US Patent 10913310 Robotic floor cleaning device with expandable wheels

Provided is a wheel including: a main housing with a series of apertures disposed radially thereabout; an inner shaft disposed within the main housing and rotatably coupled thereto; a set of spokes distributed radially around the inner shaft and attached thereto at a first end, each spoke positioned within one of the series of apertures in the main housing; a set of linkages distributed radially around the inner shaft and attached to a second end of the spokes, the linkages positioned within the apertures; and a set of rollers distributed radially around the inner shaft and mounted on the linkages; wherein the spokes, linkages, and rollers can be moved from a first, contracted position, to a second, expanded position.