ES2987130T3 - Autonomous cleaning robot equipped with a wet cleaning device - Google Patents

Abstract

The autonomous cleaning robot (2) comprises a main body (3) having a bottom face (4) and a suction opening (5) opening into the bottom face (4); a wet cleaning device (14) comprising two mop holders (15) each of which are mounted so as to be movable in translation relative to the main body (3) in a translation direction (T), and two mops mounted respectively on the two mop holders (15); and two drive wheels (7) configured to roll on the surface to be cleaned and mounted so as to be movable in rotation on the main body (3) respectively about two rotation axes which are substantially parallel. The two mop holders (15) are located at the rear of the rotation axes of the drive wheels (7), and the translation direction (T) extends substantially parallel to the rotation axes of the two drive wheels (7). (Automatic translation with Google Translate, without legal value)

Description

DESCRIPTION

Autonomous cleaning robot equipped with a wet cleaning device

Technical area

The present invention relates to the field of autonomous cleaning devices equipped with a wet cleaning device, and more particularly to the field of robot vacuum cleaners that can move autonomously on a surface to be cleaned and that make it possible to suck up dust and debris present on the surface to be cleaned, which may be, for example, tiles, parquet, laminate, carpet or a rug, and possibly to wash the surface to be cleaned simultaneously with a suction operation.

State of the art

Autonomous cleaning robots have become common nowadays, allowing entire surfaces of a room to be cleaned without the user's help, provided that these surfaces are flat, i.e. at the same level. They thus offer users considerable time savings for other activities.

Document EP3257416A1 describes an autonomous cleaning robot comprising:

• a main body including a bottom face that is configured to be oriented towards a surface to be cleaned and a suction opening provided in a front part of the main body and opening into the bottom face of the main body,

• a wet cleaning device including two mop holders each movably mounted in translation relative to the main body in a translational direction, and two mops removably mounted respectively on the two mop holders, the mops being configured to be in contact with the surface to be cleaned, and

• two drive wheels configured to roll on the surface to be cleaned and mounted so that they can rotate on the main body, respectively, around two rotation axes that are substantially parallel.

According to EP3257416A1, the two mop holders are respectively mounted on a front part of the main body and a rear part of the main body, and are arranged on both sides of the rotation axes of the drive wheels. Furthermore, according to EP3257416A1, the translation direction of the mop holders extends parallel to a main direction of travel of the autonomous cleaning robot, i.e. along a longitudinal direction of the autonomous cleaning robot.

The fact that the mop supports move parallel to the main direction of travel of the wet cleaning robot substantially increases the risk of the drive wheels slipping on the surface to be cleaned when the mops do not exert the same friction forces on the floor to be cleaned (for example, due to different wear or soiling of one mop compared to the other, or due to the movement of the two mops on two different surfaces to be cleaned).

However, such slippages are likely to impair the autonomous navigation of the autonomous cleaning robot, thus requiring the autonomous cleaning robot to stop the ongoing cleaning operation and communicate with its host station in order to reposition itself in space (which increases the cleaning duration of a floor and reduces the cleaning performance of the autonomous cleaning robot). In order to overcome such a drawback, one could consider equipping the autonomous cleaning robot with a more complex and expensive control unit (which would be able to take the above-mentioned slippages into account to control the navigation of the autonomous cleaning robot), which would, however, substantially increase the manufacturing costs of the autonomous cleaning robot.

Furthermore, due to the arrangement of the mop holders respectively in front of and behind the drive wheels, the support forces exerted on the floor to be cleaned by each of the mops are low because these support forces are mainly taken up by the side wheels arranged between the two mop holders, which limits the cleaning performance of the cleaning robot described in EP3257416A1. A cleaning robot comprising a main body, a suction unit and a wet cleaning device is known from US-A-2020383547.

Compendium of invention

The present invention aims to remedy these drawbacks.

The technical problem underlying the invention consists in particular in providing an autonomous cleaning robot that is simple in structure, inexpensive and compact, while having high cleaning performances.

For this purpose, the invention relates to an autonomous cleaning robot comprising:

• a main body including a bottom face that is configured to be oriented towards a surface to be cleaned and a suction opening provided in a front part of the main body and opening into the bottom face of the main body,

• a suction unit which is housed at least partially in the main body and which is configured to generate an air flow through the suction opening,

• a wet cleaning device including two mop holders each movably mounted in translation relative to the main body in a translational direction, and two mops removably mounted respectively on the two mop holders, the mops being configured to be in contact with the surface to be cleaned and

• two drive wheels configured to roll on the surface to be cleaned and mounted so that they can rotate on the main body, respectively, around two rotation axes that are substantially parallel.

The two mop holders are located behind the rotation axes of the drive wheels, and the translation direction runs substantially parallel to the rotation axes of the two drive wheels. In other words, the translation direction runs transversely to a main direction of travel of the autonomous cleaning robot.

Such an arrangement of the mop holders, specifically behind the rotation axes of the drive wheels, makes it possible to increase the supporting force exerted by each of the mops on the surface to be cleaned, and therefore to increase the friction of the wet cleaning device on the surface to be cleaned, due to the weight exerted by the main body on the wet cleaning device. Thus, such an arrangement of the mop holders increases the scraping efficiency of the wet cleaning device on the floor and, therefore, the cleaning quality of the autonomous cleaning robot.

In addition, such an arrangement of the mop holders prevents the drive wheels from rolling over a wet area that has just been cleaned by the mops and therefore prevents the appearance of traces that could affect the quality of the cleaning performed.

Furthermore, the fact that the mop holders move parallel to the axes of rotation of the two drive wheels, i.e. transversely to the main direction of travel of the wet cleaning robot, and not for example parallel to the main direction of travel, substantially limits the risk of the drive wheels slipping on the surface to be cleaned when the mops do not exert the same friction forces on the floor to be cleaned (for example due to wear or different soiling of one mop compared to the other, or due to the movement of the two mops on two different surfaces to be cleaned).

Compared to an autonomous cleaning robot equipped with longitudinally moving mop holders, a transverse displacement of the mop holders also limits the length size of the autonomous cleaning robot, while optimizing the surface of the mops that will be seen by a task during a movement of the autonomous cleaning robot. Indeed, due to the alternating movements of the mop holders and the proximity of the drive wheels, it would be necessary either to reduce the dimensions of the mops in a longitudinal direction so as not to affect the longitudinal dimensions of the autonomous cleaning robot (which would be detrimental to the cleaning quality of the autonomous cleaning robot), or to increase the dimensions of the autonomous cleaning robot to allow longitudinal movements of large mops.

The autonomous cleaning robot of the present invention is designed, like most autonomous cleaning robots, to clean floors efficiently when traveling in a direction of travel parallel to the longitudinal axis of the autonomous cleaning robot and in a predetermined direction of travel. The direction of travel parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined direction of travel define a main direction of travel of the autonomous cleaning robot of the present invention. In this way, a front part or a rear part of the main body of the autonomous cleaning robot is identified with respect to the main direction of travel of the autonomous cleaning robot.

The autonomous cleaning robot may also have one or more of the following features, taken alone or in combination.

According to one embodiment of the invention, the suction opening is located in front of the axes of rotation of the drive wheels.

According to one embodiment of the invention, the two mop holders are arranged side by side.

According to one embodiment of the invention, the axes of rotation of the two drive wheels are collinear.

According to one embodiment of the invention, the wet cleaning device is arranged at a rear part of the main body.

In one embodiment of the invention, the mop holders are mounted movable relative to each other between a close configuration where the two mop holders are close to each other and a distant configuration where the two mop holders are distant from each other.

In one embodiment of the invention, the autonomous cleaning robot includes a translation drive mechanism configured to move the mop supports in translation according to the direction of translation, and preferably according to reciprocating movements.

In one embodiment of the invention, the translation drive mechanism is configured to move the mop supports in translation according to the direction of translation and alternately between the close configuration and the remote configuration.

According to one embodiment of the invention, the translation drive mechanism is located at least partially above one of the mop supports.

In one embodiment of the invention, the translation drive mechanism is configured to move the two mop holders in translation in opposite phase. In other words, the translation drive mechanism is configured to move the two mop holders in translation in alternating movements and in opposite directions of movement.

According to one embodiment of the invention, each of the mops is configured to exert a support force on the surface to be cleaned when the autonomous cleaning robot rests on the surface to be cleaned. Advantageously, the support force is greater than 5 N, and for example greater than or equal to 9 N.

According to one embodiment of the invention, the two mop holders are arranged on either side of a median longitudinal plane of the main body. In this document, the term "median longitudinal plane" means a vertical plane that is parallel to the main direction of travel and that divides the main body into two substantially equal parts.

According to one embodiment of the invention, the autonomous cleaning robot is configured such that, when the autonomous cleaning robot rests on a surface to be cleaned, a rear part of the autonomous cleaning robot rests on said surface to be cleaned directly by the two mops. Such a configuration of the autonomous cleaning robot allows the mops to directly take at least part of the mass of the autonomous cleaning robot, and therefore further increase the support force exerted by each of the mops on the floor to be cleaned. Therefore, said configuration of the autonomous cleaning robot allows to further improve the cleaning quality of the autonomous cleaning robot.

According to one embodiment of the invention, the two mop holders are positioned relative to the main body such that the two mop holders are not cut by any vertical plane passing through the axes of rotation of the wheels equipping the autonomous cleaning robot, and such that the two mop holders are not located at least partially between two vertical planes passing respectively through two axes of rotation of the wheels equipping the autonomous cleaning robot. Such a configuration of the autonomous cleaning robot also allows the mops to directly take over at least part of the mass of the autonomous cleaning robot and thus further improve the cleaning quality of the autonomous cleaning robot. On the contrary, if the mop supports were cut by a vertical plane passing through the axes of rotation of the wheels equipped with the autonomous cleaning robot (and for example two drive wheels) or arranged between wheels of the autonomous cleaning robot whose axes of rotation are parallel (for example between the axes of rotation of the drive wheels and the axis of rotation of a rear wheel), the forces resulting from the mass of the autonomous cleaning robot would be taken up by the wheels and not by the mop supports.

According to one embodiment of the invention, the autonomous cleaning robot is devoid of an additional wheel located behind the rotation axes of the two drive wheels.

According to one embodiment of the invention, the autonomous cleaning robot includes additional wheels, mounted so as to move in rotation on the main body, and configured to roll on the surface to be cleaned, all the additional wheels being located in front of the rotation axes of the two drive wheels.

According to one embodiment of the invention, the autonomous cleaning robot includes a power supply battery configured to electrically supply the autonomous cleaning robot, the power supply battery being located at least partially above one of the mop holders. Such an arrangement of the power supply battery makes it possible to increase the support force exerted by at least one of the mops on the surface to be cleaned, and therefore to further increase the scraping efficiency of the wet cleaning device on the floor and, therefore, the cleaning quality of the autonomous cleaning robot.

According to one embodiment of the invention, the centre of gravity of the power battery is located above one of the mop supports.

According to one embodiment of the invention, the power supply battery is located entirely above one of the mop supports.

According to one embodiment of the invention, the suction unit is located at least partially above one of the mop holders. Such an arrangement of the suction unit makes it possible to increase the support force exerted by at least one of the mops on the surface to be cleaned and thus to further increase the scraping efficiency of the wet cleaning device on the floor and therefore the cleaning quality of the autonomous cleaning robot.

According to one embodiment of the invention, the suction unit comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate the air flow through the suction opening.

According to one embodiment of the invention, the centre of gravity of the suction unit is located above one of the mop supports.

According to one embodiment of the invention, the suction unit is located entirely above one of the mop supports.

According to one embodiment of the invention, the suction unit and the power supply battery are arranged on either side of the median longitudinal plane of the main body. Such an arrangement of the suction unit and the power supply battery makes it possible to better distribute the masses of the autonomous cleaning robot and thus to balance the support forces exerted by the two mops on the surface to be cleaned. These arrangements therefore provide the autonomous cleaning robot with even better cleaning performance.

According to one embodiment of the invention, the wet cleaning device is removably mounted relative to the main body.

According to one embodiment of the invention, the wet cleaning device is configured to be removed from the main body by means of a translational movement directed towards the rear of the main body. In this way, the removal of the wet cleaning device can be carried out without lifting the autonomous cleaning robot and, therefore, without the risk of the autonomous cleaning robot falling in the event of improper handling of the latter by the user.

According to one embodiment of the invention, the wet cleaning device includes an internal housing in which the translational drive mechanism is arranged.

According to one embodiment of the invention, the wet cleaning device comprises first guide means configured to cooperate with second guide means provided on the main body during mounting of the wet cleaning device on the main body, to guide the wet cleaning device according to a guide direction.

According to one embodiment of the invention, the first guide means include at least one guide rib, and the second guide means include at least one guide groove.

According to one embodiment of the invention, the second guide means are provided on the lower face of the main body.

According to one embodiment of the invention, the wet cleaning device includes a first electrical connector configured to cooperate with a second electrical connector mounted on the main body during a mounting of the wet cleaning device on the main body according to a mounting direction that is directed towards the front of the main body. Such a configuration of the first and second electrical connectors makes it possible to ensure an easy and automatic connection of the latter during the mounting of the wet cleaning device on the main body.

According to one embodiment of the invention, the autonomous cleaning robot includes a locking mechanism configured to lock the wet cleaning device on the main body. Such a locking mechanism makes it possible to limit the risks of untimely removal of the wet cleaning device.

According to one embodiment of the invention, the locking mechanism comprises a locking element, such as a locking button, which is operable by a user and which is provided on the main body or the wet cleaning device, the locking element being movably mounted between a locking position in which the locking element is configured to cooperate with a locking element provided on the wet cleaning device or the main body to lock the wet cleaning device on the main body and a release position in which the locking element is configured to release the locking element to allow a removal of the wet cleaning device from the main body.

According to one embodiment of the invention, the autonomous cleaning robot includes an ejection element configured to eject the wet cleaning device away from the main body and towards the rear of the main body when the locking element is displaced into the release position. The presence of said ejection element makes it easier to remove the wet cleaning device.

In one embodiment of the invention, the ejection element includes an ejection face configured to bear against the wet cleaning device. Advantageously, the ejection element is housed at least partially in a receiving cavity provided in the main body.

In one embodiment of the invention, the ejection element is movable between a retracted position in which the ejection face of the ejection element is located retracted or close to an insertion opening of the receiving cavity, and a deployed position in which the ejection face of the ejection element protrudes from the receiving cavity and is located at a distance from the insertion opening of the receiving cavity.

According to one embodiment of the invention, the wet cleaning device is configured to move the ejection element to the retracted position when the wet cleaning device is mounted on the main body.

According to one embodiment of the invention, the ejection element is slidably mounted relative to the main body along a sliding direction that is substantially parallel to the main direction of travel of the autonomous cleaning robot, i.e. substantially perpendicular to the rotation axes of the two drive wheels.

In accordance with one embodiment of the invention, the autonomous cleaning robot includes a biasing element, such as a compression spring, configured to bias the ejection element toward the deployed position.

According to one embodiment of the invention, the locking element is movable in an actuation direction that is substantially vertical when the autonomous cleaning robot rests on a horizontal surface.

In one embodiment of the invention, the locking mechanism includes a biasing element, such as a compression spring, configured to bias the locking element toward the locking position.

According to one embodiment of the invention, the locking element is provided at a rear part of the main body.

In accordance with one embodiment of the invention, the locking element includes a locking finger, and the locking element includes a locking housing configured to cooperate with the locking finger.

In one embodiment of the invention, the autonomous cleaning robot includes a cleaning liquid tank, and the wet cleaning device comprises a plurality of liquid outlet holes that are configured to be fluidly connected to the cleaning liquid tank and that are configured to feed cleaning liquid to mops mounted on the mop holders, the liquid outlet holes being located at the front of the mop holders.

According to one embodiment of the invention, the cleaning liquid tank is mounted, for example removably, on the main body.

According to one embodiment of the invention, the autonomous cleaning robot includes a cleaning liquid supply circuit provided in the main body and configured to fluidly connect the liquid outlet holes to the cleaning liquid tank. Advantageously, the cleaning liquid supply circuit includes a distributor housed in the main body, the distributor comprising a collection chamber extending transversely to the main travel direction of the autonomous cleaning robot and being fluidly connected to the cleaning liquid tank, and a plurality of evacuation holes opening into the collection chamber and distributed along the collection chamber.

According to one embodiment of the invention, each evacuation hole is located opposite a respective passage hole provided in the main body and opening onto the lower face of the main body. Advantageously, each passage hole is located opposite a respective liquid outlet hole.

According to one embodiment of the invention, the liquid outlet holes are located at the front of the mops. Advantageously, the liquid outlet holes are located behind the rotation axes of the drive wheels.

According to one embodiment of the invention, the liquid outlet holes are substantially aligned in an alignment direction extending substantially parallel to the rotation axes of the two drive wheels, i.e. transversely to the main direction of travel of the autonomous cleaning robot. Such an arrangement of the liquid outlet holes allows a more homogeneous dispersion of the cleaning liquid on the mops, which allows to further improve the cleaning quality of the autonomous cleaning robot according to the present invention.

According to one embodiment of the invention, the autonomous cleaning robot includes a lifting ramp extending substantially parallel to the axes of rotation of the two drive wheels, i.e. transversely to the main direction of travel of the autonomous cleaning robot, and which is located in front of the mop supports, the lifting ramp including a lifting surface which is oriented towards a surface to be cleaned and which is inclined backwards and downwards, the lifting surface being configured to cause a lifting of a rear part of the main body when an obstacle, which is presented frontally to the autonomous cleaning robot during a forward movement of the main body, comes into contact with said lifting surface and slides on said lifting surface. The presence of said lifting ramp facilitates overcoming frontal obstacles encountered by the autonomous cleaning robot.

According to one embodiment of the invention, the lifting surface is configured to be inclined with respect to the horizontal at an angle of inclination of between 10 and 40° when the autonomous cleaning robot rests on a horizontal surface. Advantageously, the angle of inclination is between 20 and 30°, and is, for example, approximately 25°.

In one embodiment of the invention, the liquid outlet holes are provided on the lifting ramp and are distributed along the lifting ramp. Advantageously, the liquid outlet holes open onto the lifting surface.

According to one embodiment of the invention, the lifting ramp has a length that substantially corresponds to the distance between the two drive wheels.

According to one embodiment of the invention, the lifting ramp is provided on the wet cleaning device.

According to one embodiment of the invention, the autonomous cleaning robot comprises a rotating cleaning brush mounted so as to be rotatably movable on the main body about a rotation axis of the brush. Advantageously, the rotation axis of the brush extends substantially parallel to the rotation axes of the drive wheels. In other words, the rotation axis of the brush extends transversely to the main direction of travel of the autonomous cleaning robot.

According to an advantageous feature of the invention, the two drive wheels are side wheels of the autonomous cleaning robot.

Brief description of the figures

The objectives, aspects and advantages of the present invention will be better understood according to the description given below of a particular embodiment of the invention presented by way of non-limiting example, with reference to the attached drawings, where:

Figure 1 is a top perspective view of an autonomous cleaning robot according to the present invention. Figure 2 is a bottom perspective view of the autonomous cleaning robot of Figure 1.

Figure 3 is a partial bottom perspective view of the autonomous cleaning robot of Figure 1.

Figure 4 is a bottom view of the autonomous cleaning robot in Figure 1.

Figure 5 is a side view of the autonomous cleaning robot in Figure 1.

Figure 6 is a longitudinal sectional view of the autonomous cleaning robot of Figure 1.

Figure 7 is an enlarged view of a detail of Figure 6.

Figure 8 is a partial longitudinal sectional view of the autonomous cleaning robot of Figure 1 showing a wet cleaning device removed from a main body of the autonomous cleaning robot.

Figure 9 is a top perspective view of the autonomous cleaning robot of Figure 1 showing the wet cleaning device removed from the main body.

Figure 10 is a front perspective view of the wet cleaning device.

Figure 11 is a partial front perspective view of the wet cleaning device.

Figure 12 is a partial bottom perspective view of the autonomous cleaning robot of Figure 1 on which the wet cleaning device has been deposited.

Figure 13 is a top perspective view of the autonomous cleaning robot of Figure 1 showing a replacement module being mounted on the main body.

Figure 14 is a partial longitudinal sectional view of the autonomous cleaning robot of Figure 1 showing the replacement module being mounted on the main body.

Detailed description

Only the elements necessary for understanding the invention are shown. To facilitate reading of the drawings, the same elements have the same references from one figure to another.

It will be noted that in this document, the terms "horizontal", "vertical", "lower", "upper", "below" used to describe the autonomous cleaning robot or the main body refer to the autonomous cleaning robot in use situation when it rests by its wheels on a floor to be cleaned that is flat and horizontal.

Figures 1 to 14 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously over a surface to be cleaned.

The autonomous cleaning robot 2 comprises a main body 3 including a lower face 4 that is configured to be oriented towards the surface to be cleaned, and a suction opening 5 that is provided in a front part 3.1 of the main body 3 and that opens into the lower face 4 of the main body 3. Advantageously, the suction opening 5 is elongated and extends transversely, and more particularly perpendicularly, to a main direction C of travel of the autonomous cleaning robot 2.

The autonomous cleaning robot 2 further comprises a rotating cleaning brush 6 mounted so as to be rotatably movable on the main body 3 about a brush rotation axis extending transversely, and more particularly perpendicularly, to the main direction of travel D. Advantageously, the brush rotation axis is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

The autonomous cleaning robot 2 also comprises a drive mechanism (not visible in the figures) which is configured to rotate the rotating cleaning brush 6 around the brush rotation axis.

As shown more particularly in Figures 2 to 4, the autonomous cleaning robot 2 comprises two drive wheels 7 which are configured to roll on the surface to be cleaned. The two drive wheels 7 are mounted so as to be rotatably movable relative to the main body 3, and have rotation axes which are parallel and advantageously collinear. Advantageously, the rotation axes of the drive wheels 7 extend perpendicularly to the main direction D of movement.

The two driving wheels 7 are configured to protrude from the bottom face 4 of the main body 3, and are arranged on both sides of a median longitudinal plane P of the main body 3. Advantageously, the two driving wheels 7 are arranged symmetrically with respect to the median longitudinal plane P of the main body 3, and are side wheels of the autonomous cleaning robot 2.

Advantageously, the two drive wheels 7 are motorized independently of one another. Thus, the autonomous cleaning robot 2 comprises two rotational drive mechanisms 8 housed in the main body 3 and each configured to rotate a respective drive wheel 7 between the two drive wheels 7. Each rotational drive mechanism 8 includes a drive motor rotatably coupled to the respective drive wheel 7 and arranged for example on a respective lateral part of the main body 3. Depending on the control of the two aforementioned drive motors, the main body 3 can pivot to the left, to the right or on itself, move forward or backward.

According to the embodiment shown in the figures, the autonomous cleaning robot 2 includes additional wheels 9 mounted to rotate freely relative to the main body 3, and for example two additional wheels 9 arranged at the front part 3.1 of the main body 3. Advantageously, all the additional wheels 9 are located in front of the axes of rotation of the two drive wheels 7, so that the autonomous cleaning robot 2 is devoid of an additional wheel located behind the axes of rotation of the two drive wheels 7.

The autonomous cleaning robot 2 further comprises a suction unit 11 which is housed in the main body 3. The suction unit 11 comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate an air flow through the suction opening 5.

The autonomous cleaning robot 2 also comprises a debris collection device 12 (see Figure 6) which is arranged upstream of the suction unit 11 and which is traversed by the air flow generated by the fan when the autonomous cleaning robot 2 is in operation.

The autonomous cleaning robot 2 also includes a power battery 13 configured to electrically supply the autonomous cleaning robot 2. Advantageously, the power battery 13 is rechargeable and is housed in the main body 3.

As shown in particular in Figure 2, the autonomous cleaning robot 2 further comprises a wet cleaning device 14 which is arranged at a rear part 3.2 of the main body 3. Advantageously, the wet cleaning device 14 is arranged on the opposite side of the rotating cleaning brush 6 with respect to the rotation axes of the drive wheels 7.

The wet cleaning device 14 includes two mop holders 15 which are arranged side by side and which are located behind the rotation axes of the drive wheels 7. Advantageously, the two mop holders 15 are arranged on both sides of the median longitudinal plane P of the main body 3, and are configured to extend substantially horizontally when the main body 3 rests on a horizontal surface.

As shown more particularly in Figure 3, the two mop supports 15 are positioned relative to the main body 3 such that the two mop supports 15 are not cut by any vertical plane passing through the axes of rotation of the wheels equipping the autonomous cleaning robot 2, and such that the two mop supports 15 are not located at least partially between two vertical planes passing respectively through two axes of rotation of the wheels equipping the autonomous cleaning robot 2.

Advantageously, the power supply battery 13 is located at least in part, and for example in its entirety, above one of the mop supports 15, and the suction unit 11 is located at least in part, and for example in its entirety, above the other of the mop supports 15. Thus, the suction unit 11 and the power supply battery 13 are arranged on both sides of the median longitudinal plane P of the main body 3.

Each of the two mop supports 15 is mounted so as to be mobile in translation relative to the main body 3 along a translation direction T which extends transversely, and advantageously perpendicularly, to the main direction D of travel of the autonomous cleaning robot 2.

Advantageously, the mop holders 15 are mounted movable relative to each other between a close configuration in which the two mop holders 15 are close to each other, and a distant configuration in which the two mop holders 15 are distant from each other.

The wet cleaning device 14 also includes a translation drive mechanism 16 configured to translate the mop holders 15 in the translation direction T and alternately between the near configuration and the distant configuration. Thus, the translation drive mechanism 16 is configured to move the two mop holders 15 translationally in anti-phase. Advantageously, the translation drive mechanism 16 is located at least partially above the mop holders 15.

According to the embodiment shown in the figures, the translation drive mechanism 16 comprises a drive motor 16.1, a crankshaft 16.2 rotatably coupled to the drive motor 16.1 and configured to be rotatably driven by the drive motor 16.1, and two connecting rods 16.3 each comprising a first end portion articulatedly mounted on the crankshaft 16.2 and a second end portion articulatedly mounted on a respective mop support 15.

The wet cleaning device 14 further includes two mops 17 removably mounted respectively on the two mop holders 15. The mops 17 are configured to be in contact with the surface to be cleaned, and more particularly to exert a supporting force on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned. The supporting force may be, for example, greater than or equal to 9 N.

Advantageously, the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, a rear part of the autonomous cleaning robot 2 rests on said surface to be cleaned directly by the two mops 17.

As shown more particularly in Figures 8 to 12, the wet cleaning device 14 is removably mounted with respect to the main body 3, and the main body 3 comprises a receiving housing 18 in which the wet cleaning device 14 is received, at least in part. The wet cleaning device 14 is advantageously configured to be removed from the main body 3 by a translational movement directed towards the rear of the main body 3.

In accordance with the embodiment shown in the figures, the wet cleaning device 14 includes a support body 19, more particularly comprising a support plate 19. 1, which includes a lower surface on which the mop holders 15 are movably mounted, and a protective cover 19. 2, which is fixed on an upper surface of the support plate 19. 1. The support plate 19. 1 and the protective cover 19. 2 delimit an internal housing 19. 3 in which the translational drive mechanism 16 is arranged. The support body 19 further includes a side wall 19. 4, which extends upwardly from the support plate 19. 1 and which is configured to at least partially cover the receiving housing 18.

As shown in Figures 9 to 13, the wet cleaning device 14 includes first guide means configured to cooperate with second guide means provided on the main body 3 during an assembly of the wet cleaning device 14 on the main body 3 and during a removal of the wet cleaning device 14 from the main body 3, to guide the wet cleaning device 14 according to a guiding direction which is substantially perpendicular to the main travel direction D. The first guide means may include, for example, two guide ribs 21, such as T-shaped guide ribs, provided on the upper surface of the support plate 19. 1, and the second guide means may include, for example, two guide grooves 22, such as T-shaped guide grooves, provided on the bottom face 4 of the main body 3.

According to the embodiment shown in the figures, the wet cleaning device 14 further includes a first electrical connector 23, such as a male or female connector, configured to cooperate with a second electrical connector 24, such as a female or male connector, mounted on the main body 3 during mounting the wet cleaning device 14 on the main body 3 according to a mounting direction that is directed toward the front of the main body 3.

The autonomous cleaning robot 2 also includes a locking mechanism configured to lock the wet cleaning device 14 onto the main body 3. The locking mechanism includes a locking element 25 that is operable by a user and is provided on a rear part of the main body 3, and for example on a rear face of the main body 3.

The locking element 25 is movably mounted between a locking position in which the locking element 25 is configured to cooperate with a locking element 26 provided on the wet cleaning device 14 to lock the wet cleaning device 14 to the main body 3, and a release position in which the locking element 25 is configured to release the locking element 26 to allow a removal of the wet cleaning device 14 from the main body 3. The locking element 25 may include, for example, a locking finger, and the locking element 26 may include, for example, a locking housing configured to receive the locking finger.

Advantageously, the locking element 25 is mounted so as to be movable in translation relative to the main body 3 according to an actuation direction which is substantially vertical when the autonomous cleaning robot 2 rests on a horizontal surface.

According to one embodiment shown in the figures, the locking mechanism includes a biasing element 27, such as a compression spring, configured to bias the locking element 25 towards the locking position.

According to the embodiment shown in the figures, the autonomous cleaning robot 2 also includes an ejection element 28 configured to eject the wet cleaning device 14 away from the main body 3 and towards the rear of the main body 3 when the locking element 25 is moved to the release position. Advantageously, the ejection element 28 is partially housed in a receiving cavity 29 provided in the main body 3, and includes an ejection face 28.1 configured to abut against the wet cleaning device 14.

The ejection element 28 is slidably mounted relative to the main body 3 according to a sliding direction, which is parallel to the main direction D of travel of the autonomous cleaning robot 2, and between a retracted position (see Figure 7) in which the ejection face 28. 1 of the ejection element 28 is located removed or close to an insertion opening of the receiving cavity 29, and a deployed position (see Figure 12) in which the ejection face 28. 1 of the ejection element 28 protrudes from the receiving cavity 29 and is located at a distance from the insertion opening of the receiving cavity 29. Advantageously, the wet cleaning device 14 is configured to move the ejection element 28 to the retracted position when the wet cleaning device 14 is mounted on the main body 3.

As shown more particularly in Figure 7, the autonomous cleaning robot 2 includes a biasing element 31, such as a compression spring, configured to bias the ejection element 28 toward the deployed position.

The autonomous cleaning robot 2 also includes a cleaning liquid tank 32 which is mounted, for example, removably, on the main body 3. Advantageously, the cleaning liquid tank 32 and the debris collection device 12 are superimposed on each other, and are integral with each other. Thus, the autonomous cleaning robot 2 may include, for example, a removable tank including a first compartment forming the cleaning liquid tank 32 and a second compartment forming the debris collection device 12. However, according to an alternative embodiment of the invention, the cleaning liquid tank 32 could be provided directly on the wet cleaning device 14 and therefore be distinct from the debris collection device 12.

The wet cleaning device 14 further includes a plurality of liquid outlet ports 33 that are configured to be fluidly connected to the cleaning liquid reservoir 32 and that are configured to feed cleaning liquid to the mops 17 mounted on the mop holders 15.

According to the embodiment shown in the figures, the liquid outlet holes 33 are aligned according to an alignment direction extending perpendicular to the main direction D of travel of the autonomous cleaning robot 2, and are regularly spaced from each other. Advantageously, the liquid outlet holes 33 are located at the front of the mop holders 15, and for example in front of the mops 17, and are configured to be oriented towards the surface to be cleaned.

The autonomous cleaning robot 2 also includes a cleaning liquid supply circuit provided in the main body 3 and configured to fluidly connect the liquid outlet holes 33 to the cleaning liquid tank 32.

Advantageously, the cleaning liquid supply circuit includes a distributor 35 (see Figure 7) housed in the main body 3. The distributor 35 comprises a collection chamber extending transversely to the main direction of travel of the autonomous cleaning robot 2 and being fluidly connected to the cleaning liquid tank 32, and a plurality of evacuation holes (not visible in the figures) which are provided on a lower face of the distributor, which open into the collection chamber and which are distributed along the collection chamber. Advantageously, each evacuation hole is located opposite a respective through hole 37 (see Figure 12) which is provided in the main body 3 and which opens into the lower face 4 of the main body 3, and each through hole 37 is located opposite a respective liquid outlet hole 33.

According to the embodiment shown in the figures, the autonomous cleaning robot 2 includes a lifting ramp 38 extending transversely to the main direction D of travel of the autonomous cleaning robot 2 and located in front of the mop supports 15. The ramp 38 may, for example, have a length substantially corresponding to the distance between the two drive wheels 7. Advantageously, the lifting ramp 38 is provided on the wet cleaning device 14 and, for example, is fixed to the support body 19.

The lifting ramp 38 includes a lifting surface 38. 1 which is oriented towards a surface to be cleaned and which is inclined rearwardly and downwardly. Advantageously, the lifting surface 38. 1 is substantially flat. The lifting surface 38. 1 is more particularly configured to cause a lifting of the rear part 3. 2 of the main body 3 when an obstacle, which is presented frontally to the autonomous cleaning robot 2 during a forward movement of the main body 3, comes into contact with said lifting surface 38. 1 and slides on said lifting surface 38. 1.

Advantageously, the lifting surface 38.1 is configured to be inclined with respect to the horizontal at an angle of inclination between 10 and 40°, and for example approximately 25°, when the autonomous cleaning robot rests on a horizontal surface.

According to the embodiment shown in the figures, the liquid outlet holes 33 are provided in the lifting ramp 38 and are distributed along the lifting ramp 38. Advantageously, the liquid outlet holes 33 open onto the lifting surface 38.1.

As shown in Figures 13 and 14, the autonomous cleaning robot also includes a replacement module 41 that is configured to be mounted on the main body 3 in place of the wet cleaning device 14 particularly when wet cleaning of a surface to be cleaned is not desired. The replacement module 41 does not have a mop and may be installed, for example, on the main body in place of the wet cleaning device 14 when vacuuming a soft floor, such as a carpet, is desired, or when wet cleaning of a hard floor is not desired.

Advantageously, the replacement module 41 includes guide means 41.1 identical to the guide ribs 21 provided in the wet cleaning device 14, and also a bottom wall 41.2 and a rear wall 41.3 respectively similar to the support plate 19.1 and the side wall 19.4 of the support body 19.

According to a variant embodiment of the invention, the replacement module 41 could be provided with a module support configured to be mounted on the main body 3 instead of the wet cleaning device 14, and with at least one passive mop, i.e. one that is mounted stationary relative to the module support. Said replacement module 41 allows a user to dry the floor to be cleaned, which may be wet or dry depending on the user's needs.

According to another alternative embodiment of the invention, the replacement module 41 could be provided with a floor treatment element, other than a mop, configured to perform a mechanical, chemical, thermal or radiant treatment of the floor.

Of course, the invention is in no way limited to the embodiment described and illustrated, which has been provided solely by way of example. Modifications remain possible, in particular with regard to the composition of the various elements or by substituting technical equivalents, without departing from the scope of protection of the invention.

Claims (15)

1. An autonomous cleaning robot (2) comprising: - a main body (3) including a lower face (4) that is configured to be oriented towards a surface to be cleaned and a suction opening (5) provided in a front part of the main body (3) and opening into the lower face (4) of the main body (3), - a suction unit (11) which is housed at least partially in the main body (3), and which is configured to generate an air flow through the suction opening (5), - a wet cleaning device (14) including two mop holders (15), each of which is mounted movably in translation relative to the main body (3) according to a translation direction (T), and two mops (17) removably mounted respectively on the two mop holders (15), the mops (17) being configured to be in contact with the surface to be cleaned, and - two drive wheels (7) configured to roll on the surface to be cleaned and mounted so as to move in rotation on the main body (3) respectively around two axes of rotation which are substantially parallel, the two mop supports (15) being located behind the rotation axes of the drive wheels (7), and the direction (T) of translation extending substantially parallel to the rotation axes of the two drive wheels (7). 2. The autonomous cleaning robot (2) according to claim 1, wherein the mop holders (15) are mounted movable relative to each other between a close configuration in which the two mop holders (15) are close to each other and a far configuration in which the two mop holders (15) are far from each other. 3. The autonomous cleaning robot (2) according to claim 1 or 2, wherein the two mop holders (15) are arranged on both sides of a median longitudinal plane (P) of the main body (3). 4. The autonomous cleaning robot (2) according to any one of claims 1 to 3, which is configured such that, when the autonomous cleaning robot (2) rests on a surface to be cleaned, a rear part of the autonomous cleaning robot (2) rests on said surface to be cleaned directly by the two mops (17). 5. The autonomous cleaning robot (2) according to any one of claims 1 to 4, wherein the two mop supports (15) are positioned relative to the main body (3) such that the two mop supports (15) are not cut by any vertical plane passing through the rotation axes of the wheels equipping the autonomous cleaning robot (2), and such that the two mop supports (15) are not located at least partially between two vertical planes passing respectively through two rotation axes of the wheels equipping the autonomous cleaning robot (2). 6. The autonomous cleaning robot (2) according to any one of claims 1 to 5, including a power battery (13) configured to electrically supply the autonomous cleaning robot (2), the power battery (13) being located at least partially above one of the mop supports (15). 7. The autonomous cleaning robot (2) according to any one of claims 1 to 6, wherein the suction unit (11) is located at least partially above one of the mop holders (15). 8. The autonomous cleaning robot (2) according to any one of claims 1 to 7, wherein the wet cleaning device (14) is removably mounted with respect to the main body (3). 9. The autonomous cleaning robot (2) according to claim 8, wherein the wet cleaning device (14) is configured to be removed from the main body (3) by a translational movement directed towards the rear part of the main body (3). 10. The autonomous cleaning robot (2) according to claim 8 or 9, wherein the wet cleaning device (14) includes a first electrical connector (23) configured to cooperate with a second electrical connector (24) mounted on the main body (3) during mounting the wet cleaning device (14) on the main body (3) according to a mounting direction that is directed toward the front of the main body (3). 11. The autonomous cleaning robot (2) according to any one of claims 8 to 10, including a locking mechanism configured to lock the wet cleaning device (14) on the main body (3). 12. The autonomous cleaning robot (2) according to claim 11, wherein the locking mechanism includes a locking element (25) that is operable by a user and that is provided on the main body (3) or on the wet cleaning device (14), the locking element (25) being movably mounted between a locking position where the locking element (25) is configured to cooperate with a locking element (26) provided on the wet cleaning device (14) or on the main body (3) to lock the wet cleaning device (14) on the main body (3) and a release position where the locking element (25) is configured to release the locking element (26) to authorize a removal of the wet cleaning device (14) from the main body (3). 13. The autonomous cleaning robot (2) according to any one of claims 1 to 12, wherein the autonomous cleaning robot (2) includes a cleaning liquid tank (32), and the wet cleaning device (14) includes a plurality of liquid outlet holes (33) that are configured to be fluidly connected to the cleaning liquid tank (32) and that are configured to supply cleaning liquid to the mops (17) mounted on the mop holders (15), the liquid outlet holes (33) being located in front of the mop holders (15). 14. The autonomous cleaning robot (2) according to any one of claims 1 to 13, including a lifting ramp (38) extending substantially parallel to the axes of rotation of the two drive wheels and being located in front of the mop supports (15), the lifting ramp (38) including a lifting surface (38.1) which is oriented towards a surface to be cleaned and which is inclined backwards and downwards, the lifting surface (38.1) being configured to cause a lifting of a rear part of the main body (3) when an obstacle, presenting itself frontally to the autonomous cleaning robot (2) during a forward movement of the main body (3), comes into contact with said lifting surface (38.1) and slides on said lifting surface (38.1). 15. The autonomous cleaning robot (2) according to claims 13 and 14, wherein the liquid outlet holes (33) are provided on the lifting ramp (38) and are distributed along the lifting ramp (38).