Autonomous cleaning system with scratch off docking station

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 to move in translation relative to the main 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 the surface to be cleaned; and a docking station (3) configured to accommodate the autonomous cleaning robot (2) and to clean the at least one mop (18) when the autonomous cleaning robot (2) is received in the docking station (3). The docking station (3) comprises scraping members (27) configured to scrape or rub the at least one mop (18) when the autonomous cleaning robot (2) is received in the docking station (3).

Description

Technical field

[0001] The present invention relates to the field of autonomous cleaning devices, and more particularly to the field of robot vacuum cleaners capable of moving autonomously over a surface to be cleaned and making it possible to vacuum up dust and waste present on the surface to be cleaned, which may for example be tiles, parquet, laminate, carpet or a rug, and possibly to wash the surface to be cleaned simultaneously with a vacuuming operation. State of the art

[0002] Autonomous cleaning robots have become commonplace these days, allowing them to clean entire surfaces of a home without any user assistance as long as these surfaces are flat, i.e., on the same level. This saves users considerable time for other activities.

[0003] Document FR3124935 discloses an autonomous cleaning robot comprising: a main body comprising a lower face configured to be oriented towards a surface to be cleaned and a suction mouth opening into the lower face of the main body and extending transversely to a main direction of movement of the autonomous cleaning robot, and a cleaning device comprising at least one mop support mounted to move in translation relative to the main body in a support movement direction extending in a movement plane which is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface, and at least one mop removably mounted on the at least one mop support and configured to be in contact with the surface to be cleaned.

[0004] When a user wishes to clean the at least one mop, for example after one or more cleaning operations of a surface to be cleaned, the user grasps the autonomous cleaning robot, turns it over and removes the at least one mop from the associated mop holder, and then proceeds to clean the at least one mop, for example via a cleaning cycle within a washing machine.

[0005] However, such washing of the at least one mop requires numerous manipulations of the autonomous cleaning robot by the user. Furthermore, the cleaning performance of such an autonomous cleaning robot may be significantly reduced if the user is unable to perform regular cleaning of the at least one mop.

[0006] Another known autonomous cleaning system includes: an autonomous cleaning robot equipped with a cleaning device comprising two mop supports mounted to move in rotation respectively about two axes of rotation configured to extend substantially vertically, and two mops removably mounted respectively on the two mop supports, and a docking station configured to accommodate the autonomous cleaning robot and to clean the two mops when the autonomous cleaning robot is received in the docking station.

[0007] The docking station more particularly comprises a cleaning tank, and is configured such that the two mops are at least partially immersed in cleaning liquid contained in the cleaning tank when the autonomous cleaning robot is received in the docking station. Advantageously, during each cleaning operation of the two mops in the cleaning tank, said mops are rotated about their axes of rotation.

[0008] Such a configuration of the aforementioned autonomous cleaning system ensures automatic cleaning of the mops, and therefore provides increased cleaning performance to the autonomous cleaning system.

[0009] However, the cleaning quality achieved with such a docking station is not optimal, and is in particular much lower than that achieved when cleaning mops in a washing machine. Summary of the invention

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

[0011] The technical problem underlying the invention consists in particular in providing an autonomous cleaning system which is of simple and ergonomic structure, while exhibiting increased cleaning performance.

[0012] To this end, the invention relates to an autonomous cleaning system comprising: an autonomous cleaning robot comprising: ∘ a main body comprising a lower face configured to be oriented towards a surface to be cleaned and a suction inlet opening into the lower face of the main body, ∘ a cleaning device, such as a wet cleaning device, comprising at least one mop support mounted to move in translation relative to the main body in a support movement direction extending in a movement plane which is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface, and at least one mop mounted, for example removably, on the at least one mop support and configured to be in contact with the surface to be cleaned, and a docking station, also called a cleaning station, configured to accommodate the autonomous cleaning robot,the docking station is configured to clean the at least one mop when the autonomous cleaning robot is received in the docking station, the docking station comprises scraping members configured to extend transversely to the support movement direction and to scrape or rub the at least one mop, and for example a lower face of the at least one mop, when the autonomous cleaning robot is received in the docking station and the at least one mop support is moved in the support movement direction.

[0013] Such a configuration of the docking station, and in particular the presence and orientation of the scraping members, ensures scraping of the at least one mop during a cleaning operation of the latter, that is to say when the at least one mop is received in the cleaning tank and the at least one mop support is moved in the direction of movement of the support. However, such scraping of the at least one mop, while it is partly immersed in cleaning liquid contained in the cleaning tank, ensures optimal cleaning of the at least one mop, and therefore gives increased cleaning performance to the autonomous cleaning system according to the present invention.

[0014] The autonomous cleaning robot of the present invention is designed, like the majority of autonomous cleaning robots, to efficiently 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 a main direction of movement of the autonomous cleaning robot of the present invention. Thus, a front part or a rear part of the main body of the autonomous cleaning robot is identified relative to the main direction of movement of the autonomous cleaning robot.

[0015] The autonomous cleaning robot may further have one or more of the following features, taken alone or in combination.

[0016] According to one embodiment of the invention, the docking station comprises a receiving location configured to receive at least in part the autonomous cleaning robot.

[0017] According to one embodiment of the invention, at least one of the scraping members, and for example each of the scraping members, is rectilinear.

[0018] According to another embodiment of the invention, at least one of the scraping members, and for example each of the scraping members, is curvilinear. For example, each of the scraping members could have an S shape.

[0019] According to one embodiment of the invention, the scraping members extend substantially parallel to one another. For example, the scraping members may be rectilinear and extend parallel to one another, or be curvilinear and also extend parallel to one another.

[0020] According to one embodiment of the invention, the docking station is configured such that, when the autonomous cleaning robot is received in the docking station, the scraping members extend substantially parallel to the main direction of movement of the autonomous cleaning robot, and therefore substantially parallel to the median longitudinal plane of the main body. Thus, when the autonomous cleaning robot is placed in the docking station above the scraping members (and it is devoid of a system for lifting the at least one mop support) the friction forces of the autonomous cleaning robot being placed on the docking station are limited.

[0021] According to another embodiment of the invention, the scraping members could comprise a first series of scraping members and a second series of scraping members, the scraping members belonging to the first series being parallel to each other and the scraping members belonging to the second series being parallel to each other and being inclined relative to the scraping members belonging to the first series.

[0022] According to one embodiment of the invention, the scraping members are configured to extend substantially perpendicular to the support movement direction when the autonomous cleaning robot is received in the docking station. Such an orientation of the scraping members further improves the scraping efficiency of the at least one mop, and therefore the cleaning quality of the at least one mop.

[0023] According to one embodiment of the invention, each scraping member is continuous and extends in a direction of extension which is perpendicular or inclined at an angle of between 45° and 135° relative to the direction of support movement. Advantageously, each scraping member is continuous and extends in a direction of extension which is perpendicular or substantially perpendicular to the direction of support movement, in other words each scraping member extends in a direction of extension which is perpendicular or inclined at an angle of between 80° and 100° relative to the direction of support movement.

[0024] According to one embodiment of the invention, each scraping member is discontinuous and extends in a direction of extension which is perpendicular or inclined at an angle of between 45° and 135° relative to the direction of support movement. Advantageously, each scraping member is discontinuous and extends in a direction of extension which is perpendicular or substantially perpendicular to the direction of support movement, in other words each scraping member extends in a direction of extension which is perpendicular or inclined at an angle of between 80° and 100° relative to the direction of support movement.

[0025] According to one embodiment of the invention, each scraping member is a scraping rib.

[0026] According to one embodiment of the invention, each scraping member has a generally triangular cross-section.

[0027] According to one embodiment of the invention, the scraping members have substantially identical heights.

[0028] According to one embodiment of the invention, each scraping member is formed by reliefs, such as spikes, spaced from each other and arranged in a line, that is to say in an alignment direction. In other words, each scraping member is formed by an alignment of reliefs, such as spikes, spaced from each other.

[0029] According to one embodiment of the invention, each relief has a circular cross-section.

[0030] According to one embodiment of the invention, each line of reliefs can be rectilinear, curved or saw-toothed.

[0031] According to one embodiment of the invention, the reliefs belonging to the same line are arranged in a staggered pattern relative to the reliefs belonging to an adjacent line. In other words, the reliefs are arranged in a staggered pattern from one line to the other.

[0032] According to one embodiment of the invention, the distance between each relief of the same line is smaller than the distance between two adjacent relief lines.

[0033] According to one embodiment of the invention, the tops of the scraping members extend in an extension plane which is configured to be substantially horizontal when the docking station is in the use configuration. Such a configuration of the scraping members ensures optimal scraping of the underside of the at least one mop, and further promotes cleaning of the latter.

[0034] According to one embodiment of the invention, the scraping members are configured to extend substantially horizontally.

[0035] According to one embodiment of the invention, the scraping members are regularly spaced from each other. Such a configuration of the scraping members ensures uniform scraping of the lower face of the at least one mop, and further promotes cleaning of the latter.

[0036] According to one embodiment of the invention, the docking station comprises a cleaning tank configured to contain cleaning liquid, such as water, the scraping members being provided on a bottom wall of the cleaning tank and the at least one mop being configured to be arranged in the cleaning tank, and for example to be at least partially immersed in the cleaning liquid contained in the cleaning tank, when the autonomous cleaning robot is received in the docking station. The presence of such a cleaning tank makes it possible to further increase the cleaning performance of the docking station.

[0037] According to one embodiment of the invention, the scraping members are arranged such that each pair of adjacent scraping members are spaced apart from each other by a separation distance that is substantially the same as or less than a displacement amplitude of the at least one mop support in the support displacement direction. Such an arrangement of the scraping members ensures scraping of the entire underside of the at least one mop, and thus makes it possible to further increase the cleaning performance of the docking station.

[0038] According to one embodiment of the invention, the direction of support movement extends substantially perpendicular to the median longitudinal plane of the main body.

[0039] According to one embodiment of the invention, the support movement direction is configured to extend substantially horizontally when the autonomous cleaning robot is resting on a horizontal surface.

[0040] According to one embodiment of the invention, the cleaning device is movable vertically between an active position in which the at least one mop is configured to be in contact with the surface to be cleaned and an inactive position in which the at least one mop is configured to be located at a distance from the surface to be cleaned.

[0041] According to one embodiment of the invention, the autonomous cleaning robot comprises a translational drive mechanism configured to move the cleaning device in translation in a translational direction and between the active position and the inactive position.

[0042] According to one embodiment of the invention, the autonomous cleaning robot comprises two drive wheels configured to roll on the surface to be cleaned and arranged on either side of the median longitudinal plane of the main body, the two drive wheels being mounted to rotate on the main body respectively around two axes of rotation which are substantially parallel. Advantageously, the axes of rotation of the two drive wheels are arranged approximately halfway between a front edge and a rear edge of the autonomous cleaning robot.

[0043] According to one embodiment of the invention, the docking station comprises two receiving indentations configured to respectively receive the two drive wheels of the autonomous cleaning robot when the autonomous cleaning robot is received in the docking station. The presence of the receiving indentations makes it possible to lower the main body of the autonomous cleaning robot when the latter is received in the docking station, and thus to ensure immersion of the at least one mop in the cleaning liquid contained in the cleaning tank.

[0044] According to one embodiment of the invention, the docking station comprises a raised portion located at the front of the cleaning tank and configured to retain the cleaning liquid in the cleaning tank, the raised portion comprising an upper face which is raised relative to the bottom wall of the cleaning tank. Advantageously, the two receiving indentations are provided on the upper face of the raised portion.

[0045] According to one embodiment of the invention, the docking station comprises an access ramp which is located in front of the raised portion and which is configured to allow the drive wheels to cross the raised portion and reach the receiving footprints.

[0046] According to one embodiment of the invention, the autonomous cleaning robot comprises a waste collection device comprising a waste collection container located upstream of the suction unit and configured to be traversed by the air flow generated by the suction unit and to retain waste transported by the air flow.

[0047] According to one embodiment of the invention, the docking station comprises a cleaning liquid storage tank, and a supply device configured to supply cleaning liquid to the cleaning tank.

[0048] According to one embodiment of the invention, the docking station comprises a liquid collection tank configured to collect used, i.e. dirty, cleaning liquid from the cleaning tank.

[0049] According to one embodiment of the invention, the docking station comprises a suction device configured to suck up the cleaning liquid contained in the cleaning tank and to convey the sucked up cleaning liquid into the liquid collection tank. Advantageously, the suction device comprises a suction pump.

[0050] According to one embodiment of the invention, the suction device is configured to suck up waste contained in the waste collection container belonging to the autonomous cleaning robot when the autonomous cleaning robot is received in the docking station, and to convey said sucked up waste into the liquid collection tank.

[0051] According to another embodiment of the invention, the docking station comprises a waste collection tank and the suction device is configured to suck up the waste contained in the waste collection container belonging to the autonomous cleaning robot when the autonomous cleaning robot is received in the docking station, and to convey said sucked up waste into the waste collection tank belonging to the docking station.

[0052] According to one embodiment of the invention, the autonomous cleaning robot comprises a cleaning liquid reservoir, and the cleaning device comprises a plurality of liquid outlets which are configured to be fluidically connected to the cleaning liquid reservoir and which are configured to supply cleaning liquid to the at least one mop mounted on the at least one mop holder.

[0053] According to one embodiment of the invention, the docking station is configured to fill the cleaning liquid reservoir belonging to the autonomous cleaning robot with cleaning liquid from the cleaning liquid storage reservoir belonging to the docking station when the autonomous cleaning robot is received in the docking station.

[0054] According to one embodiment of the invention, the cleaning device comprises: two mop supports which are each mounted so as to be movable in translation relative to the main body in the direction of support movement, the two mop supports being mounted so as to be movable relative to each other between a close configuration in which the two mop supports are brought together and a distant configuration in which the two mop supports are distant from each other, and two mops mounted, for example removably, respectively on the two mop supports and configured to be in contact with the surface to be cleaned.

[0055] According to one embodiment of the invention, the main body delimits a suction chamber fluidly connected to the suction mouth, the autonomous cleaning robot comprising a rotating cleaning brush housed in the suction chamber and mounted to rotate about a brush rotation axis.

[0056] According to one embodiment of the invention, the brush rotation axis of the rotating cleaning brush is substantially horizontal when the autonomous cleaning robot is resting on a horizontal surface.

[0057] According to one embodiment of the invention, the brush rotation axis extends substantially perpendicular to the main direction of movement of the autonomous cleaning robot. In other words, the brush rotation axis extends substantially parallel to the rotation axes of the drive wheels.

[0058] According to one embodiment of the invention, the cleaning device is located in a rear part of the main body, more precisely behind the drive wheels.

[0059] According to one embodiment of the invention, the autonomous cleaning robot is configured such that, when the autonomous cleaning robot rests on a surface to be cleaned, a rear portion of the autonomous cleaning robot rests on said surface to be cleaned directly by the at least one mop. Such a configuration of the autonomous cleaning robot allows the at least one mop to directly take up at least part of the mass of the autonomous cleaning robot, and therefore to further increase the support force exerted by the at least one mop on the floor to be cleaned. Thus, such a configuration of the autonomous cleaning robot makes it possible to further improve the cleaning quality of the autonomous cleaning robot.

[0060] According to one embodiment of the invention, the autonomous cleaning robot comprises a power supply battery configured to electrically power the autonomous cleaning robot. The power supply battery is advantageously arranged in a rear part of the main body, more precisely behind the drive wheels. The power supply battery is a high mass component, the arrangement of the power supply battery behind the drive wheels as well as the arrangement of the cleaning device behind the drive wheels makes it possible to increase the support force exerted by the at least one mop on the floor to be cleaned.

[0061] According to one embodiment of the invention, the autonomous cleaning robot comprises a suction unit housed in the main body and configured to generate an airflow through the suction mouth.

[0062] According to one embodiment of the invention, the main body has, seen from above, a general D shape.

[0063] According to one embodiment of the invention, the suction mouth is located in a front part of the main body.

[0064] According to one embodiment of the invention, the suction mouth extends transversely to the main direction of movement of the autonomous cleaning robot.

[0065] The present invention further relates to a method of controlling an autonomous cleaning system comprising the following steps: providing an autonomous cleaning system according to the present invention, docking the autonomous cleaning robot in the docking station, moving the at least one mop support in the direction of support movement, scraping the at least one mop by the scraping members, so as to clean the at least one mop.

[0066] According to one embodiment of the invention, the providing step comprises providing an autonomous cleaning system in which the cleaning device is vertically movable between an active position in which the at least one mop is configured to be in contact with the surface to be cleaned and an inactive position in which the at least one mop is configured to be located at a distance from the surface to be cleaned, and the control method further comprises, prior to the step of moving the at least one mop support in the support movement direction, a step of moving the cleaning device into the active position (i.e. into a lowered position), and, after the scraping step, a step of moving the cleaning device into the inactive position (i.e. into a raised position). Brief description of the figures

[0067] The aims, aspects and advantages of the present invention will be better understood from the description given below of a particular embodiment of the invention presented by way of non-limiting example, with reference to the appended drawings in which: There figure 1 is a top perspective view of an autonomous cleaning robot according to the present invention. The figure 2 is a perspective view from below of the autonomous cleaning robot of the figure 1 , showing mops equipping the autonomous cleaning robot in a close-up configuration. The figure 3 is a perspective view from below of the autonomous cleaning robot of the figure 1 , showing the mops in a distant configuration. The figure 4 is a bottom view of the autonomous cleaning robot of the figure 1 , showing the mops in the close-up configuration. The Figure 5 is a bottom view of the autonomous cleaning robot of the figure 1 , showing the mops in the far configuration. The figure 6 is a side view of the autonomous cleaning robot of the figure 1 . There figure 7 is a longitudinal sectional view of the autonomous cleaning robot of the figure 1 . There figure 8 is a perspective view from below of the autonomous cleaning robot of the figure 1 , showing mop holders equipping the autonomous cleaning robot in a close-up configuration. The figure 9 is a perspective view from below of the autonomous cleaning robot of the figure 1 , showing the mop holders in a remote configuration. The figure 10 is a top perspective view of the autonomous cleaning system according to the present invention. The figure 11 is a top perspective view of a docking station belonging to the autonomous cleaning system according to the present invention. The figure 12is a cross-sectional view of the docking station and the autonomous cleaning robot showing the mop holders in the close-up configuration. The figure 13 is a cross-sectional view of the docking station and the autonomous cleaning robot showing the mop holders in the remote configuration. The figure 14 is a schematic cross-sectional view of the docking station. The figure 15 is a diagram representing the steps of a first method of controlling the autonomous cleaning system of the figure 10 . There figure 16 is a diagram showing the steps of a second method of controlling the autonomous cleaning system of the figure 10 . Detailed description

[0068] Only the elements necessary for understanding the invention are shown. To facilitate reading of the drawings, the same elements bear the same references from one figure to another.

[0069] It should be noted that in this document, the terms "horizontal", "vertical", "lower", "upper" and "height" used to describe the autonomous cleaning robot or the main body refer to the autonomous cleaning robot in use when it rests by its wheels on a floor to be cleaned which is flat and horizontal.

[0070] In this document, the term "median longitudinal plane" means a vertical plane which is parallel to the main direction of movement and which divides the main body into two substantially equal parts, left and right.

[0071] As used herein, the expression "extend transversely to a direction" means extend in a direction of extension which is inclined with respect to said direction, and therefore which is not parallel to said direction.

[0072] Unless otherwise stipulated, the term “substantially” means, in this document, “exactly or to within 10% or 10°”.

[0073] THE figures 1 to 14 represent an autonomous cleaning system 1 comprising an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously on a surface to be cleaned, and a docking station 3, also called a cleaning station, configured to accommodate the autonomous cleaning robot 2.

[0074] The autonomous cleaning robot 2 comprises a main body 4 having a lower face 5 which is configured to be oriented towards the surface to be cleaned, and a suction mouth 6 which is located in a front part 4.1 of the main body 4 and which opens into the lower face 5 of the main body 4. The suction mouth 6 is elongated and extends substantially perpendicular to a main direction of movement D1 of the autonomous cleaning robot 2. Advantageously, the suction mouth 6 has a generally rectangular shape.

[0075] As shown on the figure 7 , the main body 4 delimits a suction chamber 7 which opens into the lower face 5 of the main body 4 via the suction mouth 6.

[0076] According to the embodiment shown in the figures, the main body 4 has, seen from above in a substantially vertical orientation, a general D shape, and has a rear edge which is curved and which has, seen from above in a substantially vertical orientation, a circular arc shape. However, the main body 4 could have a completely different shape, and for example have a general circular or rectangular shape.

[0077] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 8 housed in the suction chamber 7 and mounted to rotate about a brush rotation axis A1 which extends perpendicular to the main direction of movement D1. Advantageously, the brush rotation axis A1 is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0078] The autonomous cleaning robot 2 also includes a drive mechanism (not visible in the figures) which is configured to rotate the rotating cleaning brush 8 about the brush rotation axis A1.

[0079] As shown more particularly on the figures 2 to 8 , the autonomous cleaning robot 2 comprises two drive wheels 9 which are configured to roll on the surface to be cleaned. The two drive wheels 9 are mounted to be able to rotate relative to the main body 4, and have axes of rotation which are parallel, and advantageously coaxial, and which extend perpendicular to the main direction of movement D1. Advantageously, the two drive wheels 9 are arranged on either side of the median longitudinal plane P of the main body 4.

[0080] The two drive wheels 9 are advantageously motorized independently of each other. Thus, the autonomous cleaning robot 2 comprises two rotational drive mechanisms 10 housed in the main body 4 and each configured to rotate a respective drive wheel 9 among the two drive wheels 9. Each rotational drive mechanism 10 comprises a drive motor coupled in rotation to the respective drive wheel 9 and arranged for example in a respective lateral part of the main body 4. Depending on the control of the two aforementioned drive motors, the main body 4 can pivot to the left, to the right or on itself, move forward or even backward.

[0081] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 11 mounted free to rotate relative to the main body 4 and arranged on the front part 4.1 of the main body 4, and for example between a front edge of the main body 4 and the front edge of the suction mouth 6.

[0082] The autonomous cleaning robot 2 further comprises a suction unit 12 which is housed in the main body 4. The suction unit 12 comprises an electric motor and a fan coupled to the electric motor to generate an airflow through the suction mouth 6 and the suction chamber 7.

[0083] The autonomous cleaning robot 2 also comprises a waste collection device 13 which is mounted, for example removably, on the main body 4. The waste collection device 13 comprises a waste collection container 13.1 located upstream of the suction unit 12, and configured to be traversed by the air flow generated by the fan and to retain waste transported by the air flow.

[0084] As shown on the figure 7 , the autonomous cleaning robot 2 comprises a connecting channel 14 fluidly connecting the suction chamber 7 to the waste collection container 13.1. Advantageously, the connecting channel 14 opens into a rear part of the suction chamber 7.

[0085] As shown in particular on the figure 2, the autonomous cleaning robot 2 further comprises a cleaning device 15, such as a wet cleaning device, which is arranged in a rear part 4.2 of the main body 4. Advantageously, the cleaning device 15 is arranged opposite the rotating cleaning brush 8 with respect to the axes of rotation of the drive wheels 9.

[0086] The cleaning device 15 may for example be movable vertically between an active position in which the cleaning device 15 is configured to be in contact with the surface to be cleaned and an inactive position in which the cleaning device 15 is configured to be located at a distance 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 an alternative embodiment of the invention, the cleaning device 15 might not be movable vertically relative to the main body 4.

[0087] The cleaning device 15 comprises in particular a support casing 16 (see figure 7), one or more mop supports 17 attached to the support housing 16, and further one or more mops 18 each attached, for example removably, to a respective mop support 17. Each mop 18 is more particularly configured to be in contact with the surface to be cleaned when the cleaning device 15 is in the active position.

[0088] Advantageously, the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, a rear portion of the autonomous cleaning robot 2 rests on said surface to be cleaned directly by the mop(s). Such a configuration of the autonomous cleaning robot 2 allows the mop(s) to directly take up at least part of the mass of the autonomous cleaning robot 2, and therefore to further increase the bearing force exerted by the mop(s) on the floor to be cleaned. Thus, such a configuration of the autonomous cleaning robot 2 makes it possible to further improve the cleaning quality of the autonomous cleaning robot 2.

[0089] According to the embodiment shown in the figures, the cleaning device 15 comprises two mop supports 17 which are arranged side by side, and two mops 18 mounted, for example in a removable manner, respectively on the two mop supports 17. However, according to an alternative embodiment of the invention, the cleaning device 15 could comprise a single mop support 17, and a single mop 18 having a width corresponding substantially to the width of the main body 4.

[0090] According to the embodiment shown in the figures, the two mop supports 17 are each mounted to move in translation relative to the main body 4 in a support movement direction D2 (see figure 3 ) which extends perpendicular to the median longitudinal plane P of the main body 4, and therefore parallel to the axes of rotation of the two drive wheels 9.

[0091] Advantageously, the mop supports 17 are mounted to move relative to each other between a close-coupled configuration (see figure 8 ) in which the two mop supports 17 are brought closer to each other, and therefore in which the two mops 18 are also brought closer to each other, and a distant configuration (see the figure 9 ) in which the two mop supports 17 are spaced apart from each other, and therefore in which the two mops 18 are also spaced apart from each other.

[0092] The cleaning device 15 also comprises a movement mechanism 19 configured to move the mop supports 17 in translation along the support movement direction D2 and alternately between the close configuration and the distant configuration. Thus, the movement mechanism 19 is configured to move the two mop supports 17 in translation in phase opposition.

[0093] The autonomous cleaning robot 2 also includes a translational drive mechanism 20 (see figure 7 ) configured to move the cleaning device 15, and more particularly the support casing 16, in translation in a translation direction T and between the active position and the inactive position. Advantageously, the translation drive mechanism 20 is arranged in the rear part 4.2 of the main body 4.

[0094] The translation drive mechanism 20 comprises in particular: a drive element 210 having a central axis extending substantially parallel to the translation direction T, the drive element 210 being provided with a first threaded drive portion and being mounted to be movable in rotation relative to the main body 4 around its central axis, and a drive member 220 fixed to the support casing 16 and integral in translation with the cleaning device 15, the drive member 220 extending upwards from an upper face of the support casing 16 and comprising a second threaded drive portion configured to cooperate with the first threaded drive portion provided on the drive element 210.

[0095] According to the embodiment shown in the figures, the drive member 220 is a drive stud provided with a threaded external surface (forming the second threaded drive part) and extending along an extension axis, which is substantially coaxial with the central axis of the drive element 210, and the drive element 210 comprises in particular a tapped axial bore (partly forming the first threaded drive part) configured to cooperate with the threaded external surface provided on the drive stud and therefore in which the drive member 220 is intended to extend at least partly. Thus, the first threaded drive part and the second threaded drive part form a helical connection, preferably of the irreversible type, so as to prevent the cleaning device 15 from rising on its own when in contact with the floor to be cleaned.

[0096] The translation drive mechanism 20 also comprises an electric motor 230 arranged in the main 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.

[0097] According to the embodiment shown in the figures, the motion transmission mechanism 240 comprises a worm screw which is rotatably coupled to the output shaft of the electric motor 230 and which is coaxial with the output shaft, and the drive element 210 comprises peripheral teeth which are coaxial with the aforementioned central axis and which are rotatably coupled to the worm screw. Thus, the drive element 210 comprises a toothed wheel comprising the aforementioned tapped axial bore and the peripheral teeth.

[0098] The motion transmission mechanism 240 is more particularly configured to rotate the drive element 210 in a first direction of rotation when the electric motor 230 rotates in a first direction of motor rotation, and is configured to rotate the drive element 210 in a second direction of rotation, opposite to the first direction of rotation, when the electric motor 230 rotates in a second direction of motor rotation.

[0099] However, taking into account the configuration of the aforementioned first and second threaded driving parts, the cleaning device 15 is configured to be moved to the active position when the driving element 210 is rotated in the first rotation direction by the motion transmission mechanism 240, and to be moved to the inactive position when the driving element 210 is rotated in the second rotation direction by the motion transmission mechanism 240.

[0100] The autonomous cleaning robot 2 also comprises a cleaning liquid reservoir 21 which is configured to supply cleaning liquid to the two mops 18. The cleaning liquid reservoir 21 is mounted, for example removably, on the main body 4, and can for example be arranged in the rear part 4.2 of the main body 4.

[0101] The cleaning device 15 further comprises a plurality of liquid outlet orifices 22 (see figure 4 ) which are configured to be fluidically connected to the cleaning liquid reservoir 21 and which are configured to supply cleaning liquid to the mops 18 mounted on the mop supports 17. According to the embodiment shown in the figures, the liquid outlet orifices 22 are aligned in an alignment direction which extends perpendicular to the main direction of movement D1, and are configured to be oriented towards the surface to be cleaned. Advantageously, the liquid outlet orifices 22 are located at the front of the mop supports 17, and for example at the front of the mops 18.

[0102] The autonomous cleaning robot 2 also comprises a power battery 23 configured to electrically power the autonomous cleaning robot 2. Advantageously, the power battery 23 is rechargeable and is housed in the main body 4.

[0103] The autonomous cleaning robot 2 further comprises a control unit 24 (see figure 6 ) configured to control the operation of the autonomous cleaning robot 2, and in particular to control the movements of the main body 4, for example according to random or methodical movements, and to control, for example, the movements of the cleaning device 15 between the active and inactive positions.

[0104] The control unit 24 is in particular configured to control the aforementioned rotational drive mechanisms 10 (which are configured to rotate the drive wheels 9) from data received from different sensors arranged on the main body 4, such as proximity sensors, contact sensors and / or fall sensors. The control unit 24 may for example comprise an electronic card configured to receive and process these different data.

[0105] As shown more particularly on the figure 11 , the docking station 3 comprises a receiving location 25, for example open upwards, configured to house at least in part the autonomous cleaning robot 2.

[0106] The docking station 3 further comprises a cleaning tank 26 configured to contain cleaning liquid, such as water. The mop(s) 18 are configured to be arranged in the cleaning tank 26, and more particularly to be at least partially immersed in the cleaning liquid contained in the cleaning tank 26, when the autonomous cleaning robot 2 is received in the docking station 3. Thus, the cleaning tank 26 is configured to allow cleaning of the mop(s) 18 when the autonomous cleaning robot 2 is received in the receiving location 25.

[0107] As shown on the figures 11 to 13, the docking station 3 comprises scraping members 27 provided on a bottom wall 26.1 of the cleaning tank 26 and configured to scrape or rub the mop(s) 18, and more particularly a lower face of the mop(s) 18, when the autonomous cleaning robot 2 is received in the receiving location 25 and the or each mop support 17 is moved in the support movement direction D2.

[0108] In order to carry out cleaning of the mops 18 of the autonomous cleaning robot 2, for example after a cleaning operation of a surface to be cleaned, a method for controlling the autonomous cleaning system 1 according to the present invention may for example comprise (see the figure 15 ) : a providing step S1 of providing an autonomous cleaning system 1 according to the present invention in which the cleaning device 15 is not vertically movable between an active position and an inactive position, a docking step S2 of housing the autonomous cleaning robot 2 in the docking station 3, a moving step S3 of moving the mop support(s) 17 in the support movement direction D2, a scraping step S4 of scraping or rubbing the mop(s) 18 with the scraping members 27, so as to clean the mop(s) 18.

[0109] According to an alternative embodiment of the invention, a method for controlling the autonomous cleaning system 1 according to the present invention may for example comprise (see the figure 16 ) : a providing step S1 of providing an autonomous cleaning system 1 according to the present invention in which the cleaning device 15 is vertically movable between an active position and an inactive position, a docking step S2 of docking the autonomous cleaning robot 2 in the docking station 3, a moving step S3 of moving the cleaning device 15 into the active position (i.e., into a lowered position), a moving step S4 of moving the mop support(s) 17 along the support movement direction D2, a scraping step S5 of scraping the mop(s) 18 with the scraping members 27, so as to clean the mop(s) 18, a moving step S6 of moving the cleaning device 15 into the inactive position (i.e., into a raised position).

[0110] According to the embodiment shown in the figures, the scraping members 27 are rectilinear 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 location 25. However, according to an alternative embodiment of the invention, the scraping members 27 could be curvilinear or saw-toothed, while being parallel to each other, or without being parallel to each other.

[0111] Advantageously, each scraping member 27 is formed by a scraping rib, and has a cross-section of generally triangular shape. However, according to an alternative embodiment of the invention, each scraping member 27 could have a cross-section of any other shape.

[0112] According to the embodiment shown in the figures, the scraping members 27 have identical heights and are configured to extend horizontally. Advantageously, the tops of the scraping members 27 extend in an extension plane which is configured to be horizontal when the docking station 3 is in the use configuration.

[0113] According to the embodiment shown in the figures, the scraping members 27 are regularly spaced from one another, and are arranged such that two adjacent scraping members 27 are spaced from one another by a separation distance which is substantially identical to or less than an amplitude of movement of the or each mop support 17 in the direction of support movement D2.

[0114] As shown on the figure 11, the docking station 3 comprises a raised portion 28 located at the front of the cleaning tank 26 and configured to retain the cleaning liquid in the cleaning tank 26, and two receiving indentations 29 formed in an upper face 28.1 of the raised portion 28 and 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 location 25. The presence of the receiving indentations 29 makes it possible to lower the main body 4 of the autonomous cleaning robot 2 when the latter is received in the receiving location 25, and thus to ensure immersion of the or each mop 18 in the cleaning liquid contained in the cleaning tank 26.

[0115] Advantageously, the docking station 3 also comprises an access ramp 31 which is located in front of the raised portion 28 and which is configured to allow the drive wheels 8 to cross the raised portion 28 and reach the receiving indentations 29 when the autonomous cleaning robot 2 is received in the receiving location 25.

[0116] As shown on the figure 14 , the docking station 3 comprises a cleaning liquid storage tank 31, and a supply device 32 configured to supply cleaning liquid to the cleaning tank 26.

[0117] The docking station 3 also comprises a liquid collection tank 33 configured to collect the used, i.e. dirty, cleaning liquid from the cleaning tank 26, and a suction device 34 configured to suck up the cleaning liquid contained in the cleaning tank 26 and to convey the sucked up cleaning liquid into the liquid collection tank 33. Advantageously, the suction device 34 comprises a suction pump.

[0118] According to one embodiment of the invention, the docking station 3 could further comprise a waste collection tank 35, and the suction device 34 could be configured to suck up 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 docking station 3, and to convey said sucked up waste into the waste collection tank 35 belonging to the docking station 3.

[0119] According to one embodiment of the invention, the docking station 3 could be configured to fill the cleaning liquid tank 21 belonging to the autonomous cleaning robot 2 with cleaning liquid from the cleaning liquid storage tank 31 belonging to the docking station 3 when the autonomous cleaning robot 2 is received in the docking station 3.

[0120] According to an embodiment of the invention not shown in the figures, each scraping member 27 could be formed by reliefs, such as spikes, spaced from each other and arranged in a line. Advantageously, each relief has a circular cross-section, and the distance between each relief of the same line is smaller than the distance between two lines of adjacent reliefs.

[0121] Each line of reliefs could be straight, curved or saw-toothed, and the reliefs belonging to the same line could be arranged in a staggered pattern relative to the reliefs belonging to an adjacent line.

[0122] Of course, the invention is in no way limited to the embodiment described and illustrated, which has been given only as an example. Modifications remain possible, in particular from the point of view of the composition of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

1. Autonomous cleaning system (1) comprising: - an autonomous cleaning robot (2) comprising: ∘ a main body (4) comprising a lower face (5) configured to be oriented towards a surface to be cleaned and a suction mouth (6) opening into the lower face (5) of the main body (4), ∘ a cleaning device (15) comprising at least one mop support (17) mounted to move in translation relative to the main body (4) in a support movement direction (D2) extending in a movement plane which 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 be in contact with the surface to be cleaned, and - a docking station (3) configured to accommodate the autonomous cleaning robot (2), characterized in thatthe docking station (3) is configured to clean the at least one mop (18) when the autonomous cleaning robot (2) is received in the docking station (3), and in that the docking station (3) comprises scraping members (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 docking station (3) and the at least one mop support (17) is moved according to the support movement direction (D2).

2. Self-contained cleaning system (1) according to claim 1, wherein the scraping members (27) extend substantially parallel to each other.

3. Autonomous cleaning system (1) according to claim 1 or 2, wherein the scraping members (27) are configured to extend substantially perpendicular to the support movement direction (D2) when the autonomous cleaning robot (2) is received in the docking station (3).

4. Self-contained cleaning system (1) according to any one of claims 1 to 3, wherein each scraping member (27) is a scraping rib.

5. Self-contained cleaning system (1) according to claim 4, wherein each scraping member (27) has a generally triangular cross-section.

6. Autonomous cleaning system (1) according to any one of claims 1 to 3, in which each scraping member (27) is formed by reliefs spaced from each other and arranged in line.

7. Autonomous cleaning system (1) according to any one of claims 1 to 6, in which the scraping members (27) are regularly spaced from each other.

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

9. A self-contained 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 which is substantially the same as or less than a displacement amplitude of the at least one mop support (17) in the support displacement direction (D2).

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

11. 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. 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 be in contact with the surface to be cleaned and an inactive position in which the at least one mop (18) is configured to be located at a distance from the surface to be cleaned.

13. Autonomous cleaning system (1) according to any one of claims 1 to 12, in which the autonomous cleaning robot (2) comprises two drive wheels (9) configured to roll on the surface to be cleaned and arranged on either side of the median longitudinal plane (P) of the main body (4), the two drive wheels (9) being mounted to move in rotation on the main body (4) respectively around two axes of rotation which are substantially parallel.

14. Autonomous cleaning system (1) according to any one of claims 1 to 13, wherein the cleaning device (15) comprises: - two mop supports (17) which are each mounted to be movable in translation relative to the main body (4) in the support movement direction (D2), 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 (18) mounted respectively on the two mop supports (17) and configured to be in contact with the surface to be cleaned.

15. Autonomous cleaning system (1) according to any one of claims 1 to 14, in which the main body (4) delimits a suction chamber (7) fluidly connected to the suction mouth (6), the autonomous cleaning robot (2) comprising a rotating cleaning brush (8) housed in the suction chamber (7) and mounted to move in rotation around a brush rotation axis.

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, - docking the autonomous cleaning robot (2) in the docking station (3), - moving the at least one mop support (17) in the support movement direction (D2), - scraping the at least one mop (18) by the scraping members (27), so as to clean the at least one mop (18).

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