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 that can move autonomously over a surface to be cleaned and that can vacuum up dust and waste present on the surface to be cleaned, which can for example be tiles, parquet, laminate, carpet or a rug, and possibly 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 for the cleaning of entire surfaces of a home without any user assistance, provided these surfaces are flat, i.e., on the same level. This offers users considerable time savings for other activities.

[0003] Document FR3124935 discloses an autonomous cleaning robot comprising: a main body having 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 in a main direction of movement of the autonomous cleaning robot, and a cleaning device having at least one mop holder mounted movable in translation relative to the main body in a direction of movement of the holder extending in a plane of movement which is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface, and at least one mop mounted removably on the at least one mop holder and configured to be in contact with the surface to be cleaned.

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

[0005] However, washing 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 can be significantly reduced if the user is unable to regularly clean at least one mop.

[0006] Another known autonomous cleaning system includes: an autonomous cleaning robot equipped with a cleaning device comprising two mop holders mounted movablely rotating respectively around two axes of rotation configured to extend substantially vertically, and two mops mounted removably respectively on the two mop holders, 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 includes a cleaning tray and is configured so that the two mop heads are at least partially immersed in the cleaning fluid contained in the tray when the autonomous cleaning robot is received at the docking station. Advantageously, during each cleaning operation of the two mop heads in the tray, the mop heads are rotated around their axes of rotation.

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

[0009] However, the quality of cleaning obtained with such a docking station is not optimal, and is in particular much lower than that obtained 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 of providing an autonomous cleaning system which is simple and ergonomic in structure, while offering increased cleaning performance.

[0012] To this end, the invention relates to an autonomous cleaning system comprising: an autonomous cleaning robot comprising: ∘ a main body having 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 holder mounted movable in translation relative to the main body in a direction of movement of the holder extending in a plane of movement 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 holder 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 at least one mop when the autonomous cleaning robot is received in the docking station, the docking station has scraping mechanisms configured to extend transversely to the direction of movement of the support and to scrape or scrub at least one mop, and for example an underside of at least one mop, when the autonomous cleaning robot is received in the docking station and at least one mop support is moved along the direction of movement of the support.

[0013] Such a configuration of the docking station, and in particular the presence and orientation of the scraping mechanisms, ensures that at least one mop is scraped during a cleaning operation, that is, when at least one mop is received in the cleaning tray and at least one mop holder is moved along the direction of movement of the holder. Furthermore, such scraping of at least one mop, while it is partially immersed in the cleaning liquid contained in the cleaning tray, ensures optimal cleaning of at least one mop, and therefore provides enhanced cleaning performance to the autonomous cleaning system according to the present invention.

[0014] The autonomous cleaning robot of the present invention is designed, like most autonomous cleaning robots, to efficiently clean floors when moving along a direction parallel to its longitudinal axis and in a predetermined direction of travel. This parallel direction and predetermined direction define the robot's primary direction of movement. Thus, a front or rear portion of the robot's main body is identified with respect to this primary direction of travel.

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

[0016] According to one embodiment of the invention, the docking station includes a receiving location configured to receive at least part of 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 straight.

[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 each other. For example, the scraping members may be straight and extend parallel to each other, or be curved and also extend parallel to each other.

[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 elements 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 positions itself in the docking station above the scraping elements (and lacks a lifting system for at least one mop support), the frictional forces exerted by the autonomous cleaning robot upon entering 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 inclined with respect to the scraping members belonging to the first series.

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

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

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

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

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

[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 element is formed by raised features, such as small bumps, spaced apart and arranged in a line, that is, along a direction of alignment. In other words, each scraping element is formed by a line of raised features, such as small bumps, spaced apart.

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

[0030] According to one embodiment of the invention, each relief line can be straight, curved or sawtooth.

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

[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 tips of the scraping elements extend in an extension plane that is configured to be substantially horizontal when the docking station is in its operating configuration. Such a configuration of the scraping elements ensures optimal scraping of the underside of at least one mop, and further facilitates the cleaning of the mop.

[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 elements are regularly spaced from each other. Such a configuration of the scraping elements ensures homogeneous scraping of the underside of at least one mop, and further facilitates the cleaning of the latter.

[0036] According to one embodiment of the invention, the docking station includes a cleaning tray configured to hold cleaning fluid, such as water. Scraping mechanisms are provided on a bottom wall of the cleaning tray, and at least one mop is configured to be placed in the cleaning tray, and for example, to be at least partially immersed in the cleaning fluid contained in the tray, when the autonomous cleaning robot is received at the docking station. The presence of such a cleaning tray further enhances the cleaning performance of the docking station.

[0037] According to one embodiment of the invention, the scraping elements are arranged such that each pair of adjacent scraping elements is separated from each other by a distance that is substantially equal to or less than the displacement amplitude of at least one mop support in the direction of support movement. This arrangement of the scraping elements ensures scraping of the entire underside of at least one mop, and thus further enhances the cleaning performance of the docking station.

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

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

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

[0041] According to one embodiment of the invention, the autonomous cleaning robot includes a translational drive mechanism configured to move the cleaning device in translation along 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 are mounted to rotate freely on the main body, respectively, around two axes of rotation that are substantially parallel. Advantageously, the axes of rotation of the two drive wheels are located approximately midway 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 recesses configured to 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 recesses allows the main body of the autonomous cleaning robot to lower upon its arrival in the docking station, thus ensuring that at least one mop is immersed 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 tray and configured to retain the cleaning fluid within the cleaning tray. The raised portion includes an upper face that is raised relative to the bottom wall of the cleaning tray. Advantageously, the two receiving recesses are provided on the upper face of the raised portion.

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

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

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

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

[0049] According to one embodiment of the invention, the docking station includes a suction device configured to draw the cleaning fluid from the cleaning tray and to convey the aspirated cleaning fluid into the fluid collection tank. Advantageously, the suction device includes a suction pump.

[0050] According to one embodiment of the invention, the suction device is configured to suction 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 suctioned waste into the liquid collection tank.

[0051] According to another embodiment of the invention, the docking station includes a waste collection tank and the suction device is configured to suction 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 suctioned waste into the waste collection tank belonging to the docking station.

[0052] According to one embodiment of the invention, the autonomous cleaning robot includes a cleaning fluid reservoir, and the cleaning device includes a plurality of fluid outlet ports which are configured to be fluidly connected to the cleaning fluid reservoir and which are configured to supply cleaning fluid to at least one mop mounted on at least one mop holder.

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

[0054] According to one embodiment of the invention, the cleaning device comprises: two mop supports, each of which is mounted to move in translation relative to the main body in the direction of support movement, the two mop supports being mounted to move relative to each other between a close configuration in which the two mop supports are close to each other and a far configuration in which the two mop supports are far 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 mobilitiously around a brush rotation axis.

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

[0057] According to one embodiment of the invention, the brush rotation axis extends substantially perpendicularly 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 directly on said surface by at least one mop. This configuration of the autonomous cleaning robot allows the at least one mop to directly bear at least part of the robot's mass, thus further increasing the pressure exerted by the at least one mop on the floor to be cleaned. Therefore, this configuration of the autonomous cleaning robot further improves its cleaning performance.

[0060] According to one embodiment of the invention, the autonomous cleaning robot includes a power supply battery configured to provide electrical power to the autonomous cleaning robot. The power supply battery is advantageously located in a rear portion of the main body, more precisely behind the drive wheels. The power supply battery is a component with significant mass; its placement behind the drive wheels, like the placement of the cleaning device behind the drive wheels, increases the pressure exerted by at least one mop on the floor to be cleaned.

[0061] According to one embodiment of the invention, the autonomous cleaning robot includes 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, viewed 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 for controlling an autonomous cleaning system comprising the following steps: provision of an autonomous cleaning system according to the present invention, reception of the autonomous cleaning robot in the docking station, movement of at least one mop support according to the direction of movement of the support, scraping of at least one mop by the scraping organs, so as to clean at least one mop.

[0066] According to one embodiment of the invention, the supply step comprises the supply of a self-contained cleaning system in which the cleaning device is vertically movable between an active position in which at least one mop is configured to be in contact with the surface to be cleaned and an inactive position in which at least one mop is configured to be located away from the surface to be cleaned, and the control method further comprises, prior to the step of moving at least one mop support in the direction of support movement, a step of moving the cleaning device into the active position (i.e. into a lowered position), and, subsequent to 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 following description of a particular embodiment of the invention, presented by way of non-limiting example, with reference to the accompanying drawings in which: There figure 1 is a top perspective view of an autonomous cleaning robot according to the present invention. figure 2 is a perspective view from underneath the autonomous cleaning robot of the figure 1 showing the mops equipping the autonomous cleaning robot in a close-up configuration. figure 3 is a perspective view from underneath the autonomous cleaning robot of the figure 1 showing the mops in a distant configuration. The figure 4 is a view from below of the autonomous cleaning robot of the figure 1 showing the mops in close-up. The figure 5 is a view from below of the autonomous cleaning robot of the figure 1showing the mops in the distant configuration. The figure 6 is a side view of the autonomous cleaning robot of the figure 1 . There figure 7 is a longitudinal cross-sectional view of the autonomous cleaning robot of the figure 1 . There figure 8 is seen from below the autonomous cleaning robot of the figure 1 showing the mop holders equipping the autonomous cleaning robot in a close-up configuration. figure 9 is seen from below the autonomous cleaning robot of the figure 1 showing the mop holders in a distant configuration. The Figure 10 is a top-down perspective view of the autonomous cleaning system according to the present invention. figure 11 is a top-down perspective view of a docking station belonging to the autonomous cleaning system according to the present invention. figure 12A cross-sectional view of the docking station and autonomous cleaning robot is shown, depicting the mop holders in the close-up configuration. figure 13 A cross-sectional view of the docking station and autonomous cleaning robot is shown, depicting the mop holders in the remote configuration. figure 14 This is a schematic cross-sectional view of the docking station. figure 15 is a diagram representing the steps of an initial control process for the autonomous cleaning system of the Figure 10 . There figure 16 is a diagram representing the steps of a second control process for the autonomous cleaning system of the Figure 10 . Detailed description

[0068] Only the elements necessary for understanding the invention are shown. To facilitate reading the drawings, the same elements bear the same reference numbers 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 on its wheels on a flat and horizontal floor to be cleaned.

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

[0071] In this document, the expression "extend transversely to a direction" means to extend along a direction of extension which is inclined with respect to said direction, and therefore not parallel to said direction.

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

[0073] THE figures 1 to 14 represent an autonomous cleaning system 1 comprising an autonomous cleaning robot 2, and more specifically a robot vacuum cleaner, configured to move autonomously over 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 perpendicularly to a main direction of movement D1 of the autonomous cleaning robot 2. Advantageously, the suction mouth 6 has an overall 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, viewed from above in a substantially vertical orientation, has a general D-shaped form and includes a rear edge that is curved and, viewed from above in a substantially vertical orientation, has an arc-shaped form. However, the main body 4 could have a completely different shape, for example, a general circular or rectangular shape.

[0077] The autonomous cleaning robot 2 further includes a rotating cleaning brush 8 housed in the suction chamber 7 and mounted to rotate freely around a brush rotation axis A1 which extends perpendicularly 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 drive the rotating cleaning brush 8 around 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 configured to roll on the surface to be cleaned. The two drive wheels 9 are mounted to rotate freely relative to the main 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 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 rotating drive mechanisms 10 housed in the main body 4 and each configured to rotate one of the two drive wheels 9. Each rotating drive mechanism 10 has a drive motor coupled in rotation to the respective drive wheel 9 and disposed, 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 left, right, or on its own axis, move forward, or move backward.

[0081] According to the embodiment shown in the figures, the autonomous cleaning robot 2 has additional wheels 11 mounted freely rotating 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 includes a suction unit 12 which is housed in the main body 4. The suction unit 12 includes 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 includes a waste collection device 13 which is mounted, for example in a removable manner, on the main body 4. The waste collection device 13 includes a waste collection container 13.1 located upstream of the suction unit 12, and configured to be traversed by the airflow generated by the fan and to retain waste carried by the airflow.

[0084] As shown on the figure 7 The autonomous cleaning robot 2 includes a connecting channel 14 fluidly linking 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 2The autonomous cleaning robot 2 further includes a cleaning device 15, such as a wet cleaning device, which is disposed in a rear part 4.2 of the main body 4. Advantageously, the cleaning device 15 is disposed opposite the rotating cleaning brush 8 with respect to the axes of rotation of the drive wheels 9.

[0086] The cleaning device 15 can, for example, be moved 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 includes, in particular, a support housing 16 (see the figure 7), one or more mop holders 17 fixed to the support housing 16, and furthermore one or more mops 18 each fixed, for example removably, to a respective mop holder 17. Each mop 18 is more specifically 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 so that when it rests on a surface to be cleaned, a portion of its rear rests directly on the surface via the mop(s). This configuration allows the mop(s) to directly support at least part of the robot's mass, thus further increasing the pressure exerted by the mop(s) on the floor. Consequently, this configuration further improves the cleaning performance of the autonomous cleaning robot 2.

[0089] According to the embodiment shown in the figures, the cleaning device 15 comprises two mop holders 17 which are arranged side by side, and two mops 18 mounted, for example in a removable manner, respectively on the two mop holders 17. However, according to an alternative embodiment of the invention, the cleaning device 15 could comprise a single mop holder 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 along a support displacement direction D2 (see the figure 3 ) which extends perpendicularly 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 holders 17 are mounted to move relative to each other between a close configuration (see the figure 8 ) in which the two mop holders 17 are brought close together, and therefore in which the two mops 18 are also brought close together, and a distant configuration (see the figure 9 ) in which the two mop holders 17 are far apart from each other, and therefore in which the two mops 18 are also far apart from each other.

[0092] The cleaning device 15 also includes a displacement mechanism 19 configured to move the mop supports 17 in translation along the direction of support movement D2 and alternately between the close and distant configurations. Thus, the displacement mechanism 19 is configured to move the two mop supports 17 in translation in opposite phases.

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

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

[0095] According to the embodiment shown in the figures, the drive member 220 is a drive pad having an external threaded 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 includes in particular a tapped axial bore (partly forming the first threaded drive part) configured to cooperate with the external threaded surface provided on the drive pad and therefore in which the drive member 220 is intended to extend at least partially. 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 to contact the ground to be cleaned.

[0096] The translational drive mechanism 20 also includes an electric motor 230 disposed in the main body 4 and provided with an output shaft, and a motion transmission mechanism 240 mechanically coupled on one side to the output shaft of the electric motor 230 and on the other side to the drive element 210.

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

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

[0099] Now, given the configuration of the first and second threaded drive parts mentioned above, the cleaning device 15 is configured to be moved to the active position when the drive element 210 is driven in rotation in the first direction of rotation by the motion transmission mechanism 240, and to be moved to the inactive position when the drive element 210 is driven in rotation in the second direction of rotation by the motion transmission mechanism 240.

[0100] The autonomous cleaning robot 2 also includes a cleaning fluid tank 21 which is configured to supply cleaning fluid to the two mops 18. The cleaning fluid tank 21 is mounted, for example in a removable manner, on the main body 4, and can for example be positioned in the rear part 4.2 of the main body 4.

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

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

[0103] The autonomous cleaning robot 2 also includes a 24-channel control unit (see the 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 specifically configured to control the aforementioned rotating drive mechanisms 10 (which are configured to rotate the drive wheels 9) based on data received from various sensors located on the main body 4, such as proximity sensors, contact sensors, and / or drop sensors. The control unit 24 may, for example, include an electronic board configured to receive and process this data.

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

[0106] The docking station 3 also includes a cleaning tray 26 configured to hold cleaning fluid, such as water. The mop(s) 18 are configured to be placed in the cleaning tray 26, and more specifically to be at least partially immersed in the cleaning fluid contained in the cleaning tray 26, when the autonomous cleaning robot 2 is received at the docking station 3. Thus, the cleaning tray 26 is configured to allow the mop(s) 18 to be cleaned when the autonomous cleaning robot 2 is received at the receiving location 25.

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

[0108] In order to clean the mop(s) 18 of the autonomous cleaning robot 2, for example after a surface cleaning operation, a method for controlling the autonomous cleaning system 1 according to the present invention may, for example, include (see the figure 15 ) : a supply step S1 consisting of supplying 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 receiving step S2 consisting of receiving the autonomous cleaning robot 2 in the docking station 3, a movement step S3 consisting of moving the mop support(s) 17 according to the direction of movement of support D2, a scraping step S4 consisting of scraping or rubbing the mop(s) 18 with the scraping organs 27, so as to clean the mop(s) 18.

[0109] According to one 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 supply step S1 consisting of supplying 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 receiving step S2 consisting of receiving the autonomous cleaning robot 2 in the docking station 3, a moving step S3 consisting of moving the cleaning device 15 into the active position (i.e. into a lowered position), a moving step S4 consisting of moving the mop support(s) 17 according to the direction of movement of support D2, a scraping step S5 consisting of scraping the mop(s) 18 with the scraping members 27, so as to clean the mop(s) 18, a moving step S6 consisting 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 straight and extend parallel to each other, and are configured to extend perpendicularly to the direction of movement of support 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 not being parallel to each other.

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

[0112] According to the embodiment shown in the figures, the scraping elements 27 have identical heights and are configured to extend horizontally. Advantageously, the apexes of the scraping elements 27 extend in an extension plane that is configured to be horizontal when the docking station 3 is in its operating configuration.

[0113] According to the embodiment shown in the figures, the scraping members 27 are regularly spaced from each other, and are arranged so that two adjacent scraping members 27 are separated from each other by a separation distance which is substantially the same as or less than a displacement amplitude of the or each mop support 17 in the direction of support displacement D2.

[0114] As shown on the figure 11The docking station 3 comprises a raised portion 28 located at the front of the cleaning tray 26 and configured to retain the cleaning liquid in the cleaning tray 26, and two receiving recesses 29 formed in an upper face 28.1 of the raised portion 28 and configured to receive respectively 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 lower when it is received in the receiving position 25, and thus ensures immersion of the mop or mop 18 in the cleaning liquid contained in the cleaning tray 26.

[0115] Advantageously, the docking station 3 also includes an access ramp 31 which is located in front of the raised part 28 and which is configured to allow the drive wheels 8 to cross the raised part 28 and reach the receiving footprints 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 includes a cleaning fluid storage tank 31, and a feeding device 32 configured to supply cleaning fluid to the cleaning tray 26.

[0117] The docking station 3 also includes 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 suction the cleaning liquid contained in the cleaning tank 26 and to convey the suctioned cleaning liquid into the liquid collection tank 33. Advantageously, the suction device 34 includes 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 suction 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 suctioned 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 fluid reservoir 21 belonging to the autonomous cleaning robot 2 with cleaning fluid from the cleaning fluid storage reservoir 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 element 27 could be formed by raised features, such as small bumps, spaced apart and arranged in a line. Advantageously, each raised feature has a circular cross-section, and the distance between each raised feature in the same line is smaller than the distance between two adjacent lines of raised features.

[0121] Each line of reliefs could be straight, curved or sawtooth, and the reliefs belonging to the same line could be arranged in a staggered pattern with respect 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 by way of example. Modifications remain possible, particularly with regard to 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) having a lower face (5) configured to be oriented towards a surface to be cleaned and a suction opening (6) opening out in the lower face (5) of the main body (4), • a cleaning device (15) comprising at least one mop support (17) mounted movably in translation relative to the main body (4) along 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 receive the autonomous cleaning robot (2), characterized in that the 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 along the support movement direction (D2).

2. Autonomous cleaning system (1) according to claim 1, wherein the scraping members (27) extend substantially parallel to one another.

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

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

5. Autonomous cleaning system (1) according to claim 4, wherein each scraping member (27) has a generally triangular cross-sectional shape.

6. Autonomous cleaning system (1) according to any one of claims 1 to 3, wherein each scraping member (27) is formed by projections spaced apart from one another and arranged in a line.

7. Autonomous cleaning system (1) according to any one of claims 1 to 6, wherein the scraping members (27) are regularly spaced apart from one another.

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. 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 one another by a separation distance which is substantially identical to or less than an amplitude of movement of the at least one mop support (17) along the support movement direction (D2).

10. Autonomous cleaning system (1) according to any one of claims 1 to 9, wherein the support movement direction (D2) extends substantially perpendicularly to the longitudinal median 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, wherein 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 longitudinal median plane (P) of the main body (4), the two drive wheels (9) being mounted rotatably on the main body (4) respectively about 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 movably in translation relative to the main body (4) along the support movement direction (D2), the two mop supports (17) being mounted movable relative to one another between a close configuration in which the two mop supports (17) are close to one another and a distant configuration in which the two mop supports (17) are distant from one another, and • two mops (18) respectively mounted 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, wherein the main body (4) delimits a suction chamber (7) fluidically connected to the suction opening (6), the autonomous cleaning robot (2) comprising a rotary cleaning brush (8) housed in the suction chamber (7) and mounted rotatably about a brush rotation axis.

16. 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 the docking station (3), • moving the at least one mop support (17) along 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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