Autonomous cleaning robot equipped with cleaning device

Abstract

The present invention provides an autonomous cleaning robot (2) comprising: a body (3) comprising a lower surface (4) and a suction opening (5) open in the lower surface; two drive wheels (8) configured to roll on a surface to be cleaned and mounted so as to be rotatable on the body (3) about two substantially parallel axes of rotation, respectively; and a cleaning device (16) comprising two mop supports and two mops (19) respectively mounted on the two mop supports, the mop supports being mounted so as to be movable between an approaching configuration, in which the two mop supports are close to each other, and a distant configuration, in which the two mop supports are separated from each other, the two mop supports are spaced apart from each other.

Description

Technical Field

[0001] The present invention relates to the field of autonomous cleaning appliances equipped with cleaning means, and more particularly to the field of specific robotic vacuum cleaners that are capable of autonomously displacing on a surface to be cleaned and allowing the suction of dust and debris present on the surface to be cleaned, which can be, for example, tiles, parquet floors, laminates, carpets or rugs, and optionally cleaning the surface to be cleaned while performing the suction operation. Background Art

[0002] Today, autonomous cleaning robots have become commonly used tools that allow the cleaning of the entire surface of a home without any help from the user, provided that these surfaces are flat, i.e., on the same level. Thus, they save a significant amount of time for the user to perform other activities.

[0003] Document FR3124935 discloses an autonomous cleaning robot comprising:

[0004] a body that includes a lower surface configured to face the surface to be cleaned, and a suction opening provided in the front part of the body and opening in the lower surface of the body,

[0005] two drive wheels configured to roll on the surface to be cleaned and mounted so as to be able to rotate and move on the body respectively about two substantially parallel rotation axes, and

[0006] a cleaning means that includes two mop supports, each mop support being mounted so as to be able to translate relative to the body in a translation direction substantially parallel to the rotation axes of the drive wheels, and two mops removably mounted respectively on the two mop supports.

[0007] The two mop supports are more particularly mounted so as to be able to move relative to each other between a close configuration and a far configuration, in the close configuration, the two mop supports and thus the two mops are close to each other, and in the far configuration, the two mop supports and thus the two mops are far from each other.

[0008] According to document FR3124935, the intermediate edges of the two mops extend on either side of the intermediate longitudinal plane of the body and parallel to said intermediate longitudinal plane, and thus parallel to the main displacement direction of the robot.

[0009] Thus, when the autonomous cleaning robot displaces along the main displacement direction, although the mop supports alternate between the close configuration and the far configuration, a part of the surface to be cleaned, especially the part located in the intermediate longitudinal plane of the body, may not be properly cleaned (because it is not covered by the mops). Summary of the Invention

[0010] The present invention aims to remedy these drawbacks.

[0011] The fundamental technical problem of the present invention lies in particular in providing an autonomous cleaning robot that is simple, economical and compact in structure, while having stronger cleaning performance.

[0012] To this end, the subject of the present invention is an autonomous cleaning robot, comprising:

[0013] A main body, which includes a lower surface configured to face the surface to be cleaned, and a suction opening that opens in the lower surface of the main body,

[0014] A suction unit, which is at least partially housed in the main body and is configured to generate an air flow through the suction opening,

[0015] Two drive wheels, which are configured to roll on the surface to be cleaned and are arranged on both sides of the middle longitudinal plane of the main body. The two drive wheels are mounted so as to be able to rotate and move on the main body respectively around two substantially parallel rotation axes, and

[0016] A cleaning device, such as a wet cleaning device, which includes:

[0017] Two mop supports, each mop support being mounted so as to be able to translate relative to the main body in a translation direction extending substantially parallel to the rotation axes of the two drive wheels. The two mop supports are mounted so as to be able to move relative to each other between a close configuration and a far configuration. In the close configuration, the two mop supports are close to each other, and in the far configuration, the two mop supports are far from each other, and

[0018] Two mops, which are respectively removably mounted on the two mop supports and are configured to contact the surface to be cleaned.

[0019] The cleaning device is configured such that when the two mop supports are in the close configuration, the two mops intersect, i.e., cut, through a plane of intersection parallel to the middle longitudinal plane of the main body.

[0020] This configuration of the cleaning device can avoid the appearance of marks on the surface to be cleaned and ensure enhanced cleaning of the surface to be cleaned, because when the autonomous cleaning robot displaces along the main displacement direction and on a predetermined area of the surface to be cleaned, the entire said predetermined area will be scraped and cleaned by the mops. In fact, if a part of the predetermined area is not scraped by one of the two mops during the displacement cycle of the mop support, then it will necessarily be scraped by the other mop in the subsequent displacement cycle of the mop support.

[0021] In addition, this configuration of the cleaning device can ensure more uniform cleaning of the surface to be cleaned.

[0022] Thus, the specific configuration of the cleaning device provides enhanced cleaning performance for the cleaning robot according to the present invention.

[0023] Like most autonomous cleaning robots, the autonomous cleaning robot of the subject matter of the present invention is designed to effectively clean the floor when displacing in a displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and along a predetermined displacement orientation. The displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined displacement orientation define the main displacement direction of the autonomous cleaning robot of the subject matter of the present invention. Thus, the front or rear part of the main body of the autonomous cleaning robot is identified relative to the main displacement direction of the autonomous cleaning robot.

[0024] The autonomous cleaning robot may also have one or more of the following features individually or in combination.

[0025] According to an embodiment of the present invention, when the two mop supports are in a close configuration, the two mops are configured to be close to each other, and when the two mop supports are in a far configuration, the two mops are configured to be away from each other.

[0026] According to an embodiment of the present invention, the intersecting plane coincides with the middle longitudinal plane of the main body. This configuration of the cleaning device provides further enhanced cleaning performance for the autonomous cleaning robot according to the present invention.

[0027] According to an embodiment of the present invention, each mop includes a first lateral part and a second middle part. When the two mop supports are in a far configuration, the first lateral parts are configured to be respectively disposed on both sides of the middle longitudinal plane of the main body. When the two mop supports are in a close configuration, each second middle part is configured to protrude beyond the middle longitudinal plane of the main body. In other words, when the two mop supports are in a close configuration, the second middle parts are configured to be arranged in a front-to-back manner.

[0028] According to an embodiment of the present invention, each mop includes a middle edge that is substantially straight and is inclined at an inclination angle between 3° and 25°, advantageously between 5° and 20°, and even more advantageously between 6° and 10° with respect to the middle longitudinal plane of the main body, and the middle edges of the two mops are positioned directly facing each other.

[0029] Each middle edge has a non-zero inclination angle equal to or less than 25° with respect to the middle longitudinal plane of the main body to avoid interfering with the displacement of the autonomous cleaning robot when the two mop supports are displaced between the close configuration and the far configuration. In fact, in the case where the mop support has a large lateral movement (for example, a movement with an amplitude equal to or greater than 5 mm), when the two mops are moving and in contact with the floor, excessive inclination of the middle edge tends to unbalance the frictional forces generated by the first mop on the one hand and the second mop on the other hand.

[0030] According to an embodiment of the present invention, the intermediate edges of the two mops are substantially parallel to each other.

[0031] According to an embodiment of the present invention, the rear part of the main body of the autonomous cleaning robot and the rear parts of the two mops, more specifically, the rear edges of the main body and the two mops have a shape that is at least partially circular arc.

[0032] When the rear part of each of the two mops has a circular arc shape or partially has a circular arc shape, it is more advantageous that the inclination angle of each intermediate edge has an angle equal to or less than 25° with respect to the intermediate longitudinal plane of the main body to avoid interfering with the displacement of the robot when the two mop supports move and contact the ground. In fact, according to this embodiment, the larger the inclination angle, the greater the surface area difference between the two mops, and thus the greater the friction surface difference between them.

[0033] According to an embodiment of the present invention, when the mop supports are in the close configuration, the intermediate edges of the two mops are cut by the intermediate longitudinal plane of the main body at approximately half of the length of the intermediate edge.

[0034] According to an embodiment of the present invention, when the mop supports are in the close configuration, the intermediate edges of the two mops are configured to be positioned close to each other and are spaced apart by a distance measured parallel to the rotation axis of the two drive wheels, and this distance is less than 5 mm, for example less than 2 mm.

[0035] According to an embodiment of the present invention, the two mop supports are arranged side by side.

[0036] According to an embodiment of the present invention, the suction port is located in the front part of the main body, and the two mop supports are located behind the rotation axis of the drive wheels. This arrangement of the mop supports, that is, behind the rotation axis of the drive wheels, allows increasing the bearing force exerted by each mop on the surface to be cleaned, and due to the weight exerted by the main body on the cleaning device, thus increasing the friction force of the cleaning device on the surface to be cleaned. Therefore, this arrangement of the mop supports improves the scraping efficiency of the cleaning device on the ground and thus improves the cleaning quality of the autonomous cleaning robot. In addition, this arrangement of the mop supports allows preventing the drive wheels from rolling on the wet area that has just been cleaned by the mop, thus avoiding the appearance of traces that may damage the achieved cleaning quality.

[0037] According to an embodiment of the present invention, the suction port is located in front of the rotation axis of the drive wheels.

[0038] According to one embodiment of the present invention, two mop supports are positioned relative to the main body such that no vertical plane passing through the rotation axis of the wheels provided on the autonomous cleaning robot cuts the two mop supports, and such that the two mop supports are not at least partially located between two vertical planes respectively passing through the two rotation axes of the wheels provided on the autonomous cleaning robot. This configuration of the autonomous cleaning robot also allows the mop to directly bear at least part of the mass of the autonomous cleaning robot, thereby further improving the cleaning quality of the autonomous cleaning robot. On the contrary, if the mop support is cut by a vertical plane passing through the rotation axis of the wheels (e.g., two drive wheels) provided on the autonomous cleaning robot, or is located between wheels whose rotation axes are parallel to the rotation axis of the autonomous cleaning robot (e.g., between the rotation axis of the drive wheel and the rotation axis of the rear wheel), the force generated by the mass of the autonomous cleaning robot will be absorbed by the wheels instead of the mop support.

[0039] According to one embodiment of the present invention, the cleaning device is located in the rear part of the main body.

[0040] According to one embodiment of the present invention, the autonomous cleaning robot is configured such that when the autonomous cleaning robot is placed on the surface to be cleaned, the rear part of the autonomous cleaning robot is placed on the surface to be directly cleaned by the two mops. This configuration of the autonomous cleaning robot allows the mop to directly bear at least part of the mass of the autonomous cleaning robot, thereby further increasing the supporting force exerted by each mop on the ground to be cleaned. Therefore, this configuration of the autonomous cleaning robot allows further improving the cleaning quality of the autonomous cleaning robot.

[0041] According to one embodiment of the present invention, the autonomous cleaning robot includes a power battery configured to supply power to the autonomous cleaning robot, and the power battery is at least partially located above one of the mop supports. This arrangement of the power battery allows enhancing the supporting force exerted by at least one of the mops on the surface to be cleaned, and thus further enhancing the scraping efficiency of the cleaning device on the ground, and thus enhancing the cleaning quality of the autonomous cleaning robot.

[0042] According to one embodiment of the present invention, the suction unit is at least partially located above one of the mop supports. This configuration of the suction unit allows enhancing the supporting force exerted by at least one of the mops on the surface to be cleaned, thus further enhancing the scraping efficiency of the cleaning device on the ground, and thus enhancing the cleaning quality of the autonomous cleaning robot.

[0043] According to one embodiment of the present invention, the cleaning device is removably mounted relative to the main body.

[0044] According to one embodiment of the present invention, the cleaning device is configured to be removed from the main body by a translational movement towards the rear of the main body.

[0045] According to an embodiment of the present invention, the autonomous cleaning robot includes a cleaning liquid storage tank, and the cleaning device includes a plurality of liquid outlet holes configured to be fluidly connected to the cleaning liquid storage tank and configured to supply the cleaning liquid to a mop mounted on a mop support, and these liquid outlet holes are located in front of the mop support.

[0046] According to an embodiment of the present invention, the cleaning liquid storage tank is, for example, removably mounted on the main body.

[0047] According to an embodiment of the present invention, the liquid outlet holes are located in front of the mop. Advantageously, the liquid outlet holes are located behind the rotation axis of the drive wheels.

[0048] According to an embodiment of the present invention, the liquid outlet holes are substantially aligned along an alignment direction that substantially extends parallel to the rotation axes of the two drive wheels, that is, transversely to the main displacement direction of the autonomous cleaning robot. This arrangement of the liquid outlet holes allows the cleaning liquid to be more evenly dispersed on the mop, which further enhances the cleaning quality of the autonomous cleaning robot according to the present invention.

[0049] According to an embodiment of the present invention, the autonomous cleaning robot includes a lifting ramp that substantially extends parallel to the rotation axes of the two drive wheels and is located in front of the mop support. The lifting ramp includes a lifting surface that faces the surface to be cleaned and slopes backward and downward. The lifting surface is configured to drive the rear part of the main body to lift when an obstacle that appears in front of the autonomous cleaning robot during the forward displacement of the main body contacts the lifting surface and slides on the lifting surface. The presence of such a lifting ramp allows for easy crossing of the front obstacles encountered by the autonomous cleaning robot.

[0050] According to an embodiment of the present invention, the main body defines a suction chamber fluidly connected to a suction port. The autonomous cleaning robot includes a rotary cleaning brush that is received in the suction chamber and is mounted to be rotatable about a brush rotation axis. Advantageously, the brush rotation axis substantially extends parallel to the rotation axes of the drive wheels. In other words, the brush rotation axis extends transversely to the main displacement direction of the autonomous cleaning robot.

[0051] According to an embodiment of the present invention, the autonomous cleaning robot includes a garbage collection device that includes a garbage collection container located upstream of the suction unit and configured to be passed through by the air flow generated by the suction unit and hold the garbage transported by the air flow.

[0052] According to an embodiment of the present invention, the autonomous cleaning robot includes a connection channel that fluidly connects the suction chamber to the garbage collection container.

[0053] According to one embodiment of the present invention, the connection channel leads to the rear part of the suction chamber. Such an arrangement of the connection channel facilitates guiding the sucked garbage towards the garbage collection container.

[0054] According to one embodiment of the present invention, the rotational axes of the two drive wheels are coaxial.

[0055] According to one embodiment of the present invention, the autonomous cleaning robot includes a mechanism for driving translation, and the mechanism for driving translation is configured to alternately translate the mop support along the translation direction and between a close configuration and a far configuration.

[0056] According to one embodiment of the present invention, the mop support moves symmetrically between the close configuration and the far configuration.

[0057] According to one embodiment of the present invention, the mechanism for driving translation is configured to translate the two mop supports in antiphase. In other words, the mechanism for driving translation is configured to translate the two mop supports with alternating movements and opposite displacement directions.

[0058] According to one embodiment of the present invention, the autonomous cleaning robot includes additional wheels, which are mounted to be rotatably movable on the main body and are configured to roll on the surface to be cleaned, and all the additional wheels are located in front of the rotational axes of the two drive wheels.

[0059] According to one embodiment of the present invention, the suction unit includes a suction motor and a blower, and the blower is coupled to the suction motor and is configured to generate an air flow through the suction port.

[0060] According to one embodiment of the present invention, the suction unit and the power battery are arranged on both sides of the middle longitudinal plane of the main body. Such an arrangement of the suction unit and the power battery allows the mass of the autonomous cleaning robot to be more evenly distributed, thereby balancing the supporting forces exerted by the two mops on the surface to be cleaned. This arrangement thus further improves the cleaning performance of the autonomous cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] With reference to the accompanying drawings, the objects, aspects and advantages of the present invention can be better understood from the following description of specific embodiments of the present invention presented as non - limiting examples, wherein:

[0062] Figure 1 is a top perspective view of the autonomous cleaning robot according to the present invention.

[0063] Figure 2 is Figure 1 a bottom perspective view of the autonomous cleaning robot, showing the mop equipped on the autonomous cleaning robot in the close configuration.

[0064] Figure 3 isFigure 1 Bottom perspective view of the autonomous cleaning robot, showing the mop in the retracted configuration.

[0065] Figure 4 is Figure 1 Bottom view of the autonomous cleaning robot, showing the mop in the deployed configuration.

[0066] Figure 5 is Figure 1 Bottom view of the autonomous cleaning robot, showing the mop in the retracted configuration.

[0067] Figure 6 is Figure 1 Side view of the autonomous cleaning robot.

[0068] Figure 7 is Figure 1 Longitudinal cross - section view of the autonomous cleaning robot.

[0069] Figure 8 is Figure 1 Bottom perspective view of the autonomous cleaning robot, showing the mop support attached to the autonomous cleaning robot in the deployed configuration.

[0070] Figure 9 is from Figure 1 Bottom perspective view of the autonomous cleaning robot, showing the mop support in the retracted configuration. Detailed Description

[0071] Only those elements necessary for understanding the present invention are shown. For ease of reading the drawings, the same reference numerals are used to denote the same elements in different figures.

[0072] Note that in this document, the terms "horizontal", "vertical", "down", "up", "top", "bottom" used to describe the autonomous cleaning robot or the main body are with reference to the autonomous cleaning robot when it is placed on a flat and horizontal floor to be cleaned by its wheels during use.

[0073] In this document, the "middle longitudinal plane" refers to a vertical plane parallel to the main displacement direction and dividing the main body into two substantially equal left and right parts.

[0074] In this document, the term "middle" refers to an element close to or beside the middle longitudinal plane of the main body, and the term "lateral" refers to an element away from or opposite to the middle longitudinal plane.

[0075] Unless otherwise specified, the term "substantially" in this document means "exactly or within 10% or 10°".

[0076] Figures 1 to 9Shows an autonomous cleaning robot 2, more specifically a robotic vacuum cleaner, which is configured to displace autonomously on a surface to be cleaned.

[0077] The autonomous cleaning robot 2 includes a body 3 and a suction opening 5. The body 3 includes a lower surface 4 configured to face the surface to be cleaned. The suction opening 5 is provided in the front part 3.1 of the body 3 and opens in the lower surface 4 of the body 3. Advantageously, the suction opening 5 is elongated and extends substantially perpendicular to the main displacement direction D of the autonomous cleaning robot 2.

[0078] As Figure 7 shown, the body 3 defines a suction chamber 6, which opens in the lower surface 4 of the body 3 via the suction opening 5.

[0079] According to the embodiment shown in the figures, when viewed from above in a substantially vertical orientation, the body 3 has an overall D-shaped shape and includes a curved rear edge, which has an arc shape when viewed from above in a substantially vertical orientation. However, the body 3 can have a completely different shape, such as an overall circular or rectangular shape.

[0080] The autonomous cleaning robot 2 further includes a rotary cleaning brush 7, which is received in the suction chamber 6 and is mounted to be rotatably movable about a brush rotation axis, which extends substantially perpendicular to the main displacement direction D. Advantageously, when the autonomous cleaning robot 2 is placed on a horizontal surface, the brush rotation axis is substantially horizontal.

[0081] The autonomous cleaning robot 2 further includes a drive mechanism (not visible in the figures), which is configured to drive the rotary cleaning brush 7 to rotate about the brush rotation axis.

[0082] As Figures 2 to 5 more specifically shown in, the autonomous cleaning robot 2 includes two drive wheels 8, which are configured to roll on the surface to be cleaned. The two drive wheels 8 are mounted to be rotatable relative to the body 3 and have parallel and advantageously coaxial rotation axes. Advantageously, the rotation axes of the drive wheels 8 extend perpendicular to the main displacement direction D.

[0083] The two drive wheels 8 are configured to project from the lower surface 4 of the body 3 and are provided on both sides of the middle longitudinal plane P of the body 3. Advantageously, the two drive wheels 8 are symmetrically arranged relative to the middle longitudinal plane P of the body 3.

[0084] The two drive wheels 8 are advantageously motorized independently of each other. Thus, the autonomous cleaning robot 2 includes two mechanisms 9 for driving rotation, the mechanisms 9 for driving rotation being housed in the body 3, and each mechanism 9 for driving rotation being configured to drive a respective one of the two drive wheels 8 to rotate. Each mechanism 9 for driving rotation includes a drive motor, the drive motor being rotationally coupled to the respective drive wheel 8 and being provided, for example, in a respective side portion of the body 3. Depending on the control of the two drive motors, the body 3 can pivot to the left, to the right or about itself, move forward or backward.

[0085] According to the embodiment shown in the figures, the autonomous cleaning robot 2 includes additional wheels 10 mounted to be rotatable freely relative to the body 3, for example two additional wheels 10 provided on the front portion 3.1 of the body 3. Advantageously, all the additional wheels 10 are located in front of the rotational axes of the two drive wheels 8, such that the autonomous cleaning robot 2 has no additional wheels located behind the rotational axes of the two drive wheels 8.

[0086] The autonomous cleaning robot 2 further includes a suction unit 11 housed in the body 3. The suction unit 11 includes a suction motor and a blower, the blower being coupled to the suction motor and being configured to generate an air flow through the suction opening 5.

[0087] The autonomous cleaning robot 2 further includes a waste collection device 12 (see Figure 7 ) removably mounted on the body 3, for example. The waste collection device 12 includes a waste collection container 13, the waste collection container 13 being located upstream of the suction unit 11 and being configured to be traversed by the air flow generated by the blower and to hold the waste conveyed by the air flow.

[0088] The autonomous cleaning robot 2 further includes a connection channel 14 fluidly connecting the suction chamber 6 to the waste collection container 13. As Figure 7 shown, the connection channel 14 leads to the rear of the suction chamber 6, and the intermediate longitudinal plane P of the body 3 is tangent to the connection channel 14.

[0089] The autonomous cleaning robot 2 further includes a power battery 15 configured to supply power to the autonomous cleaning robot 2. Advantageously, the power battery 15 is rechargeable and is housed in the body 3.

[0090] In particular, as Figure 2 shown, the autonomous cleaning robot 2 further includes a cleaning device 16, for example a wet cleaning device, provided in the rear portion 3.2 of the body 3. Advantageously, the cleaning device 16 is provided opposite the rotary cleaning brush 7 with respect to the rotational axis of the drive wheels 8.

[0091] The cleaning device 16 includes two mop supports 17 which are arranged side by side and are located behind the rotation axis of the drive wheels 8. Advantageously, when the main body 3 is placed on a horizontal surface, the two mop supports 17 are configured to extend substantially horizontally.

[0092] More specifically, as Figure 4 shown, the two mop supports 17 are positioned relative to the main body 3 such that the two mop supports 17 are not cut by any vertical plane passing through the rotation axes of the wheels provided on the autonomous cleaning robot 2, and such that the two mop supports 17 are not at least partially located between two vertical planes respectively passing through the two rotation axes of the wheels provided on the autonomous cleaning robot 2.

[0093] Advantageously, the power battery 15 is at least partially, for example entirely, located above one of the mop supports 17, and the suction unit 11 is at least partially, for example entirely, located above the other mop support 17. In such an embodiment according to the invention, the suction unit 11 and the power battery 15 are arranged on both sides of the middle longitudinal plane P of the main body 3.

[0094] Both of the two mop supports 17 are mounted to be translatable relative to the main body 3 along a translation direction T which is perpendicular to the main displacement direction D of the autonomous cleaning robot 2 and extends parallel to the rotation axes of the two drive wheels 8.

[0095] The mop support 17 is also mounted to be movable relative to each other between a close configuration (see Figure 8 ) and a far configuration (see Figure 9 ). In the close configuration, the two mop supports 17 are close to each other, and in the far configuration, the two mop supports 17 are far from each other.

[0096] The cleaning device 16 further includes a mechanism 18 for driving translation, and the mechanism 18 for driving translation is configured to alternately translate the mop supports 17 along the translation direction T and between the close configuration and the far configuration. Thus, the mechanism 18 for driving translation is configured to translate the two mop supports 17 in antiphase and to make the mop supports 17 move symmetrically between the close configuration and the far configuration. Advantageously, the mechanism 18 for driving translation is at least partially located above the mop supports 17.

[0097] The cleaning device 16 further includes two mops 19, which are respectively removably mounted on two mop supports 17. The mops 19 are configured to contact the surface to be cleaned when the autonomous cleaning robot 2 is placed on the surface to be cleaned, and more specifically, to apply a supporting force on the surface to be cleaned. Advantageously, the autonomous cleaning robot 2 is configured such that when the autonomous cleaning robot 2 is placed on the surface to be cleaned, the rear part of the autonomous cleaning robot 2 is directly placed on the surface to be cleaned through the two mops 19.

[0098] More specifically, the two mops 19 are configured to approach each other when the two mop supports 17 are in a close configuration, and to move away from each other when the two mop supports 17 are in a separated configuration.

[0099] According to the embodiment shown in the figure, each mop 19 includes an arcuate rear edge.

[0100] Specifically as Figure 4 shown, each mop 19 includes a first lateral part 19.1 and a second intermediate part 19.2, and when the two mop supports 17 are in a separated configuration, the first lateral parts 19.1 are configured to be respectively disposed on both sides of the middle longitudinal plane P of the main body 3. Advantageously, each second intermediate part 19.2 is configured to protrude beyond the middle longitudinal plane P of the main body 3 when the two mop supports 17 are in a close configuration. In other words, when the two mop supports 17 are in a close configuration, the second intermediate parts 19.2 are configured to be arranged front to back.

[0101] As Figure 4 shown, the cleaning device 16 is configured such that when the two mop supports 17 are in a close configuration, the two mops 19 (more specifically, the second intermediate parts 19.2) are intersected, that is, cut, by an intersecting plane parallel to the middle longitudinal plane P of the main body 3, and more specifically, this intersecting plane coincides with the middle longitudinal plane P of the main body 3.

[0102] According to the embodiment shown in the figure, each mop 19 includes an intermediate edge 19.3, which is straight and inclined at an inclination angle between 3° and 25°, advantageously between 5° and 20°, and even more advantageously between 6° and 10° with respect to the middle longitudinal plane P of the main body 3. Advantageously, the intermediate edges 19.3 of the two mops 19 are parallel to each other, are directly opposite to each other, and intersect the middle longitudinal plane P of the main body 3 at least when the two mop supports 17 are in a close configuration.

[0103] As Figure 4As shown, when the mop support 17 is in the close configuration, the intermediate edges 19.3 of the two mops 19 are configured to be close to each other and are, for example, spaced apart from each other by a spacing distance measured parallel to the axis of rotation of the two drive wheels 8, the spacing distance being less than 5 mm, for example less than 2 mm. Advantageously, when the mop support 17 is in the close configuration, the intermediate edges 19.3 of the two mops 19 are cut by the intermediate longitudinal plane P of the body 3 at approximately half the length of the intermediate edges.

[0104] The autonomous cleaning robot 2 further comprises a cleaning liquid storage tank 24 which is, for example, removably mounted on the body 3. The cleaning liquid storage tank 24 can be arranged, for example, between the drive wheels 8 or in the rear part of the body 3. The cleaning liquid storage tank 24 and the waste collection container 13 can, for example, be superimposed one on the other and be integral with each other. According to such an embodiment, the autonomous cleaning robot 2 can, for example, comprise a removable tank which comprises a first compartment forming the cleaning liquid storage tank 24 and a second compartment forming the waste collection container 13. However, according to an alternative embodiment of the invention, the cleaning liquid storage tank 24 can be arranged directly on the cleaning device 16 and is thus separate from the waste collection device 12.

[0105] The cleaning device 16 further comprises a plurality of liquid outlet holes 25 which are configured to be fluidly connected to the cleaning liquid storage tank 24 and are configured to supply cleaning liquid to the mops 19 mounted on the mop support 17.

[0106] According to the embodiment shown in the figures, the liquid outlet holes 25 are aligned along an alignment direction extending perpendicular to the main displacement direction D of the autonomous cleaning robot 2 and are regularly spaced apart from each other. Advantageously, the liquid outlet holes 25 are located in front of the mop support 17, for example in front of the mops 19, and are configured to face the surface to be cleaned.

[0107] The autonomous cleaning robot 2 further comprises a cleaning liquid supply circuit (not shown in detail) which is arranged on the body 3 and is configured to fluidly connect the liquid outlet holes 25 to the cleaning liquid storage tank 24.

[0108] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises a lifting ramp 26 which extends transversely to the main displacement direction D of the autonomous cleaning robot 2 and is located in front of the mop support 17. The length of the lifting ramp 26 can, for example, substantially correspond to the distance between the two drive wheels 8. The lifting ramp 26 can be arranged, for example, on the body 3 or on the cleaning device 16.

[0109] The lifting ramp 26 includes a lifting surface 26.1 that faces the surface to be cleaned and slopes backward and downward. Advantageously, the lifting surface 26.1 is substantially planar. More specifically, the lifting surface 26.1 is configured to lift the rear portion 3.2 of the main body 3 when an obstacle that appears in front of the autonomous cleaning robot 2 during the forward displacement of the main body 3 contacts the lifting surface 26.1 and slides thereon.

[0110] According to the embodiment shown in the figure, the liquid outlet holes 25 are provided on the lifting ramp 26 and are distributed along the lifting ramp 26. Advantageously, the liquid outlet holes 25 open into the lifting surface 26.1.

[0111] Of course, the present invention is in no way limited to the embodiments shown and described above, which are given by way of example only. There may be some modifications, especially in terms of the constitution of various elements or by the substitution of equivalent techniques, without departing from the scope of protection of the present invention.

Claims

1. An autonomous cleaning robot (2), comprising: a main body (3) comprising a lower surface (4) arranged to face the surface to be cleaned, and a suction port (5) opening in the lower surface (4) of the main body (3), a suction unit (11) which is at least partially housed in the body (3) and is configured to generate an air flow through the suction opening (5), two drive wheels (8) configured to roll on the surface to be cleaned and arranged on either side of a median longitudinal plane (P) of the body (3), the two drive wheels (8) being mounted so as to be rotatably movable on the body (3) about two substantially parallel rotation axes, respectively, and A cleaning device (16) comprising: two mop supports (17), each of which is mounted to be translatorily movable relative to the body (3) along a translation direction (T) extending substantially parallel to the rotation axis of the two drive wheels (8), the two mop supports (17) being mounted to be movable relative to each other between a close configuration in which the two mop supports (17) are close to each other and a distant configuration in which the two mop supports (17) are distant from each other, and two mops (19) which are removably mounted on the two mop supports (17) and are configured to contact the surface to be cleaned, Characterized in that the cleaning device (16) is configured so that when the two mop supports (17) are in the close configuration, the two mops (19) intersect through an intersection plane parallel to the median longitudinal plane (P) of the body (3).

2. The autonomous cleaning robot (2) according to claim 1, wherein: The intersection plane coincides with the median longitudinal plane (P) of the body (3).

3. The autonomous cleaning robot (2) according to claim 1 or 2, wherein: Each of the mops (19) comprises a first lateral portion (19.1) and a second middle portion (19.2), wherein the first lateral portions (19.1) are arranged respectively on both sides of the middle longitudinal plane (P) of the body (3) when the two mop supports (17) are in the distant configuration, and each of the second middle portions (19.2) is arranged to protrude beyond the middle longitudinal plane (P) of the body (3) when the two mop supports (17) are in the close configuration.

4. The autonomous cleaning robot (2) according to any one of claims 1 to 3, wherein: Each mop (19) comprises a median edge (19.3) which is substantially straight and inclined at an angle of inclination between 3° and 25° relative to the median longitudinal plane (P) of the body (3), the median edges (19.3) of the two mops (19) being positioned directly facing each other.

5. The autonomous cleaning robot (2) according to claim 4, wherein: The middle edges (19.3) of the two mops (19) are substantially parallel to each other.

6. The autonomous cleaning robot (2) according to any one of claims 1 to 5, wherein: The suction opening (5) is located in the front part (3.1) of the body (3), and the two mop supports (17) are located behind the rotation axis of the drive wheel (8).

7. The autonomous cleaning robot (2) according to any one of claims 1 to 6, wherein: The cleaning device (16) is located in the rear part (3.2) of the body (3).

8. The autonomous cleaning robot (2) according to any one of claims 1 to 7, comprising a power supply battery (15) configured to power the autonomous cleaning robot (2), the power supply battery (15) being at least partially located above one of the mop supports (17).

9. The autonomous cleaning robot (2) according to any one of claims 1 to 8, wherein: The suction unit (11) is at least partially located above one of the mop supports (17).

10. The autonomous cleaning robot (2) according to any one of claims 1 to 9, wherein: The cleaning device (16) is removably mounted relative to the main body (3).

11. The autonomous cleaning robot (2) according to claim 10, wherein: The cleaning device (16) is configured to be removed from the main body (3) by a translational movement towards the rear of the main body (3).

12. The autonomous cleaning robot (2) according to any one of claims 1 to 11, wherein: The autonomous cleaning robot (2) comprises a cleaning liquid tank (24), and the cleaning device (16) comprises a plurality of liquid outlet holes (25), the plurality of liquid outlet holes (25) being configured to be fluidically connected to the cleaning liquid tank (24) and configured to supply cleaning liquid to the mop (19) mounted on the mop support (17), the liquid outlet holes (25) being located in front of the mop support (17).

13. The autonomous cleaning robot (2) according to any one of claims 1 to 12, wherein: The body (3) defines a suction chamber (6) fluidly connected to the suction port (5), and the autonomous cleaning robot (2) comprises a rotating cleaning brush (7) housed in the suction chamber (6) and mounted to rotate about a brush rotation axis.

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