second outer edge and substantially perpendicular to the first and second outer edges, the third raised tread portion being laterally offset from the first raised tread portion.