Autonomous cleaning robot equipped with waste deflectors

Abstract

The autonomous cleaning robot comprises a suction chamber (6) provided with a suction mouth; a rotating cleaning brush (7) housed in the suction chamber (6); a waste collection container (16); a waste guide channel (17) fluidly connecting the suction chamber (6) to the waste collection container and having a generally cylindrical shape; a lower baffle (18) configured to deflect, upwards and towards the waste guide channel (17), waste thrown by the rotating cleaning brush (7) onto the lower baffle (18); and an upper baffle (21) configured to deflect, backwards and towards the waste collection container (16), waste exiting, upwards, from the waste guide channel (17).

Description

Technical field

[0001] The present invention relates 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] An autonomous cleaning robot is known to include: 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, the main body delimiting a suction chamber fluidly connected to the suction inlet, two drive wheels configured to roll on the surface to be cleaned and mounted to rotate on the main body respectively around two axes of rotation which are substantially parallel, a rotating cleaning brush housed in the suction chamber and mounted to rotate around a brush rotation axis, a suction unit which is housed at least partly in the main body and which is configured to generate an air flow through the suction inlet,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, and a connecting conduit fluidly connecting the suction chamber to the waste collection container.

[0004] When using such an autonomous cleaning robot, certain types of waste, such as rice grains or lentils, are likely, after several rebounds against internal walls of the suction chamber and the rotating cleaning brush, to be expelled from the suction chamber via the suction inlet, before being sucked into the waste collection container. Thus, such an autonomous cleaning robot does not allow efficient collection of large and medium-sized waste present on a surface to be cleaned. Summary of the invention

[0005] The present invention aims to remedy these drawbacks.

[0006] The technical problem underlying the invention consists in particular in providing an autonomous cleaning robot which is of simple, economical and compact structure, while having high cleaning performance.

[0007] To this end, the invention relates to 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, the main body delimiting a suction chamber fluidly connected to the suction mouth, a rotating cleaning brush housed in the suction chamber and mounted to rotate about a brush rotation axis, a suction unit which is housed at least partly in the main body and which is configured to generate an air flow through the suction mouth, a waste collection device comprising a waste collection container located at the rear of the suction chamber and 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, a waste guide channel fluidly connecting the suction chamber to the waste collection container, the waste guide channel having a generally cylindrical shape and being configured to extend substantially vertically when the autonomous cleaning robot rests on a horizontal surface, a lower deflector located at the rear of the brush rotation axis and extending at least partly opposite an inlet opening of the waste guide channel,the lower deflector comprising a lower deflection surface which partly delimits the suction chamber and which is configured to deflect, upwards and towards the waste guide channel, waste thrown backwards by the rotating cleaning brush onto the lower deflection surface, and an upper deflector extending at least partly opposite an outlet opening of the waste guide channel, the upper deflector comprising an upper deflection surface which is configured to deflect, backwards and towards the waste collection container, waste exiting, upwards, from the waste guide channel.

[0008] Such a configuration of the lower and upper deflectors and the waste guide channel makes it possible to effectively guide the waste, projected by the rotating cleaning brush within the suction chamber, towards the waste collection container via successive rebounds of the waste against in particular the lower deflector, the internal walls of the waste guide channel and the upper deflector, and therefore to ensure effective collection of the waste, and in particular large and medium-sized waste, present on the surface to be cleaned. Such cleaning performance is obtained without the need to use a suction unit with high power, and therefore while preserving the autonomy of the autonomous cleaning robot.

[0009] In addition, the substantially vertical orientation of the waste guide channel gives the autonomous cleaning robot increased compactness in the longitudinal direction.

[0010] 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.

[0011] The autonomous cleaning robot may further have one or more of the following features, taken alone or in combination.

[0012] According to one embodiment of the invention, the upper deflection surface is configured to deflect, rearwardly and towards a lower portion of the waste collection container, waste exiting, upwardly, from the waste guide channel.

[0013] According to one embodiment of the invention, the waste guide channel is configured to extend vertically when the autonomous cleaning robot rests on a horizontal surface, or to be inclined relative to the vertical by an angle of inclination less than or equal to 10°, and for example less than or equal to 5°, when the autonomous cleaning robot rests on a horizontal surface.

[0014] According to one embodiment of the invention, the waste guide channel has a circular or oblong section.

[0015] According to one embodiment of the invention, the lower deflector is elongated and extends substantially parallel to the axis of rotation of the brush.

[0016] According to one embodiment of the invention, the lower deflector extends over substantially the entire length of the rotating cleaning brush. Such a configuration of the lower deflector limits the risks of expulsion of large waste from the suction chamber, and therefore promotes the suction of this waste through the waste guide channel.

[0017] According to one embodiment of the invention, the lower deflector forms a rear edge of the suction mouth. Such a configuration of the lower deflector makes it possible to limit the depth of the autonomous cleaning robot according to the present invention, while promoting the guidance of the vacuumed waste towards the waste guide channel.

[0018] According to one embodiment of the invention, the lower deflection surface is inclined backwards and upwards and is configured to be inclined relative to the horizontal by an angle of inclination of between 20 and 55°, advantageously between 25 and 45°, and is for example approximately 37°, when the autonomous cleaning robot rests on a horizontal surface. Such an inclination of the lower deflection surface further promotes the guidance of the vacuumed waste towards the waste collection container, while limiting the height and depth requirements of the autonomous cleaning robot according to the present invention.

[0019] According to one embodiment of the invention, the lower deflection surface is flat.

[0020] According to one embodiment of the invention, the lower deflector and the upper deflector are located at least partly opposite each other.

[0021] According to one embodiment of the invention, the waste guide channel has a front wall and a rear wall which are substantially parallel to each other and which are spaced apart from each other by a spacing distance. Thus, the waste sucked in by the waste guide channel bounces successively against the front and rear walls of the waste guide channel and is thus efficiently guided to the waste collection container.

[0022] According to one embodiment of the invention, the upper deflection surface is configured such that an inclined plane passing through a first intersection between the upper deflection surface and a plane containing the front wall of the waste guide channel and a second intersection between the upper deflection surface and a plane containing the rear wall of the waste guide channel is inclined rearwardly and upwardly and has an inclination, relative to the horizontal, (also called an elevation angle) which is substantially identical to the inclination, relative to the horizontal, of the lower deflection surface.

[0023] According to one embodiment of the invention, the difference in inclination between the inclination of the inclined plane and the inclination of the lower deflection surface is less than 10°. Advantageously, the inclination of the inclined plane is greater than the inclination of the lower deflection surface.

[0024] According to one embodiment of the invention, the upper deflection surface is curved and has an aerodynamic profile, for example a profile having a gradual curvature, such as an aircraft wing profile. Such a configuration of the upper deflection surface limits turbulence within the waste collection container, and ensures optimal trapping of the waste within the waste collection container.

[0025] According to another embodiment of the invention, the upper deflection surface is substantially planar and is inclined upwards and backwards. The upper deflection surface may, for example, have an inclination substantially identical to that of the lower deflection surface.

[0026] According to one embodiment of the invention, the waste guide channel is located behind the brush rotation axis.

[0027] According to one embodiment of the invention, the waste guide channel opens into a rear portion of the suction chamber. Such an arrangement of the waste guide channel further promotes the guidance of the sucked waste towards the waste collection container.

[0028] According to one embodiment of the invention, the main body has a median longitudinal plane which intersects with the waste guide channel.

[0029] According to one embodiment of the invention, the distance between a first vertical plane containing the front edge of the lower deflector and a second vertical plane containing the rear edge of the lower deflector is less than the spacing distance. These arrangements further limit the depth footprint of the autonomous cleaning robot according to the present invention.

[0030] According to one embodiment of the invention, the front and rear walls of the waste guide channel are configured to extend substantially vertically when the autonomous cleaning robot rests on a horizontal surface. The front and rear walls of the waste guide channel may be configured to extend vertically when the autonomous cleaning robot rests on a horizontal surface, or to be inclined relative to the vertical by an angle of inclination less than or equal to 10°, and for example less than or equal to 5°, when the autonomous cleaning robot rests on a horizontal surface.

[0031] According to one embodiment of the invention, the spacing distance is between 15 and 40 mm, and advantageously between 15 and 25 mm, and for example approximately 20 mm. Such a value of the spacing distance ensures increased suction and guidance of the waste towards the waste collection container, while limiting the depth footprint of the autonomous cleaning robot.

[0032] According to one embodiment of the invention, the suction chamber comprises a rear chamber wall which is located opposite the rotating cleaning brush and which extends substantially parallel to the brush rotation axis, the rear chamber wall being located at a separation distance from a vertical plane containing the brush rotation axis and being configured to extend substantially vertically when the autonomous cleaning robot rests on a horizontal surface.

[0033] According to one embodiment of the invention, a ratio of a maximum dimension of the waste guide channel, measured parallel to a main direction of movement of the autonomous cleaning robot, to a minimum distance between an outer periphery of the rotating cleaning brush and the rear chamber wall is between 1 and 2.5, advantageously between 1.5 and 2, and is for example approximately 1.7. Such a ratio further limits the risks of certain types of waste being expelled from the suction chamber before having been sucked into the waste guide channel.

[0034] In other words, a ratio of the maximum dimension of the waste guide channel, measured parallel to the main direction of movement of the autonomous cleaning robot, to the difference between the separation distance and a brush radius of the rotating cleaning brush is between 1 and 2.5, advantageously between 1.5 and 2.5, and for example about 1.7.

[0035] According to one embodiment of the invention, the lower deflector extends to the rear chamber wall, and for example from the rear edge of the suction mouth to the rear chamber wall.

[0036] According to one embodiment of the invention, the maximum dimension of the waste guide channel, measured parallel to a main direction of movement of the autonomous cleaning robot, corresponds to the spacing distance between the front and rear walls of the waste guide channel.

[0037] According to one embodiment of the invention, the maximum dimension of the waste guide channel corresponds to the internal diameter of the waste guide channel when the waste guide channel has a circular section.

[0038] According to one embodiment of the invention, the rear edge of the suction mouth is located at an edge distance from the vertical plane containing the brush rotation axis, the edge distance being less than the separation distance. When the lower deflector forms the rear edge of the suction mouth, the distance between the front edge of the lower deflector and the vertical plane containing the brush rotation axis is equal to the edge distance.

[0039] According to one embodiment of the invention, the maximum dimension of the waste guide channel, measured parallel to the main direction of movement of the autonomous cleaning robot, is greater than the difference between the separation distance and the edge distance and is less than the separation distance.

[0040] According to one embodiment of the invention, the edge distance is less than or equal to the brush radius of the rotating cleaning brush.

[0041] According to one embodiment of the invention, the waste guide channel has a first maximum dimension measured parallel to the main direction of movement of the autonomous cleaning robot and a second maximum dimension measured perpendicular to the median longitudinal plane of the main body, the first maximum dimension being less than the second maximum dimension.

[0042] According to one embodiment of the invention, the suction chamber comprises a waste deflector comprising a first deflector portion and a second deflector portion located on either side of the inlet opening of the waste guide channel, the first and second deflector portions respectively comprising a first deflection surface and a second deflection surface which are configured to be oriented towards a surface to be cleaned, the first deflection surface being inclined such that the distance between the surface to be cleaned and the first deflection surface increases in the direction of the inlet opening of the waste guide channel, and for example from a first end of the rotating cleaning brush towards the inlet opening of the waste guide channel,the second deflection surface being inclined such that the distance between the surface to be cleaned and the second deflection surface increases towards the inlet opening of the waste guide channel, and for example from a second end of the rotating cleaning brush towards the inlet opening of the waste guide channel. Thus, waste entering the suction chamber, and in particular from lateral portions of the suction chamber, bounces off the first and second deflection surfaces and is gradually conveyed to the inlet opening of the waste guide channel, where it is then sucked up and guided towards the waste collection container. Such a configuration of the waste deflector makes it possible to further increase the cleaning performance of the autonomous cleaning robot according to the present invention.,

[0043] According to one embodiment of the invention, the first deflection surface extends from a first lateral edge of the suction mouth to the inlet opening of the waste guide channel, and the second deflection surface extends from a second lateral edge of the suction mouth to the inlet opening of the waste guide channel.

[0044] According to one embodiment of the invention, each of the first and second deflection surfaces is located opposite the lower deflector, and for example the lower deflection surface. Thus, waste entering the suction chamber, from a lateral portion of the suction chamber, successively bounces off the lower deflector and one of the first and second deflection surfaces and is gradually conveyed to the inlet opening of the waste guide channel, where it is then sucked in and guided towards the waste collection container. Such a configuration of the waste deflector makes it possible to further increase the cleaning performance of the autonomous cleaning robot according to the present invention.

[0045] According to one embodiment of the invention, the waste deflector is configured to prevent rotation of the waste within the suction chamber.

[0046] According to one embodiment of the invention, each of the first and second deflection surfaces is configured to be inclined relative to the horizontal by an angle of inclination of between 2° and 20°, advantageously between 2° and 10°, and for example approximately 5°, when the autonomous cleaning robot rests on a horizontal surface. Such an inclination makes it possible to limit the height requirement of the autonomous cleaning robot according to the present invention.

[0047] According to one embodiment of the invention, each of the first and second deflection surfaces extends transversely, and for example substantially perpendicularly, to the main direction of movement of the autonomous cleaning robot.

[0048] According to one embodiment of the invention, each of the first and second deflection surfaces is substantially planar.

[0049] According to one embodiment of the invention, each of the first and second deflection surfaces has a width, measured parallel to the main direction of movement of the autonomous cleaning robot, which increases towards the inlet opening of the waste guide channel.

[0050] According to one embodiment of the invention, the suction chamber comprises a rear deflector comprising a first rear deflector portion and a second rear deflector portion located on either side of the inlet opening of the waste guide channel and configured to each extend substantially vertically when the autonomous cleaning robot rests on a horizontal surface, the first and second rear deflector portions respectively comprising a first rear deflection surface and a second rear deflection surface which face the rotating cleaning brush, the first rear deflection surface being inclined such that the distance between the brush rotation axis and the first rear deflection surface increases towards the inlet opening of the waste guide channel,and for example from the first end of the rotating cleaning brush toward the inlet opening of the waste guide channel, and the second rear deflection surface being inclined such that the distance between the brush rotation axis and the second rear deflection surface increases toward the inlet opening of the waste guide channel, and for example from the second end of the rotating cleaning brush toward the inlet opening of the waste guide channel. Thus, waste entering the suction chamber, from a side portion of the suction chamber, successively bounces off one of the first and second rear deflection surfaces and the rotating cleaning brush and is gradually conveyed to the inlet opening of the waste guide channel,where they are then sucked up and guided towards the waste collection container. Such a configuration of the waste deflector makes it possible to further increase the cleaning performance of the autonomous cleaning robot according to the present invention.,

[0051] According to one embodiment of the invention, each of the first and second rear deflection surfaces is substantially planar.

[0052] According to one embodiment of the invention, the first rear deflection surface extends from the first lateral edge of the suction mouth to the rear chamber wall, and the second rear deflection surface extends from the second lateral edge of the suction mouth to the rear chamber wall.

[0053] According to one embodiment of the invention, each of the first and second rear deflection surfaces is inclined, relative to a plane perpendicular to the median longitudinal plane of the main body, by an angle of inclination of between 2° and 20°, advantageously between 2° and 10°, and for example approximately 4°. Such an inclination makes it possible to limit the depth of the autonomous cleaning robot according to the present invention.

[0054] According to one embodiment of the invention, the first and second rear deflection surfaces extend on either side of the rear chamber wall. Advantageously, each of the first and second rear deflection surfaces extends to the rear chamber wall.

[0055] According to one embodiment of the invention, the rotating cleaning brush has a brush diameter of between 30 and 60 mm, advantageously between 35 and 45 mm, and for example approximately 41 mm.

[0056] According to one embodiment of the invention, the rotating cleaning brush comprises: a brush body having a central longitudinal axis and configured to be rotated in a predetermined direction of rotation and about the brush rotation axis, the brush rotation axis being substantially coaxial with the central longitudinal axis of the brush body, and at least one row of bristles provided on an outer peripheral surface of the brush body and extending over at least a portion of the length of the brush body.

[0057] According to one embodiment of the invention, the brush body has an external diameter of between 20 and 40 mm, and for example approximately 33 mm.

[0058] The difference between the outer diameter of the brush body and the brush diameter is twice the free length of the bristles.

[0059] According to one embodiment of the invention, the free length of the bristles is between 3 and 8 mm, and is advantageously equal to approximately 4 mm.

[0060] According to one embodiment of the invention, the rotating cleaning brush has, in operation, a rotation speed of between approximately 1000 and 5000 revolutions per minute.

[0061] 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 mounted to move in rotation on the main body respectively around two axes of rotation which are substantially parallel.

[0062] According to one embodiment of the invention, the autonomous cleaning robot further comprises a wet cleaning device comprising at least one mop holder which is mounted on the main body, and at least one mop removably mounted on the at least one mop holder and configured to be in contact with the surface to be cleaned.

[0063] According to one embodiment of the invention, the wet cleaning device is arranged in a rear part of the main body.

[0064] According to one embodiment of the invention, the autonomous cleaning robot comprises a cleaning liquid reservoir, the wet cleaning device comprising at least one liquid outlet which is configured to be fluidically connected to the cleaning liquid reservoir and which is configured to supply cleaning liquid to the at least one mop mounted on the at least one mop holder.

[0065] According to one embodiment of the invention, the autonomous cleaning robot comprises a power battery configured to electrically power the autonomous cleaning robot.

[0066] According to one embodiment of the invention, the suction unit comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate the airflow through the suction mouth.

[0067] According to one embodiment of the invention, the waste collection device is removably mounted on the main body.

[0068] According to one embodiment of the invention, the suction mouth is provided in a front part of the main body.

[0069] According to one embodiment of the invention, the brush rotation axis extends transversely, and for example perpendicularly, to the main direction of movement of the autonomous cleaning robot.

[0070] According to one embodiment of the invention, the suction mouth has an elongated shape and extends in a direction of extension which is transverse, and for example perpendicular, to the main direction of movement of the autonomous cleaning robot.

[0071] According to one embodiment of the invention, the waste collection container has a bottom wall which is set back from an upper end of the rear wall of the waste guide channel. In other words, when the autonomous cleaning robot rests on a horizontal surface, the bottom wall of the waste collection container is closer to said horizontal surface than the upper end of the rear wall of the waste guide channel.

[0072] According to one embodiment of the invention, the autonomous cleaning robot comprises a partition wall configured to at least partially separate the waste guide channel and the waste collection container.

[0073] According to one embodiment of the invention, the upper deflection surface is located at a distance from an upper end of the partition wall and delimits, with the partition wall, a connecting passage fluidly connecting the waste guide channel with the waste collection container.

[0074] According to one embodiment of the invention, the rotating cleaning brush is configured to eject waste towards the rear part of the suction chamber, and for example according to an ejection angle, measured in the median longitudinal plane of the main body, between 0 and 20°. Such an ejection angle is defined by a minimum ejection trajectory for waste ejected by the rotating cleaning brush and a maximum ejection trajectory for waste ejected by the rotating cleaning brush.

[0075] According to one embodiment of the invention, the difference in altitude between the leading edge and the trailing edge of the lower deflector (and in other words, the distance between a first horizontal plane containing the leading edge of the lower deflector and a second horizontal plane containing the trailing edge of the lower deflector) is substantially equal to the difference between the separation distance and the edge distance multiplied by the tangent of the inclination angle of the lower deflecting surface.

[0076] According to one embodiment of the invention, the separation distance multiplied by the tangent of the ejection angle is less than the difference between the separation distance and the edge distance multiplied by the tangent of the inclination angle of the lower deflection surface.

[0077] According to one embodiment of the invention, the suction chamber is delimited at least in part by a cylindrical surface portion having a circular section and having a longitudinal axis substantially coaxial with the axis of rotation of the brush. Advantageously, the difference between the radius of the cylindrical surface portion and the brush radius of the rotating cleaning brush is between 0.5 and 2 mm. Brief description of the figures

[0078] The aims, aspects and advantages of the present invention will be better understood from the description given below of several embodiments of the invention presented by way of non-limiting examples, with reference to the appended drawings in which: There figure 1 is a top perspective view of an autonomous cleaning robot according to a first embodiment of the present invention. figure 2is a perspective view from below of the autonomous cleaning robot of the figure 1 . There figure 3 is a partial perspective view from below of the autonomous cleaning robot of the figure 1 . There figure 4 is a bottom view of the autonomous cleaning robot of the figure 1 . There Figure 5 is a side view of the autonomous cleaning robot of the figure 1 . There figure 6 is a longitudinal sectional view of the autonomous cleaning robot of the figure 1 . There figure 7 is an enlarged scale view of a detail of the figure 6 . There figure 8 is a top perspective view of the autonomous cleaning robot of the figure 1 showing the wet cleaning device removed from the main body. The figure 9 is a partial perspective view from below of the autonomous cleaning robot of the figure 1 . There figure 10 is a partial bottom view of a front part of the autonomous cleaning robot of the figure 1 . There figure 11is a longitudinal sectional view of an autonomous cleaning robot according to a second embodiment of the invention. Detailed description

[0079] 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.

[0080] It should be noted that in this document, the terms "horizontal", "vertical", "lower", "upper", "top", "below" 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.

[0081] In this document, the term "brush diameter" means the external diameter of the rotating cleaning brush measured at the free ends of the bristles. In other words, the brush diameter corresponds to the diameter of a circle centered on the central longitudinal axis of the brush body and in which the rotating cleaning brush is inscribed.

[0082] In this document, the terms “forward” and “backward” are defined relative to the main direction of travel of the autonomous cleaning robot.

[0083] 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.

[0084] THE figures 1 to 10 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously over a surface to be cleaned.

[0085] The autonomous cleaning robot 2 comprises a main body 3 having a lower face 4 which is configured to be oriented towards the surface to be cleaned, and a suction mouth 5 which is provided in a front part 3.1 of the main body 3 and which opens into the lower face 4 of the main body 3. Advantageously, the suction mouth 5 is elongated and extends in a direction of extension which is perpendicular to a main direction of movement D of the autonomous cleaning robot 2.

[0086] As shown on the figure 6 , the main body 3 delimits a suction chamber 6 which opens into the lower face 4 of the main body 3 via the suction mouth 5.

[0087] According to the embodiment shown in the figures 1 to 10, the main body 3 has, seen from above in a substantially vertical orientation, a general D shape. However, the main body 3 could have a completely different shape, and for example have a general circular or rectangular shape.

[0088] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 7 housed in the suction chamber 6 and mounted to rotate about a brush rotation axis A1 which extends transversely, and more particularly perpendicularly, to the main direction of movement D. Advantageously, the brush rotation axis A1 is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0089] The rotating cleaning brush 7 is configured to eject waste toward a rear portion of the suction chamber 6 at an ejection angle, measured in a median longitudinal plane P of the main body 3, of between 0 and 20°. Such an ejection angle is defined by a minimum ejection trajectory for waste ejected by the rotating cleaning brush 7 and a maximum ejection trajectory for waste ejected by the rotating cleaning brush 7, depending in particular on the type of floor, which may be a hard floor such as tiles or which may be a soft floor, for example, such as carpet, and depending on the type of waste, for example grains of rice or lentils. The paths of waste ejected by the rotating cleaning brush 7 according to the minimum and maximum ejection trajectories are shown in dotted lines on the figure 7 .

[0090] The waste ejection angle and the waste ejection speed depend in particular on the rotational speed of the rotating cleaning brush 7, the brush diameter, the bristle type, the free length of the bristles and the type of floor to be cleaned. The rotational speed and the diameter of the rotating cleaning brush 7 make it possible to determine a tangential speed at the periphery of the rotating cleaning brush 7, in other words a tangential speed at the bristle end. The bristle type and the free length of the bristles determine the flexibility of the bristles which also influences the ejection angle and the waste ejection speed.

[0091] According to the embodiment shown in the figures 1 to 10 , the rotating cleaning brush 7 comprises a brush body 8 which has a central longitudinal axis and which is configured to be driven in rotation in a predetermined direction of rotation, which is shown diagrammatically in the figure 7by an arrow rotating counterclockwise, and around the brush rotation axis A1. Advantageously, the brush rotation axis A1 is coaxial with the central longitudinal axis of the brush body 8.

[0092] The rotating cleaning brush 7 further comprises one or more rows of bristles 9, for example two rows of bristles, provided on an outer peripheral surface of the brush body 8 and extending over at least part of the length of the brush body 8. According to an alternative embodiment of the invention, the rotating cleaning brush 7 could further comprise, or instead of the rows of bristles 9, one or more cleaning strips, for example elastically deformable or rigid, provided on the outer peripheral surface of the brush body 8.

[0093] The rotating cleaning brush 7 may have a brush diameter of between 30 and 60 mm, advantageously between 35 and 45 mm, and for example approximately 41 mm, and the brush body 8 may have an external diameter of between 20 and 40 mm, and for example approximately 33 mm. The difference between the external diameter of the brush body 8 and the brush diameter corresponds to twice the free length of the bristles. The bristles may have a free length of between 3 and 8 mm and for example approximately 4 mm. The bristles are for example made of nylon and advantageously have a diameter of between 0.15 and 0.25 mm.

[0094] In operation, the rotating cleaning brush 7 according to the invention has a conventional rotation speed of between approximately 1000 and 5000 revolutions per minute, or approximately 104.7 radians / s to 523.6 radians / s.

[0095] The autonomous cleaning robot 2 also comprises a drive mechanism (not visible in the figures) which is configured to rotate the brush body 8 around the brush rotation axis A1.

[0096] According to the embodiment shown in the figures 1 to 10 , the suction chamber 6 is delimited at least in part by a cylindrical surface portion having a circular section and having a longitudinal axis substantially coaxial with the brush rotation axis A1. Advantageously, the difference between the radius of the cylindrical surface portion and a brush radius R of the rotating cleaning brush 7 is between 0.5 and 2 mm.

[0097] As shown more particularly on the figures 2 to 4, the autonomous cleaning robot 2 comprises two drive wheels 11 which are configured to roll on the surface to be cleaned. The two drive wheels 11 are mounted to be able to rotate relative to the main body 3, and have axes of rotation which are parallel, and advantageously collinear. Advantageously, the axes of rotation of the drive wheels 11 extend perpendicular to the main direction of movement D.

[0098] The two drive wheels 11 are configured to project from the lower face 4 of the main body 3, and are arranged on either side of the median longitudinal plane P of the main body 3. Advantageously, the two drive wheels 11 are arranged symmetrically with respect to the median longitudinal plane P of the main body 3, and are side wheels of the autonomous cleaning robot 2.

[0099] The two drive wheels 11 are advantageously motorized independently of each other. Thus, the autonomous cleaning robot 2 comprises two rotational drive mechanisms 12 housed in the main body 3 and each configured to rotate a respective drive wheel 11 among the two drive wheels 11. Each rotational drive mechanism 12 comprises a drive motor coupled in rotation to the respective drive wheel 11 and arranged for example in a respective lateral part of the main body 3. Depending on the control of the two aforementioned drive motors, the main body 3 can pivot to the left, to the right or on itself, move forward or even backward.

[0100] According to the embodiment shown in the figures 1 to 10, the autonomous cleaning robot 2 comprises additional wheels 13 mounted to rotate freely relative to the main body 3, and for example two additional wheels 13 arranged on the front part 3.1 of the main body 3. Advantageously, all the additional wheels 13 are located in front of the axes of rotation of the two drive wheels 11, such that the autonomous cleaning robot 2 is devoid of an additional wheel located behind the axes of rotation of the two drive wheels 11.

[0101] The autonomous cleaning robot 2 further comprises a suction unit 14 which is housed in the main body 3. The suction unit 14 comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate an airflow through the suction mouth 5.

[0102] The autonomous cleaning robot 2 also includes a waste collection device 15 (see the figure 6) removably mounted on the main body 3. The waste collection device 15 comprises a waste collection container 16 located upstream of the suction unit 14. The waste collection container 16 is configured to be traversed by the air flow generated by the fan when the autonomous cleaning robot 2 is in operation, and to retain waste transported by the air flow.

[0103] The autonomous cleaning robot 2 further comprises a waste guide channel 17 fluidly connecting the suction chamber 6 to the waste collection container 16. The waste guide channel 17 has a generally cylindrical shape, and is configured to extend vertically when the autonomous cleaning robot 2 rests on a horizontal surface. However, the waste guide channel 17 could be configured to be inclined relative to the vertical by an inclination angle of less than or equal to 10°, and for example less than or equal to 5°, when the autonomous cleaning robot 2 rests on a horizontal surface.

[0104] According to the embodiment shown in the figures 1 to 10 , the waste guide channel 17 has an oblong section, but could however have a circular section. As shown more particularly in the figure 10, the waste guide channel 17 has a first maximum dimension measured parallel to the main direction of movement D of the autonomous cleaning robot 2 and a second maximum dimension measured perpendicular to the median longitudinal plane P of the main body 3, the first maximum dimension being less than the second maximum dimension.

[0105] As shown on the figures 6 And 10 , the waste guide channel 17 opens into the rear part of the suction chamber 6, and the median longitudinal plane P of the main body 3 intersects with the waste guide channel 17.

[0106] According to the embodiment shown in the figures 1 to 10, the waste guide channel 17 comprises a front wall 17.1, and a rear wall 17.2 which are parallel to each other and which are spaced from each other by a spacing distance D1 which is between 15 and 40 mm, and advantageously between 15 and 25 mm, and for example approximately 20 mm. Advantageously, the waste collection container 16 comprises a bottom wall 16.1 which is set back from an upper end of the rear wall 17.2 of the waste guide channel 17.

[0107] The autonomous cleaning robot 2 also comprises a lower deflector 18 located at the rear of the brush rotation axis A1 and extending at least partly opposite an inlet opening of the waste guide channel 17.

[0108] According to the embodiment shown in the figures 1 to 10, the lower deflector 18 is elongated and extends parallel to the axis of rotation of the brush A1. Advantageously, the lower deflector 18 extends over the entire length of the rotating cleaning brush 7, and forms a rear edge 5.1 of the suction mouth 5.

[0109] According to the embodiment shown in the figures 1 to 10 , the distance between a first vertical plane containing the front edge of the lower deflector 18 and a second vertical plane containing the rear edge of the lower deflector 18 is less than the spacing distance D1.

[0110] The lower deflector 18 comprises a lower deflection surface 19 which partly delimits the suction chamber 6 and which is configured to deflect, upwards and towards the waste guide channel 17, waste thrown backwards by the rotating cleaning brush 7 onto the lower deflection surface 19. Advantageously, the lower deflection surface 19 is planar.

[0111] The lower deflection surface 19 is inclined backwards and upwards, and is configured to be inclined relative to the horizontal by an angle of inclination of between 20 and 55°, advantageously between 25 and 45°, and is for example approximately 37°, when the autonomous cleaning robot 2 rests on a horizontal surface.

[0112] The autonomous cleaning robot 2 further comprises an upper deflector 21 extending at least partly opposite an outlet opening of the waste guide channel 17. Advantageously, the lower deflector 18 and the upper deflector 21 are located at least partly opposite each other.

[0113] The upper deflector 21 comprises an upper deflection surface 22 which is configured to deflect, rearwardly and towards a lower portion of the waste collection container 16, waste exiting, upwardly, from the waste guide channel 17. The upper deflection surface 22 may for example be curved and have an aerodynamic profile, such as an aircraft wing profile. According to an alternative embodiment of the invention, the upper deflection surface 22 could be planar and have an inclination, rearwardly and upwardly, substantially identical to that of the lower deflection surface 19.

[0114] According to the embodiment shown in the figures 1 to 10 , the autonomous cleaning robot 2 comprises a partition wall 20 configured to at least partially separate the waste guide channel 17 and the waste collection container 16. The upper deflection surface 22 is located at a distance from an upper end of the partition wall 20 and delimits, with the partition wall 20, a connecting passage fluidly connecting the waste guide channel 17 with the waste collection container 16. Advantageously, the partition wall 20 extends from the bottom wall 16.1 of the waste collection container 16.

[0115] According to the embodiment shown in the figures 1 to 10 , the suction chamber 6 has a rear chamber wall 23 (see the figures 9 And 10) which is located opposite the rotating cleaning brush 7 and which extends substantially parallel to the brush rotation axis A1. The rear chamber wall 23 is located at a separation distance D2 from a vertical plane P1 containing the brush rotation axis A1 and is configured to extend substantially vertically when the autonomous cleaning robot 2 rests on a horizontal surface. The separation distance D2 may for example be between 30 and 40 mm, and is for example approximately 34 mm. Advantageously, the lower deflector 18 extends to the rear chamber wall 23.

[0116] According to the embodiment shown in the figures 1 to 10 , the lower deflector 18, and thus the lower deflection surface 19, extends from the rear edge 5.1 of the suction mouth 5 to the rear chamber wall 23.

[0117] A ratio of the spacing distance D1 to a minimum distance between the outer periphery of the rotating cleaning brush 7 and the rear chamber wall 23 is between 1 and 2.5, preferably between 1.5 and 2, and is for example about 1.7. In other words, a ratio of the spacing distance D1 to the difference between the separation distance D2 and the brush radius R of the rotating cleaning brush 7 is between 1 and 2.5, preferably between 1.5 and 2.5, and for example about 1.7.

[0118] As shown on the figure 7, the rear edge 5.1 of the suction mouth 5 is located at an edge distance D3 from the vertical plane P1 containing the brush rotation axis A1. Advantageously, the edge distance D3 also corresponds to the distance between the front edge of the lower deflector 18 and the vertical plane P1 containing the brush rotation axis A1. The spacing distance D1 is greater than the difference between the separation distance D2 and the edge distance D3 and is less than the separation distance D2. Advantageously, the edge distance D3 is less than the brush radius R of the rotating cleaning brush 7. The edge distance D3 can for example be between 15 and 25 mm, and is for example approximately 19 mm.

[0119] According to the embodiment shown in the figures 1 to 10, the suction chamber 6 comprises a waste deflector 24 comprising a first deflector portion 25 and a second deflector portion 26 located on either side of the inlet opening of the waste guide channel 17. The first and second deflector portions 25, 26 respectively comprise a first deflection surface 25.1 and a second deflection surface 26.1 which are configured to be oriented towards a surface to be cleaned.

[0120] Each of the first and second deflection surfaces 25.1, 26.1 is located opposite the lower deflector 18, and more particularly the lower deflection surface 19. Advantageously, each of the first and second deflection surfaces 25.1, 26.1 is planar and extends transversely, and for example perpendicularly, to the main direction of movement D of the autonomous cleaning robot 2. According to the embodiment shown in the figures 1 to 10, each of the first and second deflection surfaces 25.1, 26.1 has a width, measured parallel to the main direction of movement of the autonomous cleaning robot, which increases towards the inlet opening of the waste guide channel 17.

[0121] The first deflection surface 25.1 is inclined such that the distance between the surface to be cleaned and the first deflection surface 25.1 increases from a first end of the rotating cleaning brush 7 towards the inlet opening of the waste guide channel 17, and the second deflection surface 26.1 is inclined such that the distance between the surface to be cleaned and the second deflection surface 26.1 increases from a second end of the rotating cleaning brush 7 towards the inlet opening of the waste guide channel 17.

[0122] Advantageously, each of the first and second deflection surfaces 25.1, 26.1 is configured to be inclined relative to the horizontal by an angle of inclination of between 2° and 20°, advantageously between 2° and 10°, and for example approximately 5°, when the autonomous cleaning robot 2 rests on a horizontal surface.

[0123] The suction chamber 6 also comprises a rear deflector 27 comprising a first rear deflector portion 28 and a second rear deflector portion 29 located on either side of the inlet opening of the waste guide channel 17 and configured to each extend substantially vertically when the autonomous cleaning robot 2 is resting on a horizontal surface.

[0124] The first and second rear deflector portions 28, 29 respectively comprise a first rear deflection surface 28.1 and a second rear deflection surface 29.1 which face the rotating cleaning brush 7 and which are located on either side of the rear chamber wall 23. Advantageously, each of the first and second rear deflection surfaces 28.1, 29.1 is substantially planar and extends to the rear chamber wall 23.

[0125] As shown on the figure 10, the first rear deflection surface 28.1 is inclined such that the distance between the brush rotation axis A1 and the first rear deflection surface 28.1 increases from the first end of the rotating cleaning brush 7 toward the inlet opening of the waste guide channel 17, and the second rear deflection surface 29.1 is inclined such that the distance between the brush rotation axis A1 and the second rear deflection surface 29.1 increases from the second end of the rotating cleaning brush 7 toward the inlet opening of the waste guide channel 17.

[0126] Advantageously, each of the first and second rear deflection surfaces 28.1, 29.1 is inclined, relative to a plane perpendicular to the median longitudinal plane P of the main body 3, by an angle of inclination of between 2° and 20°, advantageously between 2° and 10°, and for example approximately 4°.

[0127] The autonomous cleaning robot 2 also comprises a power battery 31 configured to electrically power the autonomous cleaning robot 2. Advantageously, the power battery 31 is rechargeable and is housed in the main body 3.

[0128] As shown in particular on the figure 2 , the autonomous cleaning robot 2 further comprises a wet cleaning device 32 which is arranged in a rear part 3.2 of the main body 3. Advantageously, the wet cleaning device 32 is arranged opposite the rotating cleaning brush 7 with respect to the axes of rotation of the drive wheels 11.

[0129] According to the embodiment shown in the figures 1 to 10, the wet cleaning device 32 comprises two mop supports 33 which are arranged side by side and which are located behind the rotation axes of the drive wheels 11. Advantageously, the two mop supports 33 are arranged on either side of the median longitudinal plane P of the main body 3, and are configured to extend substantially horizontally when the main body 3 rests on a horizontal surface.

[0130] Advantageously, the power supply battery 31 is located at least in part, and for example entirely, above one of the mop supports 33, and the suction unit 14 is located at least in part, and for example entirely, above the other of the mop supports 33. Thus, the suction unit 14 and the power supply battery 31 are arranged on either side of the median longitudinal plane P of the main body 3.

[0131] According to the embodiment shown in the figures 1 to 10 , the two mop supports 33 are each mounted to be movable in translation relative to the main body 3 in a translation direction T which extends transversely, and advantageously perpendicularly, to the main direction of movement D of the autonomous cleaning robot 2. Advantageously, the mop supports 33 are mounted to be movable relative to each other between a close configuration in which the two mop supports 33 are close to each other, and a distant configuration in which the two mop supports 33 are distant from each other.

[0132] The wet cleaning device 32 also comprises a translational drive mechanism 34 configured to move the mop supports 33 in translation in the translation direction T and alternately between the close configuration and the distant configuration. Thus, the translational drive mechanism 34 is configured to move the two mop supports 33 in translation in phase opposition. Advantageously, the translational drive mechanism 34 is located at least partly above the mop supports 33.

[0133] The wet cleaning device 32 further comprises two mops 35 removably mounted respectively on the two mop supports 33. The mops 35 are configured to be in contact with the surface to be cleaned, and more particularly to exert a pressing force on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned.

[0134] Advantageously, the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, a rear part of the autonomous cleaning robot 2 rests on said surface to be cleaned directly by the two mops 35.

[0135] As shown more particularly on the figure 8, the wet cleaning device 32 is removably mounted relative to the main body 3, and the main body 3 comprises a receiving housing 36 in which the wet cleaning device 32 is received at least in part. The wet cleaning device 32 is advantageously configured to be removed from the main body 3 by a translational movement directed towards the rear of the main body 3.

[0136] The autonomous cleaning robot 2 also comprises a cleaning liquid reservoir 37 which is mounted, for example removably, on the main body 3. Advantageously, the cleaning liquid reservoir 37 and the waste collection container 16 are superimposed, and are integral with each other. Thus, the autonomous cleaning robot 2 may for example comprise a removable reservoir comprising a first compartment forming the cleaning liquid reservoir 37 and a second compartment forming the waste collection container 16. However, according to an alternative embodiment of the invention, the cleaning liquid reservoir 37 could be separate from the waste collection device 15, and for example be provided directly on the wet cleaning device 32.

[0137] The wet cleaning device 32 further comprises a plurality of liquid outlets 38 which are configured to be fluidically connected to the cleaning liquid reservoir 37 and which are configured to supply cleaning liquid to the mops 35 mounted on the mop holders 33. Advantageously, the liquid outlets 38 are located at the front of the mop holders 33, and for example at the front of the mops 35, and are configured to be oriented towards the surface to be cleaned.

[0138] The autonomous cleaning robot 2 also comprises a cleaning liquid supply circuit (not described in detail) provided on the main body 3 and configured to fluidically connect the liquid outlet orifices 38 to the cleaning liquid reservoir 37. The cleaning liquid supply circuit may for example comprise in particular a distributor 39 (see figure 6 ) housed in the main body 3.

[0139] There figure 11 represents an autonomous cleaning robot 2 according to a second embodiment of the invention which differs from the first embodiment represented in the figures 1 to 10 essentially in that the upper deflection surface 22 of the upper deflector 21 has a radius of curvature and extends for example over less than a quarter of a circle, in that the cleaning liquid reservoir 37 is offset relative to the waste collection container 16, such that the cleaning liquid reservoir 37 and the waste collection container 16 are not superimposed, and in that the waste collection container 16 has an upper wall which is substantially planar and configured to extend horizontally when the autonomous cleaning robot 2 rests on a horizontal surface.

[0140] According to such an embodiment of the invention, the upper deflection surface 22 is configured such that an inclined plane P2 passing through a first intersection I1 between the upper deflection surface 22 and a plane containing the front wall 17.1 of the waste guide channel 17 and a second intersection I2 between the upper deflection surface 22 and a plane containing the rear wall 17.2 of the waste guide channel 17 is inclined backwards and upwards and has an inclination, relative to the horizontal, which is substantially identical to the inclination, relative to the horizontal, of the lower deflection surface 19. Advantageously, the inclination of the inclined plane P2 is greater than the inclination of the lower deflection surface 19, and the difference in inclination between the inclination of the inclined plane P2 and the inclination of the lower deflection surface 19 is less than 10°.

[0141] According to an alternative embodiment of the invention not shown in the figures, the wet cleaning device 32 could be provided with a floor treatment element, other than a mop, configured to carry out a mechanical, chemical, thermal or radiant treatment of the floor.

[0142] According to another variant embodiment of the invention not shown in the figures, the wet cleaning device 32 could comprise at least one passive mop, i.e. one which is mounted immobile relative to the main body 3.

[0143] According to yet another variant embodiment of the invention not shown in the figures, the autonomous cleaning robot 2 could be devoid of a wet cleaning device 32.

[0144] Of course, the invention is in no way limited to the embodiments described and illustrated, which have been given only as examples. Modifications remain possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

1. Autonomous cleaning robot (2) comprising: - a main body (3) having a lower face (4) configured to be oriented towards a surface to be cleaned and a suction inlet (5) opening into the lower face (4) of the main body (3), the main body (3) delimiting a suction chamber (6) fluidly connected to the suction inlet (5), - a rotating cleaning brush (7) housed in the suction chamber (6) and mounted to rotate about a brush rotation axis (A1), - a suction unit (14) which is housed at least partly in the main body (3) and which is configured to generate an air flow through the suction inlet (5),- a waste collection device (15) comprising a waste collection container (16) located at the rear of the suction chamber and upstream of the suction unit (14) and configured to be traversed by the air flow generated by the suction unit (14) and to retain waste transported by the air flow, - a waste guide channel (17) fluidly connecting the suction chamber (6) to the waste collection container (16), - a lower deflector (18) located at the rear of the brush rotation axis (A1) and extending at least partly opposite an inlet opening of the waste guide channel (17), the lower deflector (18) comprising a lower deflection surface (19) which partly delimits the suction chamber (6) and which is configured to deflect, upwards and towards the waste guide channel (17), waste projected backwards by the rotating cleaning brush (7) on the lower deflection surface (19),and - an upper deflector (21) extending at least partly opposite an outlet opening of the waste guide channel (17), the upper deflector (21) comprising an upper deflection surface (22) which is configured to deflect, rearwardly and towards the waste collection container (16), waste exiting, upwardly, from the waste guide channel (17)., 2. Autonomous cleaning robot (2) according to claim 1, wherein the lower deflector (18) is elongated and extends substantially parallel to the brush rotation axis (A1).

3. Autonomous cleaning robot (2) according to claim 1 or 2, wherein the lower deflector (18) forms a rear edge (5.1) of the suction mouth (5).

4. An autonomous cleaning robot (2) according to any one of claims 1 to 3, wherein the lower deflection surface (19) is inclined backwards and upwards and is configured to be inclined relative to the horizontal by an angle of inclination of between 20 and 50° when the autonomous cleaning robot (2) rests on a horizontal surface.

5. Autonomous cleaning robot (2) according to any one of claims 1 to 4, wherein the lower deflector (18) and the upper deflector (21) are located at least partly opposite each other.

6. Autonomous cleaning robot (2) according to any one of claims 1 to 5, in which the waste guide channel (17) opens into a rear part of the suction chamber (6).

7. Autonomous cleaning robot (2) according to any one of claims 1 to 6, wherein the main body (3) has a median longitudinal plane (P) which intersects with the waste guide channel (17).

8. Autonomous cleaning robot (2) according to any one of claims 1 to 7, wherein the waste guide channel (17) comprises a front wall (17.1) and a rear wall (17.2) which are substantially parallel to each other and which are spaced from each other by a spacing distance (D1).

9. An autonomous cleaning robot (2) according to any one of claims 1 to 8, wherein the suction chamber (6) comprises a rear chamber wall (23) which is located opposite the rotating cleaning brush (7) and which extends substantially parallel to the brush rotation axis (A1), the rear chamber wall (23) being located at a separation distance (D2) from a vertical plane (P1) containing the brush rotation axis (A1) and being configured to extend substantially vertically when the autonomous cleaning robot rests on a horizontal surface.

10. Autonomous cleaning robot (2) according to claim 9, wherein the rear edge (5.1) of the suction mouth (5) is located at an edge distance (D3) from the vertical plane (P1) containing the brush rotation axis (A1), the edge distance (D3) being less than the separation distance (D2).

11. Autonomous cleaning robot (2) according to claim 10, wherein the maximum dimension of the waste guide channel (17), measured parallel to the main direction of movement (D) of the autonomous cleaning robot (2), is greater than the difference between the separation distance (D2) and the edge distance (D3) and is less than the separation distance (D2).

12. Autonomous cleaning robot (2) according to any one of claims 1 to 11, wherein the suction chamber (6) comprises a waste deflector (24) comprising a first deflector portion (25) and a second deflector portion (26) located on either side of the inlet opening of the waste guide channel (17), the first and second deflector portions (25, 26) respectively comprising a first deflection surface (25.1) and a second deflection surface (26.1) which are configured to be oriented towards a surface to be cleaned, the first deflection surface (25.1) being inclined such that the distance between the surface to be cleaned and the first deflection surface (25.1) increases towards the inlet opening of the waste guide channel (17), the second deflection surface (26.1) being inclined such that the distance between the surface to be cleaned and the second deflection surface (26 ... deflection (26.1) increases towards the inlet opening of the waste guide channel (17).

13. Autonomous cleaning robot (2) according to claim 12, wherein each of the first and second deflection surfaces (25.1, 26.1) is located opposite the lower deflector (18).

14. Autonomous cleaning robot (2) according to any one of claims 1 to 13, wherein the suction chamber (6) comprises a rear deflector (27) comprising a first rear deflector portion (28) and a second rear deflector portion (29) located on either side of the inlet opening of the waste guide channel (17) and configured to each extend substantially vertically when the autonomous cleaning robot (2) rests on a horizontal surface, the first and second rear deflector portions (28, 29) respectively comprising a first rear deflection surface (28.1) and a second rear deflection surface (29.1) which face the rotating cleaning brush (7), the first rear deflection surface (28.1) being inclined such that the distance between the brush rotation axis (A1) and the first rear deflection surface (28.1) increases towards the inlet opening of the waste guide channel (17), and the second rear deflection surface (29.1) being inclined such that the distance between the brush rotation axis (A1) and the second rear deflection surface (29.1) increases towards the inlet opening of the waste guide channel (17).

15. Autonomous cleaning robot (2) according to any one of claims 1 to 14, which further comprises a wet cleaning device (32) comprising at least one mop holder (33) which is mounted on the main body (3), and at least one mop (35) removably mounted on the at least one mop holder (33) and configured to be in contact with the surface to be cleaned.

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