Autonomous cleaning system having receiving station equipped with scraping member

Abstract

The autonomous cleaning system comprises an autonomous cleaning robot (2) equipped with a cleaning device (15) comprising at least one mop support (17) mounted so as to be translatable relative to the body (4) in a support movement direction (D2), and at least one mop (18) mounted on the at least one mop support (17) and configured to be in contact with a surface to be cleaned; and a receiving station (3) configured to receive the autonomous cleaning robot (2) and to clean the at least one mop (18) when the autonomous cleaning robot (2) is received in the receiving station (3). The receiving station (3) comprises a scraping member (27) configured to scrape or rub the at least one mop (18) when the autonomous cleaning robot (2) is received in the receiving station (3).

Description

Technical Field

[0001] The present invention relates to the field of autonomous cleaning devices, more specifically to the field of robotic vacuum cleaners that are able to move autonomously over a surface to be cleaned and allow dust and waste present on the surface to be cleaned, which surface may be, for example, tiles, parquet, laminate, rugs or carpets, to be sucked up and optionally rinsed simultaneously with the suction operation. Background Art

[0002] Autonomous cleaning robots are now commonplace and allow cleaning of entire surfaces of the house without any help from the user, as long as these surfaces are flat, that is to say on the same level. Thus, they free up a lot of time for the user to engage in other activities.

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

[0004] a main body comprising a lower surface configured to be oriented towards the surface to be cleaned and a suction nozzle opening into the lower surface of the main body and extending transversely to the main movement direction of the autonomous cleaning robot, and

[0005] - A cleaning device comprising: at least one mop support mounted so as to be translationally movable relative to the main body along a movement direction of the support, the movement direction of the support extending in a movement plane, the movement plane being substantially horizontal when the autonomous cleaning robot rests on a horizontal surface; and at least one mop detachably mounted on the at least one mop support and configured to come into contact with the surface to be cleaned.

[0006] When the user wishes to clean the at least one mop, for example after one or more operations to clean the surface to be cleaned, the user grabs the autonomous cleaning robot, turns it over and removes the at least one mop from the associated mop holder, and then cleans the at least one mop, for example, through a cleaning cycle in a washing machine.

[0007] Yet, this cleaning to at least one mop requires the user to carry out multiple operations to the autonomous cleaning robot.In addition, if the user can not regularly clean at least one mop, the cleaning performance of this autonomous cleaning robot may significantly reduce.

[0008] Another known autonomous cleaning system includes:

[0009] - an autonomous cleaning robot equipped with a cleaning device comprising two mop holders, the mop holders being mounted so as to be rotatable about two rotation axes, the rotation axes being configured to extend substantially vertically, and two mops, the two mops being detachably mounted on the two mop holders, and

[0010] - A receiving station configured to receive the autonomous cleaning robot and to clean two mops when the autonomous cleaning robot is received in the receiving station.

[0011] More specifically, the receiving station includes a cleaning tank and is configured such that when the autonomous cleaning robot is received in the receiving station, the two mops are at least partially immersed in the cleaning liquid contained in the cleaning tank. Advantageously, during each cleaning operation of the two mops in the cleaning tank, the mops are driven to rotate about their rotation axes.

[0012] This configuration of the above-described autonomous cleaning system ensures automatic cleaning of the mop and thus provides enhanced cleaning performance for the autonomous cleaning system.

[0013] However, the cleaning quality obtained using such a receiving station is not optimal and, in particular, is much lower than the quality obtained when cleaning the mop in a washing machine. Summary of the Invention

[0014] The present invention aims to overcome these disadvantages.

[0015] The technical problem underlying the present invention is, in particular, to provide a structurally simple and ergonomic autonomous cleaning system which at the same time has an improved cleaning performance.

[0016] To this end, the present invention relates to an autonomous cleaning system comprising:

[0017] -An autonomous cleaning robot comprising:

[0018] o a main body comprising a lower surface configured to be oriented towards the surface to be cleaned and a suction nozzle opening into the lower surface of the main body,

[0019] o a cleaning device, such as a wet cleaning device, comprising at least one mop support mounted to be translatable relative to a body in a support movement direction, said support movement direction extending in a movement plane that is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface; and at least one mop, such as detachably mounted on the at least one mop support and configured to come into contact with a surface to be cleaned, and

[0020] - a receiving station, also called a cleaning station, configured to receive said autonomous cleaning robot,

[0021] the receiving station being configured to clean the at least one mop when the autonomous cleaning robot is received in the receiving station,

[0022] The receiving station includes a scraping member configured to extend transversely to the support movement direction and to scrape or rub the at least one mop, such as a lower surface of the at least one mop, when the autonomous cleaning robot is received in the receiving station and the at least one mop support moves in the support movement direction.

[0023] This configuration of the receiving station, in particular the presence and orientation of the scraping member, ensures that the at least one mop is scraped during its cleaning operation, i.e., when the at least one mop is received in the cleaning tank and the at least one mop support is moved in the support movement direction. Furthermore, this scraping of the at least one mop ensures optimal cleaning of the at least one mop when the at least one mop is partially immersed in the cleaning liquid contained in the cleaning tank, thereby providing enhanced cleaning performance for the autonomous cleaning system according to the present invention.

[0024] The autonomous cleaning robot, which is the subject of the present invention, is designed, like most autonomous cleaning robots, to effectively clean floors when it moves in a direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and in a predetermined direction of movement. The direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined direction of movement define the main direction of movement of the autonomous cleaning robot, which is the subject of the present invention. Therefore, the front or rear of the main body of the autonomous cleaning robot is identified relative to the main direction of movement of the autonomous cleaning robot.

[0025] The autonomous cleaning robot may also have one or more of the following features, alone or in combination.

[0026] According to one embodiment of the present invention, the receiving station comprises a receiving location configured to at least partially receive the autonomous cleaning robot.

[0027] According to one embodiment of the invention, at least one scraping member, for example each scraping member, is rectilinear.

[0028] According to another embodiment of the invention, at least one scraping member, for example each scraping member, is curvilinear. For example, each scraping member may be S-shaped.

[0029] According to one embodiment of the present invention, the scraping members extend substantially parallel to each other.For example, the scraping members may be straight and extend parallel to each other, or curved and also extend parallel to each other.

[0030] According to one embodiment of the invention, the receiving station is configured such that, when the autonomous cleaning robot is received in the receiving station, the scraping member extends substantially parallel to the main direction of movement of the autonomous cleaning robot and, therefore, substantially parallel to the median longitudinal plane of the body. Thus, when the autonomous cleaning robot is placed in the receiving station above the scraping member (and when it does not have a lifting system for at least one mop support), the friction of the autonomous cleaning robot placed on the receiving station is limited.

[0031] According to another embodiment of the invention, the scraping members may comprise a first series of scraping members parallel to each other and a second series of scraping members parallel to each other and inclined relative to the scraping members of the first series.

[0032] According to one embodiment of the present invention, the scraping member is configured to extend substantially perpendicular to the direction of movement of the support when the autonomous cleaning robot is received in the receiving station. This orientation of the scraping member further improves the efficiency of scraping the at least one mop and thus improves the cleaning quality of the at least one mop.

[0033] According to one embodiment of the invention, each scraping member is continuous and extends in a direction of extension that is perpendicular or inclined at an angle between 45° and 135° relative to the direction of movement of the support. Advantageously, each scraping member is continuous and extends in a direction of extension that is perpendicular or substantially perpendicular to the direction of movement of the support, in other words, each scraping member extends in a direction of extension that is perpendicular or inclined at an angle between 80° and 100° relative to the direction of movement of the support.

[0034] According to one embodiment of the invention, each scraping member is discontinuous and extends in a direction of extension that is perpendicular or inclined at an angle between 45° and 135° relative to the direction of movement of the support. Advantageously, each scraping member is discontinuous and extends in a direction of extension that is perpendicular or substantially perpendicular to the direction of movement of the support, in other words, each scraping member extends in a direction of extension that is perpendicular or inclined at an angle between 80° and 100° relative to the direction of movement of the support.

[0035] According to one embodiment of the invention, each scraping member is a scraping rib.

[0036] According to one embodiment of the invention, each scraping member has a substantially triangular cross-section.

[0037] According to one embodiment of the invention, the scraping members have substantially the same height.

[0038] According to one embodiment of the present invention, each scraping member is formed by reliefs, such as dots, spaced apart from each other and arranged in a line (ie in the alignment direction). In other words, each scraping member is formed by a row of reliefs, such as dots, spaced apart from each other.

[0039] According to one embodiment of the invention, each relief has a circular cross section.

[0040] According to one embodiment of the present invention, each embossed line may be straight, curved or zigzag-shaped.

[0041] According to one embodiment of the invention, the reliefs belonging to the same line are staggered relative to the reliefs belonging to adjacent lines. In other words, the reliefs are staggered from one line to another.

[0042] According to one embodiment of the present invention, the distance between each embossment of the same line is smaller than the distance between two adjacent embossed lines.

[0043] According to one embodiment of the invention, the apex of the scraping member extends in an extension plane that is configured to be substantially horizontal when the receiving station is in the use configuration. This configuration of the scraping member ensures optimal scraping of the lower surface of the at least one mop and further facilitates cleaning of the at least one mop.

[0044] According to an embodiment of the invention, the scraping member is configured to extend substantially horizontally.

[0045] According to one embodiment of the present invention, the scraping members are regularly spaced apart from each other. Such an arrangement of the scraping members ensures uniform scraping of the lower surface of the at least one mop and further facilitates cleaning of the at least one mop.

[0046] According to one embodiment of the present invention, the receiving station includes a cleaning tank configured to contain a cleaning liquid, such as water, the scraping member being disposed on a bottom wall of the cleaning tank, and the at least one mop being configured to be disposed in the cleaning tank and, when the autonomous cleaning robot is received in the receiving station, at least partially immersed in the cleaning liquid contained in the cleaning tank. The presence of such a cleaning tank allows the cleaning performance of the receiving station to be further improved.

[0047] According to one embodiment of the present invention, the scraping members are arranged such that each pair of adjacent scraping members is spaced apart from each other by a separation distance that is substantially equal to or less than the amplitude of movement of the at least one mop support in the direction of support movement. This arrangement of the scraping members ensures that the entire lower surface of the at least one mop is scraped, thereby further improving the cleaning performance of the receiving station.

[0048] According to one embodiment of the invention, the direction of movement of the support extends substantially perpendicularly to a median longitudinal plane of the body.

[0049] According to one embodiment of the present invention, the support movement direction is configured to extend substantially horizontally when the autonomous cleaning robot rests on a horizontal surface.

[0050] According to one embodiment of the present invention, the cleaning device is vertically movable between an active position in which the at least one mop is configured to contact the surface to be cleaned and an inactive position in which the at least one mop is configured to be spaced apart from the surface to be cleaned.

[0051] According to one embodiment of the present invention, an autonomous cleaning robot includes a translational drive mechanism configured to translate a cleaning device in a translational direction and between an active position and an inactive position.

[0052] According to one embodiment of the present invention, the autonomous cleaning robot includes two drive wheels configured to roll on the surface to be cleaned and arranged on either side of a median longitudinal plane of the main body, the two drive wheels being mounted to rotate on the main body about two substantially parallel rotation axes, respectively. Advantageously, the rotation axes of the two drive wheels are located approximately mid-length between the front and rear edges of the autonomous cleaning robot.

[0053] According to one embodiment of the present invention, the receiving station includes two receiving recesses configured to respectively receive the two drive wheels of the autonomous cleaning robot when the autonomous cleaning robot is received in the receiving station. The presence of the receiving recesses allows the main body of the autonomous cleaning robot to be lowered when the autonomous cleaning robot is received in the receiving station, thereby ensuring that at least one mop is immersed in the cleaning liquid contained in the cleaning tank.

[0054] According to one embodiment of the present invention, the receiving station comprises a raised portion located in front of the cleaning tank, the raised portion being configured to retain the cleaning liquid in the cleaning tank, the raised portion comprising an upper surface raised relative to the bottom wall of the cleaning tank. Advantageously, two receiving recesses are provided on the upper surface of the raised portion.

[0055] According to one embodiment of the invention, the receiving station comprises an access ramp located in front of the raised portion, the access ramp being configured to allow the drive wheel to pass over the raised portion and reach the receiving recess.

[0056] According to one embodiment of the present invention, the autonomous cleaning robot comprises a waste collecting device comprising a waste collecting container located upstream of the suction unit, the waste collecting container being configured to be passed through by the airflow generated by the suction unit and to retain waste transported by the airflow.

[0057] According to one embodiment of the present invention, the receiving station comprises a reservoir for storing the cleaning liquid and a supply device configured to supply the cleaning liquid to the cleaning tank.

[0058] According to one embodiment of the invention, the receiving station comprises a liquid collection reservoir configured to collect used cleaning liquid, ie dirty cleaning liquid, from the cleaning tank.

[0059] According to one embodiment of the present invention, the receiving station comprises a suction device configured to suck the cleaning liquid contained in the cleaning tank and transfer the sucked cleaning liquid to the liquid collection reservoir. Advantageously, the suction device comprises a suction pump.

[0060] According to one embodiment of the present invention, the suction device is configured to suck waste contained in a waste collection container belonging to the autonomous cleaning robot when the autonomous cleaning robot is received in the receiving station, and to transfer the sucked waste to the liquid collection reservoir.

[0061] According to another embodiment of the present invention, the receiving station includes a waste collection storage, and the suction device is configured to suck the waste contained in the waste collection container belonging to the autonomous cleaning robot when the autonomous cleaning robot is received in the receiving station, and transport the sucked waste to the waste collection storage belonging to the receiving station.

[0062] According to one embodiment of the present invention, the autonomous cleaning robot includes a cleaning liquid reservoir, and the cleaning device includes a plurality of liquid outlet holes configured to be fluidly connected to the cleaning liquid reservoir and configured to supply cleaning liquid to at least one mop mounted on at least one mop support.

[0063] According to one embodiment of the invention, the receiving station is configured to fill a cleaning liquid reservoir belonging to the autonomous cleaning robot with cleaning liquid from a cleaning liquid reservoir belonging to the receiving station when the autonomous cleaning robot is received in the receiving station.

[0064] According to one embodiment of the present invention, the cleaning device comprises:

[0065] - two mop supports, each mop support being mounted so as to be translatable relative to the body in a support movement direction, the two mop supports being mounted so as to be movable relative to each other between an approach configuration in which the two mop supports are approaching each other and a distance configuration in which the two mop supports are distanced from each other, and

[0066] - Two mops, which are respectively mounted on two mop supports, for example detachably, and are configured to come into contact with the surface to be cleaned.

[0067] According to one embodiment of the present invention, the main body defines a suction chamber fluidly connected to the suction nozzle, and the autonomous cleaning robot includes a rotating cleaning brush accommodated in the suction chamber and mounted to be rotatable around a brush rotation axis.

[0068] According to one embodiment of the invention, the brush rotation axis of the rotating cleaning brush is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface.

[0069] According to one embodiment of the present invention, the brush rotation axis extends substantially perpendicular to the main movement direction of the autonomous cleaning robot. In other words, the brush rotation axis extends substantially parallel to the rotation axis of the drive wheel.

[0070] According to one embodiment of the invention, the cleaning device is located in the rear part of the main body, more precisely behind the drive wheels.

[0071] According to one embodiment of the present invention, the autonomous cleaning robot is configured such that, when the autonomous cleaning robot rests on a surface to be cleaned, the rear portion of the autonomous cleaning robot rests directly on the surface via at least one mop. This configuration of the autonomous cleaning robot allows the at least one mop to directly bear at least a portion of the mass of the autonomous cleaning robot, thereby further increasing the supporting force applied by the at least one mop to the floor to be cleaned. Consequently, this configuration of the autonomous cleaning robot further improves the cleaning quality of the autonomous cleaning robot.

[0072] According to one embodiment of the present invention, the autonomous cleaning robot includes a power supply battery configured to power the autonomous cleaning robot. The power supply battery is advantageously arranged in the rear portion of the main body, more specifically, behind the drive wheels. The power supply battery is a high-quality component, and the placement of the power supply battery and the cleaning device behind the drive wheels allows for increased support force applied by the at least one mop to the floor being cleaned.

[0073] According to one embodiment of the present invention, an autonomous cleaning robot includes a suction unit accommodated in a main body, the suction unit being configured to generate an airflow through a suction nozzle.

[0074] According to one embodiment of the invention, the main body has a substantially D-shape when viewed from above.

[0075] According to one embodiment of the invention, the suction nozzle is located in the front part of the main body.

[0076] According to one embodiment of the invention, the suction nozzle extends transversely to the main movement direction of the autonomous cleaning robot.

[0077] The present invention also relates to a control method of an autonomous cleaning system, comprising the following steps:

[0078] - providing an autonomous cleaning system according to the invention,

[0079] - receiving the autonomous cleaning robot in a receiving station,

[0080] - moving at least one mop support in a support movement direction,

[0081] - scraping the at least one mop by means of the scraping member in order to clean the at least one mop.

[0082] According to one embodiment of the present invention, the providing step includes providing an autonomous cleaning system, wherein the cleaning device is vertically movable between an active position and an inactive position, wherein in the active position, at least one mop is configured to contact the surface to be cleaned, and in the inactive position, at least one mop is configured to be spaced apart from the surface to be cleaned, and the control method further includes the step of moving the cleaning device into the active position (i.e., lowered position) before the step of moving the at least one mop support along the support movement direction, and the step of moving the washing device into the inactive position (i.e., raised position) after the scraping step. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The objects, aspects and advantages of the present invention will become better understood from the following description of certain embodiments thereof given by way of non-limiting example with reference to the accompanying drawings, in which:

[0084] Figure 1 is a top perspective view of the autonomous cleaning robot according to the present invention.

[0085] Figure 2 yes Figure 1 A bottom perspective view of an autonomous cleaning robot showing a mop equipped with the autonomous cleaning robot in a close configuration.

[0086] Figure 3 yes Figure 1 A bottom perspective view of an autonomous cleaning robot showing a mop in a stand-off configuration.

[0087] Figure 4 yes Figure 1 Bottom view of the autonomous cleaning robot showing the mop in a close configuration.

[0088] Figure 5 yes Figure 1 Bottom view of the autonomous cleaning robot showing the mop in a stand-off configuration.

[0089] Figure 6 yes Figure 1 Side view of an autonomous cleaning robot.

[0090] Figure 7 yes Figure 1 Longitudinal cross-sectional view of an autonomous cleaning robot.

[0091] Figure 8 It is from Figure 1 A bottom perspective view of an autonomous cleaning robot is shown in FIG. 1 , showing a mop support equipped with the autonomous cleaning robot in a close configuration.

[0092] Figure 9 yes Figure 1 A bottom perspective view of an autonomous cleaning robot showing the mop support in a remote configuration.

[0093] Figure 10 is a top perspective view of an autonomous cleaning system according to the present invention.

[0094] Figure 11 is a top perspective view of a receiving station belonging to the autonomous cleaning system according to the present invention.

[0095] Figure 12 is a cross-sectional view of a receiving station and an autonomous cleaning robot showing a mop support in a close configuration.

[0096] Figure 13 is a cross-sectional view of the receiving station and the autonomous cleaning robot showing the mop support in a remote configuration.

[0097] Figure 14 is a schematic cross-sectional view of a receiving station.

[0098] Figure 15 It shows Figure 10 Diagram of the steps of a first control method of an autonomous cleaning system.

[0099] Figure 16 It shows Figure 10 Diagram of the steps of a second control method of the autonomous cleaning system. DETAILED DESCRIPTION

[0100] Only the elements necessary for understanding the invention are shown. To facilitate reading of the drawings, identical elements have the same reference numerals from one figure to another.

[0101] It should be noted that in this article, the terms "horizontal", "vertical", "down", "up" and "height" used to describe the autonomous cleaning robot or body refer to the autonomous cleaning robot in use when it is resting on a flat, horizontal floor to be cleaned with its wheels.

[0102] In this context, "median longitudinal plane" means a vertical plane parallel to the main direction of movement and dividing the body into two substantially equal left and right parts.

[0103] In this context, the expression "extending transversely to a direction" means extending in an extension direction that is inclined relative to said direction and therefore not parallel to said direction.

[0104] In the absence of any indication to the contrary, the term "substantially" is used herein to mean "exactly or within 10% or 10°".

[0105] Figures 1 to 14 An autonomous cleaning system 1 is shown comprising an autonomous cleaning robot 2 , more specifically a robotic vacuum cleaner, which is configured to move autonomously over a surface to be cleaned, and a receiving station 3 , also called cleaning station, which is configured to receive the autonomous cleaning robot 2 .

[0106] The autonomous cleaning robot 2 comprises a main body 4 comprising a lower surface 5 which is configured to be oriented towards the surface to be cleaned, and a suction nozzle 6 which is located in a front portion 4.1 of the main body 4 and opens into the lower surface 5 of the main body 4. The suction nozzle 6 is elongated and extends substantially perpendicularly to the main movement direction D1 of the autonomous cleaning robot 2. Advantageously, the suction nozzle 6 has a generally rectangular shape.

[0107] like Figure 7 As shown, the body 4 delimits a suction chamber 7 which opens into the lower surface 5 of the body 4 via a suction nozzle 6 .

[0108] According to the embodiment shown in the figures, the main body 4 has a substantially D-shape when viewed from above in a substantially vertical orientation and includes a rear edge that is curved and has an arc shape when viewed from above in a substantially vertical orientation. However, the main body 4 may have any other shape, for example a substantially circular or rectangular shape.

[0109] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 8 housed in the suction chamber 7 and mounted so as to be rotatable about a brush rotation axis A1 extending perpendicularly to the main movement direction D1. Advantageously, the brush rotation axis A1 is substantially horizontal when the autonomous cleaning robot 2 is resting on a horizontal surface.

[0110] The autonomous cleaning robot 2 further includes a driving mechanism (not visible in the figure) configured to drive the rotating cleaning brush 8 to rotate around the brush rotation axis A1.

[0111] like Figures 2 to 8 As shown more specifically in FIG, the autonomous cleaning robot 2 includes two drive wheels 9 configured to roll over the surface to be cleaned. The two drive wheels 9 are mounted rotatably relative to the body 4 and have parallel, and advantageously coaxial, axes of rotation, extending perpendicularly to the main direction of movement D1. Advantageously, the two drive wheels 9 are arranged on either side of a median longitudinal plane P of the body 4.

[0112] The two drive wheels 9 are advantageously motorized independently of one another. Therefore, the autonomous cleaning robot 2 includes two rotary drive mechanisms 10 housed within the main body 4, each configured to rotate a corresponding one of the two drive wheels 9. Each rotary drive mechanism 10 includes a drive motor that is rotationally coupled to the corresponding drive wheel 9 and is, for example, disposed in a corresponding lateral portion of the main body 4. Based on the control of the two drive motors, the main body 4 can rotate left, right, or along its axis, and can move forward or backward.

[0113] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 11 which are mounted to rotate freely relative to the body 4 and are arranged on the front part 4 . 1 of the body 4 , for example between the front edge of the body 4 and the front edge of the suction nozzle 6 .

[0114] The autonomous cleaning robot 2 further includes a suction unit 12 housed in the main body 4 . The suction unit 12 includes a motor and a fan coupled to the motor to generate an air flow through the suction nozzle 6 and the suction chamber 7 .

[0115] The autonomous cleaning robot 2 further comprises a waste collecting device 13, for example detachably mounted on the body 4. The waste collecting device 13 comprises a waste collecting container 13.1 upstream of the suction unit 12, which is configured to be passed through by the airflow generated by the fan and to retain waste transported by the airflow.

[0116] like Figure 7 As shown, the autonomous cleaning robot 2 comprises a connection channel 14 that fluidically connects the suction chamber 7 to the waste collection container 13.1. Advantageously, the connection channel 14 opens into the rear part of the suction chamber 7.

[0117] Especially Figure 2 As shown, the autonomous cleaning robot 2 further comprises a cleaning device 15, for example a wet cleaning device, which is arranged in the rear part 4.2 of the body 4. Advantageously, the cleaning device 15 is arranged opposite the rotating cleaning brush 8 relative to the rotation axis of the drive wheel 9.

[0118] The cleaning device 15 is vertically movable, for example, between an active position in which the cleaning device 15 is arranged to contact the surface to be cleaned and an inactive position in which the cleaning device 15 is arranged to be spaced apart from the surface to be cleaned. Thus, the active position corresponds to a lowered position of the cleaning device 15, and the inactive position corresponds to a raised position of the cleaning device 15. However, according to a variant embodiment of the present invention, the cleaning device 15 is not vertically movable relative to the body 4.

[0119] The cleaning device 15 comprises in particular a support housing 16 (see Figure 7), one or more mop supports 17 fixed to the support housing 16, and one or more mops 18, each mop being, for example, detachably fixed to a corresponding mop support 17. Each mop 18 is more particularly configured to contact the surface to be cleaned when the cleaning device 15 is in the active position.

[0120] Advantageously, the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, the rear portion of the autonomous cleaning robot 2 rests on the surface being directly cleaned by the one or more mops. This configuration of the autonomous cleaning robot 2 allows the one or more mops to directly bear at least a portion of the mass of the autonomous cleaning robot 2, thereby further increasing the supporting force exerted by the one or more mops on the floor to be cleaned. Consequently, this configuration of the autonomous cleaning robot 2 further improves the cleaning quality of the autonomous cleaning robot 2.

[0121] According to the embodiment shown in the figures, the cleaning device 15 includes two mop supports 17 arranged side by side, and two mops 18 detachably mounted on the two mop supports 17, respectively. However, according to a variant embodiment of the present invention, the cleaning device 15 may include a single mop support 17 and a single mop 18, the width of which substantially corresponds to the width of the main body 4.

[0122] According to the embodiment shown in the figure, the two mop supports 17 are each installed in the support moving direction D2 (see Figure 3 ) moves in translation relative to the main body 4, the direction of movement of the support extending perpendicular to the middle longitudinal plane P of the main body 4 and therefore parallel to the rotation axis of the two drive wheels 9.

[0123] Advantageously, the mop support 17 is mounted in a close configuration (see Figure 8 ) and away configuration (see Figure 9 ) are movable relative to each other. In the close configuration, the two mop supports 17 are close to each other, so the two mops 18 are also close to each other. In the far configuration, the two mop supports 17 are far away from each other, so the two mops 18 are also far away from each other.

[0124] The cleaning device 15 further comprises a moving mechanism 19 configured to translate the mop supports 17 along the support movement direction D2 and alternately between the approaching configuration and the distant configuration.

[0125] The autonomous cleaning robot 2 further includes a translation drive mechanism 20 (see Figure 7), which is configured to translate the cleaning device 15 , more specifically the support housing 16 , in a translation direction T and between an active position and an inactive position. Advantageously, the translation drive mechanism 20 is arranged in the rear portion 4 . 2 of the body 4 .

[0126] The translation drive mechanism 20 particularly comprises:

[0127] a drive element 210 having a central axis extending substantially parallel to the translation direction T, said drive element 210 being provided with a first threaded drive portion and being mounted so as to be rotatable relative to the body 4 about its central axis, and

[0128] - a drive member 220 , which is fixed to the support housing 16 and is translationally integral with the cleaning device 15 , the drive member 220 extending upward from the upper surface of the support housing 16 and comprising a second threaded drive portion configured to cooperate with a first threaded drive portion provided on the drive element 210 .

[0129] According to the embodiment shown in the figures, the drive member 220 is a drive column provided with a threaded outer surface (forming the second threaded drive portion) and extending along an extension axis that is substantially coaxial with the central axis of the drive element 210, and the drive element 210 particularly comprises a threaded axial hole (partially forming the first threaded drive portion) configured to cooperate with a threaded outer surface provided on the drive column, in which the drive member 220 thus extends at least partially. Thus, the first threaded drive portion and the second threaded drive portion form a helical connection, preferably of the irreversible type, to prevent the cleaning device 15 from rising on its own into contact with the floor to be cleaned.

[0130] The translation drive mechanism 20 further comprises an electric motor 230 arranged in the body 4 and provided with an output shaft, and a motion transmission mechanism 240 mechanically coupled on the one hand to the output shaft of the electric motor 230 and on the other hand to the drive element 210 .

[0131] According to the embodiment shown in the figures, the motion transmission mechanism 240 includes a worm that is rotationally coupled to and coaxial with the output shaft of the motor 230, and the drive element 210 includes peripheral teeth that are coaxial with the aforementioned central axis and rotationally coupled to the worm. Thus, the drive element 210 includes a gear including the aforementioned threaded axial hole and peripheral teeth.

[0132] The motion transfer mechanism 240 is more specifically configured to drive the drive element 210 to rotate in a first rotational direction when the motor 230 rotates in a first motor rotational direction, and is configured to drive the drive element 210 to rotate in a second rotational direction opposite to the first rotational direction when the motor 230 rotates in a second motor rotational direction.

[0133] However, considering the configuration of the above-mentioned first threaded drive portion and the second threaded drive portion, the cleaning device 15 is configured to move toward the active position when the drive element 210 is driven to rotate in the first rotation direction by the motion transmission mechanism 240, and to move toward the inactive position when the drive element 210 is driven to rotate in the second rotation direction by the motion transmission mechanism 240.

[0134] The autonomous cleaning robot 2 further comprises a cleaning liquid reservoir 21 configured to supply cleaning liquid to the two mops 18. The cleaning liquid reservoir 21 is, for example, detachably mounted on the main body 4 and may, for example, be arranged in the rear portion 4.2 of the main body 4.

[0135] The cleaning device 15 also includes a plurality of liquid outlet holes 22 (see Figure 4 ), these liquid outlet holes are configured to be fluidically connected to a cleaning liquid reservoir 21 and to supply cleaning liquid to a mop 18 mounted on the mop support 17. According to the embodiment shown in the figures, the liquid outlet holes 22 are aligned in an alignment direction extending perpendicularly to the main movement direction D1 and are configured to be oriented toward the surface to be cleaned. Advantageously, the liquid outlet holes 22 are located in front of the mop support 17, for example, in front of the mop 18.

[0136] The autonomous cleaning robot 2 further comprises a power supply battery 23 configured to supply power to the autonomous cleaning robot 2. Advantageously, the power supply battery 23 is rechargeable and housed in the main body 4.

[0137] The autonomous cleaning robot 2 further comprises a control unit 24 (see Figure 6 ), the control unit 24 is configured to control the operation of the autonomous cleaning robot 2, in particular to control the movement of the body 4, for example in a random or organized movement, and to control, for example, the movement of the cleaning device 15 between an active position and an inactive position.

[0138] The control unit 24 is specifically configured to control the aforementioned rotation drive mechanism 10 (which is configured to drive the drive wheel 9 to rotate) based on data received from various sensors (e.g., proximity sensors, contact sensors, and / or drop sensors) disposed on the body 4. For example, the control unit 24 may include an electronic card configured to receive and process these various data.

[0139] like Figure 11 As shown more specifically in FIG, the receiving station 3 comprises a receiving location 25 , eg open upwards, which is configured to at least partially accommodate the autonomous cleaning robot 2 .

[0140] The receiving station 3 also includes a cleaning tank 26 configured to contain a cleaning liquid, such as water. One or more mops 18 are configured to be disposed in the cleaning tank 26 and, more specifically, at least partially submerged in the cleaning liquid contained in the cleaning tank 26 when the autonomous cleaning robot 2 is received in the receiving station 3. Thus, the cleaning tank 26 is configured to allow cleaning of the one or more mops 18 when the autonomous cleaning robot 2 is received in the receiving position 25.

[0141] like Figures 11 to 13 As shown, the receiving station 3 comprises a scraping member 27 arranged on the bottom wall 26.1 of the cleaning tank 26, which is configured to scrape or rub the one or more mops 18, more specifically the lower surface of the one or more mops 18, when the autonomous cleaning robot 2 is received in the receiving position 25 and when the mop support 17 or each mop support moves along the support movement direction D2.

[0142] In order to implement the cleaning of one or more mops 18 of the autonomous cleaning robot 2, for example after a cleaning operation of the surface to be cleaned, the control method of the autonomous cleaning system 1 according to the present invention may for example comprise (see Figure 15 ):

[0143] - providing a step S1 comprising providing an autonomous cleaning system 1 according to the invention, wherein the cleaning device 15 is not vertically movable between an active position and an inactive position,

[0144] - a receiving step S2, comprising receiving the autonomous cleaning robot 2 in the receiving station 3,

[0145] - a movement step S3, consisting in moving one or more mop supports 17 in the support movement direction D2,

[0146] A scraping step S4 , consisting in scraping or rubbing the mop or mops 18 with the scraping member 27 , in order to clean the mop or mops 18 .

[0147] According to a variant embodiment of the present invention, the control method of the autonomous cleaning system 1 according to the present invention may include, for example (see Figure 16 ):

[0148] - a providing step S1 comprising providing an autonomous cleaning system 1 according to the invention, wherein the cleaning device 15 is vertically movable between an active position and an inactive position,

[0149] - a receiving step S2, comprising receiving the autonomous cleaning robot 2 in the receiving station 3,

[0150] - a movement step S3 consisting in moving the cleaning device 15 into an active position (ie a lowered position),

[0151] - a movement step S4, consisting in moving one or more mop supports 17 in the support movement direction D2,

[0152] - a scraping step S5, comprising scraping the one or more mops 18 with the scraping member 27, in order to clean the one or more mops 18,

[0153] - a movement step S6 consisting in moving the cleaning device 15 into an inactive position (ie into a raised position).

[0154] According to the embodiment shown in the figures, the scraping members 27 are straight and extend parallel to each other, and are configured to extend perpendicular to the support movement direction D2 when the autonomous cleaning robot 2 is received in the receiving position 25. However, according to variant embodiments of the present invention, the scraping members 27 may be curved or zigzag-shaped while being parallel to each other, or not parallel to each other.

[0155] Advantageously, each scraping member 27 is formed by a scraping rib and has a substantially triangular cross section. However, according to variant embodiments of the invention, each scraping member 27 may have a cross section of any other shape.

[0156] According to the embodiment shown in the figures, the scraping members 27 have the same height and are configured to extend horizontally. Advantageously, the apex of the scraping members 27 extends in an extension plane that is configured to be horizontal when the receiving station 3 is in the configuration of use.

[0157] According to the embodiment shown in the figures, the scraping members 27 are regularly spaced apart from each other and are arranged so that two adjacent scraping members 27 are spaced apart from each other by a separation distance that is substantially equal to or less than the movement amplitude of each mop support 17 in the support movement direction D2.

[0158] like Figure 11 As shown, the receiving station 3 includes a raised portion 28 located in front of the cleaning tank 26, the raised portion 28 being configured to retain the cleaning liquid in the cleaning tank 26, and two receiving recesses 29 provided in an upper surface 28.1 of the raised portion 28, which are configured to respectively receive the two drive wheels 8 of the autonomous cleaning robot 2 when the autonomous cleaning robot 2 is received in the receiving position 25. The presence of the receiving recesses 29 allows the main body 4 of the autonomous cleaning robot 2 to be lowered when the autonomous cleaning robot 2 is received in the receiving position 25, thereby ensuring that the mop 18 or each mop 18 is immersed in the cleaning liquid contained in the cleaning tank 26.

[0159] Advantageously, the receiving station 3 further comprises an access ramp 31 located in front of the raised portion 28 and configured to allow the drive wheel 8 to pass over the raised portion 28 and reach the receiving recess 29 when the autonomous cleaning robot 2 is received in the receiving position 25 .

[0160] like Figure 14 As shown, the receiving station 3 includes a cleaning liquid reservoir 31 and a supply device 32 , and the supply device 32 is configured to supply the cleaning liquid to the cleaning tank 26 .

[0161] The receiving station 3 further comprises a liquid collection reservoir 33 configured to collect used cleaning liquid, i.e., dirty cleaning liquid, from the cleaning tank 26, and a suction device 34 configured to suck the cleaning liquid contained in the cleaning tank 26 and transfer the sucked cleaning liquid to the liquid collection reservoir 33. Advantageously, the suction device 34 comprises a suction pump.

[0162] According to one embodiment of the present invention, the receiving station 3 may also include a waste collection storage 35, and the suction device 34 may be configured to suck the waste contained in the waste collection container 13.1 belonging to the autonomous cleaning robot 2 when the autonomous cleaning robot 2 is received in the receiving station 3, and transport the sucked waste to the waste collection storage 35 belonging to the receiving station 3.

[0163] According to one embodiment of the present invention, the receiving station 3 may be configured to fill the cleaning liquid reservoir 21 belonging to the autonomous cleaning robot 2 with cleaning liquid from a cleaning liquid reservoir 31 belonging to the receiving station 3 when the autonomous cleaning robot 2 is received in the receiving station 3 .

[0164] According to an embodiment of the present invention not shown in the figures, each scraping member 27 can be formed by embossments (e.g., dots) spaced apart from each other and arranged in a line. Advantageously, each embossment has a circular cross-section, and the distance between each embossment in the same line is less than the distance between two adjacent embossment lines.

[0165] Each relief line may be straight, curved or zigzag, and reliefs belonging to the same line may be staggered relative to reliefs belonging to adjacent lines.

[0166] Of course, the present invention is in no way limited to the embodiments described and illustrated, which are given as examples only. Modifications are still possible without departing from the scope of protection of the present invention, in particular from the perspective of the composition of the various elements or by replacement by technical equivalents.

Claims

1. An autonomous cleaning system (1), comprising: - an autonomous cleaning robot (2), comprising: o a body (4) comprising a lower surface (5) configured to be oriented towards the surface to be cleaned and a suction nozzle (6) opening into the lower surface (5) of the body (4), o a cleaning device (15), comprising at least one mop support (17) mounted to be translatable relative to the body (4) in a support movement direction (D2), the support movement direction extending in a movement plane that is substantially horizontal when the autonomous cleaning robot (2) rests on a horizontal surface; and at least one mop (18) mounted on the at least one mop support (17) and configured to contact the surface to be cleaned, and - a receiving station (3) configured to receive the autonomous cleaning robot (2), The invention is characterized in that the receiving station (3) is configured to clean the at least one mop (18) when the autonomous cleaning robot (2) is received in the receiving station (3), and the receiving station (3) includes a scraping member (27) configured to extend transversely to the support movement direction (D2) and to scrape or rub the at least one mop (18) when the autonomous cleaning robot (2) is received in the receiving station (3) and the at least one mop support (17) moves in the support movement direction (D2).

2. The autonomous cleaning system (1) according to claim 1, wherein The scraping members (27) extend substantially parallel to each other.

3. The autonomous cleaning system (1) according to claim 1 or 2, wherein: The scraping member (27) is configured to extend substantially perpendicularly to the support moving direction (D2) when the autonomous cleaning robot (2) is received in the receiving station (3).

4. The autonomous cleaning system (1) according to any one of claims 1 to 3, wherein: Each scraping member (27) is a scraping rib.

5. The autonomous cleaning system (1) according to claim 4, wherein: Each scraping member (27) has a generally triangular cross-section.

6. The autonomous cleaning system (1) according to any one of claims 1 to 3, wherein: Each scraping member (27) is formed of reliefs that are spaced apart from each other and arranged in a line.

7. The autonomous cleaning system (1) according to any one of claims 1 to 6, wherein: The scraping members (27) are regularly spaced apart from each other.

8. The autonomous cleaning system (1) according to any one of claims 1 to 7, wherein: The receiving station (3) comprises a cleaning tank (26) configured to contain a cleaning liquid, the scraping member (27) is provided on a bottom wall (26.1) of the cleaning tank (26), and the at least one mop (18) is configured to be arranged in the cleaning tank (26) when the autonomous cleaning robot (2) is received in the receiving station (3).

9. The autonomous cleaning system (1) according to any one of claims 1 to 8, wherein: The scraping members (27) are arranged such that each pair of adjacent scraping members (27) are spaced apart from each other by a separation distance that is substantially equal to or less than a movement amplitude of the at least one mop support (17) in the support movement direction (D2).

10. The autonomous cleaning system (1) according to any one of claims 1 to 9, wherein: The support movement direction (D2) extends substantially perpendicularly to the median longitudinal plane (P) of the body (4).

11. The autonomous cleaning system (1) according to any one of claims 1 to 10, wherein: The support movement direction (D2) is configured to extend substantially horizontally when the autonomous cleaning robot (2) rests on a horizontal surface.

12. The autonomous cleaning system (1) according to any one of claims 1 to 11, wherein: The cleaning device (15) is vertically movable between an active position in which the at least one mop (18) is configured to contact a surface to be cleaned and an inactive position in which the at least one mop (18) is configured to be spaced apart from the surface to be cleaned.

13. The autonomous cleaning system (1) according to any one of claims 1 to 12, wherein: The autonomous cleaning robot (2) comprises two drive wheels (9) configured to roll on the surface to be cleaned and arranged on both sides of a middle longitudinal plane (P) of the main body (4), and the two drive wheels (9) are mounted so as to be rotatable on the main body (4) around two substantially parallel rotation axes, respectively.

14. The autonomous cleaning system (1) according to any one of claims 1 to 13, wherein: The cleaning device (15) comprises: - two mop supports (17), each mop support being mounted so as to be translatable relative to the body (4) in the direction of movement (D2) of the support, the two mop supports (17) being mounted so as 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 (18) mounted on two mop supports (17) respectively and arranged to come into contact with the surface to be cleaned.

15. The autonomous cleaning system (1) according to any one of claims 1 to 14, wherein: The body (4) defines a suction chamber (7) fluidly connected to the suction nozzle (6), and the autonomous cleaning robot (2) comprises a rotating cleaning brush (8) housed in the suction chamber (7), the rotating cleaning brush being mounted so as to be rotatable around a rotation axis of the brush.

16. A method for controlling an autonomous cleaning system (1), comprising the following steps: - providing an autonomous cleaning system (1) according to any one of claims 1 to 15, - receiving the autonomous cleaning robot (2) in a receiving station (3), - said at least one mop support (17) moves in said support movement direction (D2), - scraping the at least one mop (18) by means of a scraping member (27) in order to clean the at least one mop (18).

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