Autonomous cleaning robot equipped with a cleaning device

Abstract

The autonomous cleaning robot (2) comprises a main body (3) having a lower face (4) and a suction inlet (5) opening into the lower face (4); two drive wheels (8) configured to roll on the surface to be cleaned and mounted for rotation on the main body (3) respectively about two axes of rotation which are substantially parallel; and a cleaning device (16) comprising two mop holders mounted for rotation between a close configuration in which the two mop holders are close to each other and a far configuration in which the two mop holders are far apart, and two mops (19) mounted respectively on the two mop holders. Figure 3

Description

Title of the invention: Autonomous cleaning robot equipped with a cleaning device. Technical field

[0001] The present invention relates to the field of autonomous cleaning devices equipped with a cleaning device, and more particularly to the field of robot vacuum cleaners that can move autonomously on 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 nowadays, making it possible to clean entire surfaces of a home without any user assistance, provided these surfaces are flat, i.e., on the same level. They thus offer users considerable time savings for other activities.

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

[0004] - a main body having a lower face which is configured to be oriented towards a surface to be cleaned and a suction inlet provided in a front part of the main body and opening into the lower face of the main body,

[0005] - two drive wheels configured to roll on the surface to be cleaned and mounted mobile units rotating on the main body respectively around two axes of rotation which are substantially parallel, and

[0006] - a cleaning device comprising two mop holders which are each mounted movable in translation relative to the main body in a direction of translation substantially parallel to the axes of rotation of the drive wheels, and two mops mounted removably respectively on the two mop supports.

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

[0008] According to document FR3124935, the medial edges of the two mops extend on either side of the median longitudinal plane of the main body and parallel to it. median longitudinal plane, and therefore parallel to the main direction of movement of the robot.

[0009] Thus, during the movement of the autonomous cleaning robot along its main direction of travel, a portion of the surface to be cleaned, located in particular in the median longitudinal plane of the main body, may not be properly cleaned (since it is not covered by the mops), despite the alternating movements of the mop supports between the close and distant configurations. 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 robot which is simple in structure, economical and compact, while exhibiting increased cleaning performance.

[0012] To this end, the invention relates to an autonomous cleaning robot comprising:

[0013] - a main body having a lower face configured to be oriented towards a surface to be cleaned and a suction inlet opening into the underside of the main body

[0014] - a suction unit which is housed at least partially in the main body and which is configured to generate an airflow through the suction opening,

[0015] - two drive wheels configured to roll on the surface to be cleaned and arranged on either side of a median longitudinal plane of the main body, the two drive wheels are mounted to rotate freely on the main body respectively around two axes of rotation which are substantially parallel, and

[0016] - a cleaning device, such as a wet cleaning device, comprising:

[0017] two mop supports which are each mounted to move in translation relative to to the main body along a translational direction extending substantially parallel to the axes of rotation of the two drive wheels, the two mop supports being mounted movable relative to each other between a close configuration in which the two mop supports are close to each other and a distant configuration in which the two mop supports are far apart, and

[0018] two mops mounted removably respectively on the two mop supports and configured to be in contact with the surface to be cleaned.

[0019] The cleaning device is configured such that, when the two mop supports are in the close configuration, the two mops are intersected, i.e. cut, by an intersection plane which is parallel to the median longitudinal plane of the main body.

[0020] Such a configuration of the cleaning device prevents the appearance of traces on the The surface to be cleaned ensures enhanced cleaning because, when the autonomous cleaning robot moves along its main direction and over a predetermined area of ​​the surface, the entire predetermined area will be scrubbed and cleaned by the mops. Indeed, if a portion of the predetermined area is not scrubbed by one of the two mops during a cycle of movement of the mop pads, it will necessarily be scrubbed by the other mop during the subsequent cycle of movement of the mop pads.

[0021] Moreover, such a configuration of the cleaning device ensures a more homogeneous cleaning of the surface to be cleaned.

[0022] Consequently, the particular configuration of the cleaning device gives the cleaning robot according to the present invention increased cleaning performance.

[0023] The autonomous cleaning robot of the present invention is designed, like the majority of autonomous cleaning robots, to efficiently clean floors when moving along a direction parallel to the robot's longitudinal axis and in a predetermined direction of movement. The direction of movement parallel to the robot's longitudinal axis and the predetermined direction of movement define a principal direction of movement for the autonomous cleaning robot of the present invention. Thus, a front or rear portion of the robot's main body is identified with respect to the robot's principal direction of movement.

[0024] The autonomous cleaning robot may also have one or more of the following characteristics, taken alone or in combination.

[0025] According to one embodiment of the invention, the two mops are configured to be close together when the two mop supports are in the close configuration, and to be far apart when the two mop supports are in the far configuration.

[0026] According to one embodiment of the invention, the intersection plane coincides with the median longitudinal plane of the main body. Such a configuration of the cleaning device provides even greater cleaning performance to the autonomous cleaning robot according to the present invention.

[0027] According to one embodiment of the invention, each of the mops comprises a first lateral part and a second medial part, the first lateral parts being configured to be arranged respectively on either side of the median longitudinal plane of the main body when the two mop supports are in the distant configuration, and each of the second medial parts being configured to protrude beyond the median longitudinal plane of the main body when the two mop supports are in the close configuration. In other words, The second medial parts are configured to be arranged one behind the other when the two mop holders are in the close configuration.

[0028] According to one embodiment of the invention, each of the mops has a medial edge which is substantially straight and which is inclined with respect to the median longitudinal plane of the main body at an angle of inclination between 3 and 25°, advantageously between 5 and 20°, and even more advantageously between 6 and 10°, the medial edges of the two mops being located directly opposite each other.

[0029] Each medial edge has a non-zero angle of inclination equal to or less than 25° with respect to the median longitudinal plane of the main body to avoid disrupting the movements of the autonomous cleaning robot when the two mop supports are moved between the close and distant configurations. Indeed, in the case of mop supports with large amplitudes of transverse movement, such as movements with an amplitude equal to or greater than 5 mm, an excessive inclination of the medial edges tends to unbalance the friction forces generated by the first mop and the second mop when both mops are moving and in contact with the floor.

[0030] According to one embodiment of the invention, the medial edges of the two mops are substantially parallel to each other.

[0031] According to one embodiment of the invention, the rear of the main body of the autonomous cleaning robot and the rear of the two mops, and more particularly the rear edges of the main body and of the two mops, have a shape that is at least partly in the form of an arc of a circle.

[0032] When the rear of each of the two mops has an arc-shaped or partially arc-shaped form, it is even more advantageous for the angle of inclination of each medial edge to be equal to or less than 25° with respect to the median longitudinal plane of the main body in order to avoid disrupting the robot's movements when the two mop supports are moving and in contact with the ground. Indeed, according to this embodiment, the greater the angle of inclination, the greater the differences in surface area between the two mops and therefore the greater the differences in friction surfaces.

[0033] According to one embodiment of the invention, when the mop supports are in the close configuration, the medial edges of the two mops are cut approximately at mid-length of the medial edges by the median longitudinal plane of the main body.

[0034] According to one embodiment of the invention, when the mop supports are in the close-coupled configuration, the medial edges of the two mops are configured to be located close to each other, and for example to be spaced apart from each other by a separation distance, measured parallel to the axes of rotation of the two drive wheels, which is less than 5 mm, and for example less than 2 mm.

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

[0036] According to one embodiment of the invention, the suction inlet is located in a front portion of the main body, and the two mop supports are located behind the axes of rotation of the drive wheels. This arrangement of the mop supports, namely behind the axes of rotation of the drive wheels, increases the pressure exerted by each mop on the surface to be cleaned, and thus increases the friction of the cleaning device on the surface to be cleaned, due to the weight exerted by the main body on the cleaning device. Therefore, this arrangement of the mop supports increases the scraping efficiency of the cleaning device on the floor and thus the cleaning quality of the autonomous cleaning robot.Furthermore, this arrangement of the mop supports prevents the drive wheels from rolling over a wet area that has just been cleaned by the mops, thus avoiding the appearance of marks that could compromise the quality of the cleaning.

[0037] According to one embodiment of the invention, the suction opening is located in front of the axes of rotation of the drive wheels.

[0038] According to one embodiment of the invention, the two mop supports are positioned relative to the main body such that the two mop supports are not intersected by any vertical plane passing through the rotation axes of wheels equipping the autonomous cleaning robot, and such that the two mop supports are not located, at least partially, between two vertical planes passing through two rotation axes of wheels equipping the autonomous cleaning robot. This configuration of the autonomous cleaning robot also allows the mops to directly support at least part of the mass of the autonomous cleaning robot, and thus further improve the cleaning quality of the autonomous cleaning robot.Conversely, if the mop supports were cut by a vertical plane passing through the axes of rotation of wheels equipping the autonomous cleaning robot (and for example the two drive wheels) or arranged between wheels of the autonomous cleaning robot whose axes of rotation are parallel (for example between the axes of rotation of the drive wheels and the axis of rotation of a rear wheel), the forces resulting from the mass of the autonomous cleaning robot would be absorbed by the wheels and not by the mop supports.

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

[0040] 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 the two mops. This configuration of the autonomous cleaning robot allows the mops to directly bear at least part of the robot's mass, thus further increasing the pressure exerted by each mop on the floor to be cleaned. Therefore, this configuration of the autonomous cleaning robot further improves its cleaning performance.

[0041] According to one embodiment of the invention, the autonomous cleaning robot includes a power supply battery configured to electrically power the autonomous cleaning robot, the power supply battery being located at least partially above one of the mop supports. Such an arrangement of the power supply battery makes it possible to increase the pressure exerted by at least one of the mops on the surface to be cleaned, and thus to further increase the scraping efficiency of the cleaning device on the floor and therefore the cleaning quality of the autonomous cleaning robot.

[0042] According to one embodiment of the invention, the suction unit is located at least partially above one of the mop supports. Such an arrangement of the suction unit increases the pressure exerted by at least one of the mops on the surface to be cleaned, and thus further increases the scraping efficiency of the cleaning device on the floor and consequently the cleaning quality of the autonomous cleaning robot.

[0043] According to one embodiment of the invention, the cleaning device is mounted in a removable manner relative to the main body.

[0044] 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 the mops mounted on the mop holders, the fluid outlet ports being located at the front of the mop holders.

[0045] According to one embodiment of the invention, the cleaning fluid reservoir is mounted, for example in a removable manner, on the main body.

[0046] According to one embodiment of the invention, the liquid outlet orifices are located at the front of the mops. Advantageously, the liquid outlet orifices are located at the rear of the axes of rotation of the drive wheels.

[0047] According to one embodiment of the invention, the liquid outlet orifices are substantially aligned along an alignment direction that extends substantially parallel to aligned with the axes of rotation of the two drive wheels, that is, transversely to the main direction of movement of the autonomous cleaning robot. This arrangement of the liquid outlets allows for a more homogeneous dispersion of the cleaning liquid on the mops, which further improves the cleaning quality of the autonomous cleaning robot according to the present invention.

[0048] According to one embodiment of the invention, the autonomous cleaning robot comprises a lifting ramp extending substantially parallel to the axes of rotation of the two drive wheels and located in front of the mop supports. The lifting ramp has a lifting surface oriented towards a surface to be cleaned and inclined backward and downward. The lifting surface is configured to cause a rear portion of the main body to lift when an obstacle, presented frontal to the autonomous cleaning robot during forward movement of the main body, comes into contact with said lifting surface and slides on said lifting surface. The presence of such a lifting ramp facilitates the autonomous cleaning robot's ability to overcome frontal obstacles encountered.

[0049] According to one embodiment of the invention, the main body defines a suction chamber fluidly connected to the suction inlet. The autonomous cleaning robot comprises a rotating cleaning brush housed in the suction chamber and mounted to rotate about a brush rotation axis. Advantageously, the brush rotation axis extends substantially parallel to the rotation axes of the drive wheels. In other words, the brush rotation axis extends transversely to the main direction of movement of the autonomous cleaning robot.

[0050] 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.

[0051] According to one embodiment of the invention, the autonomous cleaning robot includes a connecting channel fluidly linking the suction chamber to the waste collection container.

[0052] According to one embodiment of the invention, the connecting channel opens into a rear portion of the suction chamber. Such an arrangement of the connecting channel facilitates the guidance of the aspirated waste towards the waste collection container.

[0053] According to one embodiment of the invention, the axes of rotation of the two drive wheels are coaxial.

[0054] According to one embodiment of the invention, the autonomous cleaning robot includes a translation drive mechanism configured to move the mop supports in translation along the direction of translation and alternately between the close and far configurations.

[0055] According to one embodiment of the invention, the mop supports have symmetrical movements between the close configuration and the far configuration.

[0056] According to one embodiment of the invention, the translational drive mechanism is configured to move the two mop supports in translation in opposite phases. In other words, the translational drive mechanism is configured to move the two mop supports in translation in alternating movements and in opposite directions.

[0057] According to one embodiment of the invention, the autonomous cleaning robot includes additional wheels mounted mobilizably in rotation on the main body and configured to roll on the surface to be cleaned, all the additional wheels being located in front of the axes of rotation of the two drive wheels.

[0058] 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.

[0059] According to one embodiment of the invention, the suction unit and the power supply battery are arranged on either side of the median longitudinal plane of the main body. This arrangement of the suction unit and the power supply battery allows for better distribution of the mass of the autonomous cleaning robot and thus balances the pressure forces exerted by the two mops on the surface to be cleaned. These arrangements therefore provide even better cleaning performance for the autonomous cleaning robot. Brief description of the figures

[0060] The objects, 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:

[0061] Figure 1 is a top perspective view of an autonomous cleaning robot according to the present invention.

[0062] Fig. 2 is a perspective view from below of the autonomous cleaning robot [Fig.1], showing mops equipping the autonomous cleaning robot in a close-up configuration.

[0063] Fig. 3 is a perspective view from below of the autonomous cleaning robot [Fig.1], showing the mops in a distant configuration.

[0064] Fig. 4 is a bottom view of the autonomous cleaning robot of Fig. 1, showing the mops in the close-up configuration.

[0065] Fig. 5 is a bottom view of the autonomous cleaning robot of Fig. 1, showing the mops in the remote configuration.

[0066] Fig. 6 is a side view of the autonomous cleaning robot of Fig. 1.

[0067] Figure 7 is a longitudinal cross-sectional view of the autonomous cleaning robot. [Fig.l].

[0068] Fig. 8 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing mop supports equipping the autonomous cleaning robot in a close-up configuration.

[0069] Figure 9 is a perspective view from below of the autonomous cleaning robot of Figure 1, showing the mop holders in a distant configuration. Detailed description

[0070] Only the elements necessary for understanding the invention are shown. To facilitate reading the drawings, the same elements bear the same reference numerals from one figure to another.

[0071] 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 on its wheels on a flat and horizontal floor to be cleaned.

[0072] 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.

[0073] In this document, the term "medial" refers to an element that is located near or to the side of the median longitudinal plane of the main body, and the term "lateral" refers to an element that is away from or located opposite said median longitudinal plane.

[0074] Unless otherwise stipulated, the term "substantially" means, in this document, "exactly or to within 10% or to within 10°".

[0075] Figures 1 to 9 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously over a surface to be cleaned.

[0076] 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 inlet 5 which is provided in a front portion 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 substantially perpendicularly to a main direction of movement D of the autonomous cleaning robot 2.

[0077] As shown in [Fig.7], 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.

[0078] According to the embodiment shown in the figures, the main body 3, viewed from above in a substantially vertical orientation, has a general D-shaped form and comprises a rear edge that is curved and, viewed from above in a substantially vertical orientation, has an arc-shaped form. However, the main body 3 could have a completely different shape, and for example, a general circular or rectangular shape.

[0079] The autonomous cleaning robot 2 further includes a rotating cleaning brush 7 housed in the suction chamber 6 and mounted to rotate movably around a brush rotation axis which extends substantially perpendicularly to the main direction of movement D. Advantageously, the brush rotation axis is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0080] The autonomous cleaning robot 2 also includes a drive mechanism (not visible in the figures) which is configured to drive the rotating cleaning brush 7 in rotation around the brush rotation axis.

[0081] As shown more particularly in Figures 2 to 5, the autonomous cleaning robot 2 comprises two drive wheels 8 which are configured to roll on the surface to be cleaned. The two drive wheels 8 are mounted to rotate freely relative to the main body 3, and have axes of rotation which are parallel and advantageously coaxial. Advantageously, the axes of rotation of the drive wheels 8 extend perpendicularly to the main direction of movement D.

[0082] The two drive wheels 8 are configured to protrude from the lower face 4 of the main body 3, and are arranged on either side of a median longitudinal plane P of the main body 3. Advantageously, the two drive wheels 8 are arranged symmetrically with respect to the median longitudinal plane P of the main body 3.

[0083] The two drive wheels 8 are advantageously motorized independently of each other. Thus, the autonomous cleaning robot 2 comprises two rotary drive mechanisms 9 housed in the main body 3 and each configured to rotate one of the two drive wheels 8. Each rotary drive mechanism 9 has a drive motor rotationally coupled to the respective drive wheel 8 and disposed, 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 about itself. even, to move forward or backward.

[0084] According to the embodiment shown in the figures, the autonomous cleaning robot 2 has additional wheels 10 mounted freely to rotate relative to the main body 3, and for example two additional wheels 10 arranged on the front part 3.1 of the main body 3. Advantageously, all the additional wheels 10 are located in front of the axes of rotation of the two drive wheels 8, so that the autonomous cleaning robot 2 is devoid of an additional wheel located behind the axes of rotation of the two drive wheels 8.

[0085] The autonomous cleaning robot 2 further includes a suction unit 11 which is housed in the main body 3. The suction unit 11 includes 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.

[0086] The autonomous cleaning robot 2 also includes a waste collection device 12 (see [Fig.7]) which is mounted, for example in a removable manner, on the main body 3. The waste collection device 12 has a waste collection container 13 located upstream of the suction unit 11, and configured to be traversed by the airflow generated by the fan and to retain waste transported by the airflow.

[0087] The autonomous cleaning robot 2 further includes a connecting channel 14 fluidly connecting the suction chamber 6 to the waste collection container 13. As shown in [Fig.7], the connecting channel 14 opens into a rear part of the suction chamber 6, and the median longitudinal plane P of the main body 3 is secant with the connecting channel 14.

[0088] The autonomous cleaning robot 2 also includes a power supply battery 15 configured to electrically power the autonomous cleaning robot 2. Advantageously, the power supply battery 15 is rechargeable and is housed in the main body 3.

[0089] As shown in particular in [Fig.2], the autonomous cleaning robot 2 further includes a cleaning device 16, such as a wet cleaning device, which is disposed in a rear part 3.2 of the main body 3. Advantageously, the cleaning device 16 is disposed opposite the rotating cleaning brush 7 with respect to the axes of rotation of the drive wheels 8.

[0090] The cleaning device 16 includes two mop supports 17 which are arranged side by side and are located at the rear of the rotation axes of the drive wheels 8. Advantageously, the two mop supports 17 are configured to extend substantially horizontally when the main body 3 rests on a horizontal surface.

[0091] As shown more particularly in [Fig. 4], the two mop supports 17 are positioned relative to the main body 3 such that the two mop supports 17 are not cut by any vertical plane passing through the rotation axes of wheels equipping the autonomous cleaning robot 2, and such that the two mop supports 17 are not located at least partly between two vertical planes passing respectively through two rotation axes of wheels equipping the autonomous cleaning robot 2.

[0092] Advantageously, the power supply battery 15 is located at least in part, and for example entirely, above one of the mop supports 17, and the suction unit 11 is located at least in part, and for example entirely, above the other of the mop supports 17. According to such an embodiment of the invention, the suction unit 11 and the power supply battery 15 are arranged on either side of the median longitudinal plane P of the main body 3.

[0093] The two mop supports 17 are each mounted movable in translation relative to the main body 3 along a translation direction T which extends perpendicularly to the main direction of movement D of the autonomous cleaning robot 2, and parallel to the axes of rotation of the two drive wheels 8.

[0094] The mop supports 17 are further mounted movable relative to each other between a close configuration (see [Fig.8]) in which the two mop supports 17 are close to each other, and a far configuration (see [Fig.9]) in which the two mop supports 17 are far from each other.

[0095] The cleaning device 16 also includes a translational drive mechanism 18 configured to move the mop supports 17 in translation along the translational direction T and alternately between the close and distant configurations. Thus, the translational drive mechanism 18 is configured to move the two mop supports 17 in translation in opposite phases, and such that the mop supports 17 have symmetrical movements between the close and distant configurations. Advantageously, the translational drive mechanism 18 is located at least partially above the mop supports 17.

[0096] The cleaning device 16 further comprises two mops 19 removably mounted respectively on the two mop supports 17. The mops 19 are configured to be in contact with the surface to be cleaned, and more particularly to exert a pressure force on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned. Advantageously, the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, a rear portion of the autonomous cleaning robot 2 rests on said surface to be cleaned directly by the two mops 19.

[0097] The two mops 19 are more specifically configured to be placed close together to be away from each other when the two mop supports 17 are in the close configuration, and to be away from each other when the two mop supports 17 are in the far configuration.

[0098] According to the embodiment shown in the figures, each of the mops 19 has a rear edge having an arc-shaped form.

[0099] As shown in particular in [Fig. 4], each of the mops 19 comprises a first lateral portion 19.1 and a second medial portion 19.2, and the first lateral portions 19.1 are configured to be positioned respectively on either side of the median longitudinal plane P of the main body 3 when the two mop supports 17 are in the distant configuration. Advantageously, each of the second medial portions 19.2 is configured to project beyond the median longitudinal plane P of the main body 3 when the two mop supports 17 are in the close configuration. In other words, the second medial portions 19.2 are configured to be positioned one behind the other when the two mop supports 17 are in the close configuration.

[0100] As shown in Figures 4, the cleaning device 16 is configured such that, when the two mop supports 17 are in the close configuration, the two mops 19 (and more particularly the second medial parts 19.2) are intersected, i.e. are cut, by an intersection plane which is parallel to the median longitudinal plane P of the main body 3, and more particularly which coincides with the median longitudinal plane P of the main body 3.

[0101] According to the embodiment shown in the figures, each of the mops 19 has a medial edge 19.3 which is straight and inclined with respect to the median longitudinal plane P of the main body 3 at an angle of inclination between 3 and 25°, advantageously between 5 and 20°, and even more advantageously between 6 and 10°. Advantageously, the medial edges 19.3 of the two mops 19 are parallel to each other, are located directly opposite each other, and are intersected by the median longitudinal plane P of the main body 3 at least when the two mop supports 17 are in the close-coupled configuration.

[0102] As shown in [Fig. 4], when the mop supports 17 are in the close-coupled configuration, the medial edges 19.3 of the two mops 19 are configured to be located close to each other, and for example to be separated from each other by a separation distance, measured parallel to the axes of rotation of the two drive wheels 8, which is less than 5 mm, and for example less than 2 mm. Advantageously, when the mop supports 17 are in the close-coupled configuration, the medial edges 19.3 of the two mops 19 are cut approximately at mid-length by the median longitudinal plane P of the main body 3.

[0103] The autonomous cleaning robot 2 also includes a cleaning fluid reservoir 24 which is mounted, for example, removably, on the main body 3. The cleaning fluid reservoir 24 may, for example, be located between the drive wheels 8 or in a rear portion of the main body 3. The cleaning fluid reservoir 24 and the waste collection container 13 may, for example, be stacked and attached to each other. According to such an embodiment, the autonomous cleaning robot 2 may, for example, include a removable reservoir comprising a first compartment forming the cleaning fluid reservoir 24 and a second compartment forming the waste collection container 13. However, according to a variant of the invention, the cleaning fluid reservoir 24 could be provided directly on the cleaning device 16, and thus be separate from the waste collection device 12.

[0104] The cleaning device 16 further includes a plurality of liquid outlet ports 25 which are configured to be fluidly connected to the cleaning liquid reservoir 24 and which are configured to supply cleaning liquid to the mop heads 19 mounted on the mop supports 17.

[0105] According to the embodiment shown in the figures, the liquid outlet orifices 25 are aligned along an alignment direction that extends perpendicularly to the main direction of movement D of the autonomous cleaning robot 2, and are regularly spaced from each other. Advantageously, the liquid outlet orifices 25 are located at the front of the mop holders 17, and for example at the front of the mops 19, and are configured to be oriented towards the surface to be cleaned.

[0106] The autonomous cleaning robot 2 also includes a cleaning fluid supply circuit (not described in detail) provided on the main body 3 and configured to fluidly connect the fluid outlet ports 25 to the cleaning fluid reservoir 24.

[0107] According to the embodiment shown in the figures, the autonomous cleaning robot 2 includes a lifting ramp 26 which extends transversely to the main direction of movement D of the autonomous cleaning robot 2 and which is located in front of the mop supports 17. The lifting ramp 26 may, for example, have a length corresponding substantially to the distance between the two drive wheels 8. The lifting ramp 26 may, for example, be provided on the main body 3 or the cleaning device 16.

[0108] The lifting ramp 26 includes a lifting surface 26.1 which is oriented towards a surface to be cleaned and is inclined backwards and downwards. Advantageously, the lifting surface 26.1 is substantially flat. The lifting surface 26.1 is more particularly configured to cause the rear portion 3.2 of the main body 3 to lift when an obstacle is encountered. frontal to the autonomous cleaning robot 2 during a forward movement of the main body 3, comes into contact with said lifting surface 26.1 and slides on said lifting surface 26.1.

[0109] According to the embodiment shown in the figures, the liquid outlet orifices 25 are provided on the lifting ramp 26 and are distributed along the lifting ramp 26. Advantageously, the liquid outlet orifices 25 open into the lifting surface 26.1.

[0110] 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

Demands

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), - a suction unit (11) which is housed at least partially in the main body (3) and which is configured to generate an airflow through the suction inlet (5), - two drive wheels (8) configured to roll on the surface to be cleaned and arranged on either side of a median longitudinal plane (P) of the main body (3), the two drive wheels (8) being mounted for rotation on the main body (3) respectively about two axes of rotation which are substantially parallel, and - a cleaning device (16) comprising: • two mop supports (17), each of which is mounted to move in translation relative to the main body (3) along a direction of translation (T) extending substantially parallel to the axes of rotation of the two drive wheels (8), the two mop supports (17) being mounted to move relative to each other between a close configuration in which the two mop supports (17) are close to each other and a distant configuration in which the two mop supports (17) are far apart, and • two mops (19) mounted removably respectively on the two mop holders (17) and configured to be in contact with the surface to be cleaned, characterized in that the cleaning device (16) is configured such that, when the two mop supports (17) are in the close configuration, the two mops (19) are intersected by an intersection plane which is parallel to the median longitudinal plane (P) of the main body (3).

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

3. Autonomous cleaning robot (2) according to claim 1 or 2, wherein each of the mops (19) has a first lateral part (19.1) and a second medial part (19.2), the first lateral parts (19.1) being configured to be arranged respectively on either side of the median longitudinal plane (P) of the main body (3) when the two mop supports (17) are in the distant configuration and each of the second medial parts (19.2) being configured to protrude beyond the median longitudinal plane (P) of the main body (3) when the two mop supports (17) are in the close configuration.

4. Autonomous cleaning robot (2) according to any one of claims 1 to 3, wherein each of the mops (19) has a medial edge (19.3) which is substantially straight and which is inclined with respect to the median longitudinal plane (P) of the main body (3) at an angle of inclination between 3 and 25°, the medial edges (19.3) of the two mops (19) being located directly opposite each other.

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

6. Autonomous cleaning robot (2) according to any one of claims 1 to 5, wherein the suction mouth (5) is located in a front part (3.1) of the main body (3), and the two mop supports (17) are located at the rear of the rotation axes of the drive wheels (8).

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

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

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

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

11. Autonomous cleaning robot (2) according to any one of claims 1 to 10, wherein the autonomous cleaning robot (2) comprises a cleaning fluid reservoir (24), and the cleaning device (16) comprises a plurality of fluid outlet ports (25) which are configured to be fluidly connected to the cleaning fluid reservoir (24) and which are configured to supply cleaning fluid to the mops (19) mounted on the mop holders (17), the fluid outlet ports (25) being located at the front of the mop holders (17).

12. Autonomous cleaning robot (2) according to any one of claims 1 to 11, wherein the main body (3) delimits a suction chamber (6) fluidly connected to the suction mouth (5), the autonomous cleaning robot (2) comprising a rotating cleaning brush (7) housed in the suction chamber (6) and mounted to rotate movably about a brush rotation axis.

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