Method for controlling an autonomous cleaning system provided with a docking station equipped with scraping members

Abstract

The method comprises providing an autonomous cleaning system comprising an autonomous cleaning robot (2) and a docking station (3), the autonomous cleaning robot (2) comprising a mobile unit (15) having a mop holder (17) and a mop (18) mounted on the mop holder (17); docking the autonomous cleaning robot (2) in the docking station (3); moving the mobile unit (15) to a lowered position until the mop (18) contacts scraping members (27) provided on the docking station (3); moving the mop holder (17) in a horizontal movement plane; scraping the mop (18) by the scraping members (27); moving the mobile unit (15) to a raised position. Figure 12

Description

Title of the invention: Method for controlling an autonomous cleaning system provided with a docking station equipped with scraping members Technical field

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

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

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

[0004] - a main body comprising 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 and extending transversely to a main direction of movement of the autonomous cleaning robot, and

[0005] - a cleaning device comprising at least one mounted mop holder movable in translation relative to the main body in a support movement direction extending in a movement plane which is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface, and at least one mop removably mounted on the at least one mop support and configured to be in contact with the surface to be cleaned.

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

[0007] However, such washing of the at least one mop requires numerous manipulations of the autonomous cleaning robot by the user. In addition, the cleaning performance of such an autonomous cleaning robot can be considerably reduced if the user is unable to perform regular cleaning of at least one mop.

[0008] Document CN103006153 discloses another autonomous cleaning system comprising:

[0009] - an autonomous cleaning robot equipped with a cleaning device comprising a a mop holder mounted to rotate about an axis of rotation configured to extend substantially vertically, and a mop mounted on the mop holder, and

[0010] - a docking station configured to accommodate the autonomous cleaning robot and to clean the mop when the autonomous cleaning robot is received in the docking station.

[0011] The docking station more particularly comprises a cleaning tank, and the mop support is vertically movable between a lowered configuration and a raised configuration, such that the mop is capable of being at least partially immersed in cleaning liquid contained in the cleaning tank when the autonomous cleaning robot is received in the docking station. Advantageously, during each cleaning operation of the mop in the cleaning tank, said mop is rotated about its axis of rotation.

[0012] Such a configuration of the aforementioned autonomous cleaning system ensures automatic cleaning of the mop, and therefore provides increased cleaning performance to the autonomous cleaning system.

[0013] However, the quality of cleaning obtained with such a docking station is not optimal, and is in particular much lower than that obtained when cleaning mops in a washing machine. Summary of the invention

[0014] The present invention aims to remedy these drawbacks.

[0015] The technical problem underlying the invention consists in particular in providing a method for controlling an autonomous cleaning system which is of simple and ergonomic structure, while allowing increased cleaning of at least one mop equipping the autonomous cleaning system.

[0016] To this end, the invention relates to a method for controlling an autonomous cleaning system comprising the following steps:

[0017] - provision of an autonomous cleaning system comprising a cleaning robot autonomous cleaning robot and a docking station configured to accommodate the autonomous cleaning robot, the autonomous cleaning robot comprising a mobile unit, such as a cleaning device, comprising at least one mop holder movable in a plane of movement which is substantially horizontal when the cleaning robot autonomous rests on a horizontal surface, and at least one mop mounted, for example removably, on the at least one mop support, the mobile unit being movable, and more particularly vertically movable, between a lowered position in which the at least one mop is configured to be in contact with the surface to be cleaned and a raised position in which the at least one mop is configured to be located at a distance from the surface to be cleaned, the docking station comprising scraping members projecting upwards,

[0018] - docking the autonomous cleaning robot in the docking station,

[0019] - moving the mobile unit to the lowered position until the at least a mop contacts, that is to say comes to bear against, the scraping members provided on the docking station,

[0020] - movement of the at least one mop support in the movement plane,

[0021] - scraping of the at least one mop, and for example of a lower face of the at least one mop, at least one mop, by the scraping members, so as to clean the at least one mop, and

[0022] - moving the mobile unit to the raised position such that the at least a mop should be placed away from the scraping organs.

[0023] Such a control method, and in particular the fact that the mobile unit is moved to the lowered position such that the at least one mop is in contact with the scraping members provided on the docking station and the at least one mop support is moved in a horizontal movement plane, ensures scraping of the at least one mop during a cleaning operation of the latter. However, such scraping of the at least one mop ensures optimal cleaning of the at least one mop (and therefore gives increased cleaning performance to the autonomous cleaning system), and this without user intervention and in particular without handling of the autonomous cleaning robot by the user.

[0024] The autonomous cleaning robot that is the subject 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 that is the subject 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.

[0025] The method may further have one or more of the following characteristics, taken alone or in combination.

[0026] According to one embodiment of the invention, the autonomous cleaning robot comprises a main body having a lower face configured to be oriented towards a surface to be cleaned and a suction mouth opening into the lower face of the main body.

[0027] According to one embodiment of the invention, the mobile unit comprises a movement mechanism configured to move the at least one mop support in the movement plane. The fact that the movement mechanism is provided on the mobile unit makes it possible to increase the mass of the mobile unit, and therefore to increase the bearing forces exerted by the at least one mop on the scraping members during a scraping operation of the at least one mop, which further improves the quality of the cleaning of the at least one mop.

[0028] According to one embodiment of the invention, the mobile unit comprises a support casing on which the at least one mop support is movably mounted, the support casing delimiting an internal housing in which the movement mechanism is arranged.

[0029] According to one embodiment of the invention, the at least one mop support is mounted to move in translation in a support movement direction extending in the movement plane, the step of moving the at least one mop support in the movement plane comprising moving the at least one mop support in the support movement direction.

[0030] According to one embodiment of the invention, the direction of support movement extends substantially perpendicular to the median longitudinal plane of the main body.

[0031] According to one embodiment of the invention, the scraping members are configured to extend transversely to the direction of support movement.

[0032] According to one embodiment of the invention, the scraping members are configured to extend substantially perpendicular to the support movement direction when the autonomous cleaning robot is received in the docking station. Such an orientation of the scraping members further improves the scraping efficiency of the at least one mop, and therefore the cleaning quality of the at least one mop.

[0033] According to one embodiment of the invention, the scraping members are arranged such that each pair of adjacent scraping members are spaced apart from each other by a separation distance which is substantially identical to or less than an amplitude of movement of the at least one mop support in the direction of support movement. Such an arrangement of the scraping members ensures scraping of the entire underside of the at least one mop, and therefore makes it possible to further increase the cleaning performance of the docking station.

[0034] According to one embodiment of the invention, the autonomous cleaning robot comprises a translational drive mechanism configured to move the mobile unit, and more particularly the support casing, in translation in a translational direction and between the lowered position and the raised position. Advantageously, the translational drive mechanism is arranged in a rear portion of the main body.

[0035] According to one embodiment of the invention, the mobile unit is a wet cleaning device.

[0036] According to one embodiment of the invention, at least one of the scraping members, and for example each of the scraping members, is rectilinear.

[0037] According to another embodiment of the invention, at least one of the scraping members, and for example each of the scraping members, is curvilinear. For example, each of the scraping members could have an S shape or a sawtooth shape.

[0038] According to one embodiment of the invention, the scraping members extend substantially parallel to one another. For example, the scraping members may be rectilinear and extend parallel to one another, or be curvilinear and also extend parallel to one another.

[0039] According to one embodiment of the invention, the docking station is configured such that, when the autonomous cleaning robot is docked in the docking station, the scraping members extend substantially parallel to the main direction of movement of the autonomous cleaning robot.

[0040] According to another embodiment of the invention, the scraping members could comprise a first series of scraping members and a second series of scraping members, the scraping members belonging to the first series being parallel to each other and the scraping members belonging to the second series being parallel to each other and being inclined relative to the scraping members belonging to the first series.

[0041] According to one embodiment of the invention, each scraping member is continuous and extends in a direction of extension.

[0042] According to one embodiment of the invention, each scraping member is discontinuous and extends in a direction of extension.

[0043] According to one embodiment of the invention, each scraping member is a scraping rib.

[0044] According to one embodiment of the invention, each scraping member has a cross-section of generally triangular shape.

[0045] According to one embodiment of the invention, each scraping member is formed by reliefs, such as spikes, spaced apart from each other and arranged in a line, that is to say in an alignment direction. In other words, each scraping member is formed by an alignment of reliefs, such as spikes, spaced apart from each other. others.

[0046] According to one embodiment of the invention, each relief has a circular cross-section.

[0047] According to one embodiment of the invention, each line of reliefs can be rectilinear, curved or saw-toothed.

[0048] According to one embodiment of the invention, the reliefs belonging to the same line are arranged in a staggered pattern relative to the reliefs belonging to an adjacent line. In other words, the reliefs are arranged in a staggered pattern from one line to the other.

[0049] According to one embodiment of the invention, the distance between each relief of the same line is smaller than the distance between two adjacent relief lines.

[0050] According to one embodiment of the invention, the scraping members are regularly spaced from one another. Such a configuration of the scraping members ensures uniform scraping of the lower face of the at least one mop, and further promotes the cleaning of the latter.

[0051] According to one embodiment of the invention, the tops of the scraping members extend in an extension plane which is configured to be substantially horizontal when the docking station is in the use configuration. Such a configuration of the scraping members ensures optimal scraping of the lower face of the at least one mop, and further promotes the cleaning of the latter.

[0052] According to one embodiment of the invention, the docking station comprises a cleaning tank configured to contain cleaning liquid, such as water, the scraping members being provided on a bottom wall of the cleaning tank and the at least one mop being configured to be arranged in the cleaning tank and to be at least partially immersed in the cleaning liquid when the at least one mop is in contact with the scraping members. The presence of such a cleaning tank makes it possible to further increase the cleaning performance of the docking station.

[0053] According to one embodiment of the invention, the mobile unit comprises two mop supports movable in the movement plane and two mops mounted, for example removably, respectively on the two mop supports.

[0054] According to one embodiment of the invention, the two mop supports are mounted to move 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 distant from each other, the step of moving the at least one mop support in the movement plane consisting of moving the two mop supports alternately in the close configuration and in the distant configuration.

[0055] According to one embodiment of the invention, the movement mechanism is configured to move the two mop supports in translation in phase opposition.

[0056] According to one embodiment of the invention, the main body delimits a suction chamber fluidly connected to the suction mouth, the autonomous cleaning robot comprising a rotating cleaning brush housed in the suction chamber and mounted to rotate about a brush rotation axis.

[0057] According to one embodiment of the invention, the docking station comprises a receiving location configured to receive at least in part the autonomous cleaning robot.

[0058] According to one embodiment of the invention, the docking station comprises a cleaning liquid storage tank, and a supply device configured to supply cleaning liquid to the cleaning tank.

[0059] According to one embodiment of the invention, the docking station comprises a liquid collection tank configured to collect the used, i.e. dirty, cleaning liquid coming from the cleaning tank.

[0060] According to one embodiment of the invention, the docking station comprises a suction device configured to suck up the cleaning liquid contained in the cleaning tank and to convey the sucked up cleaning liquid into the liquid collection tank.

[0061] According to one embodiment of the invention, the suction device is configured to suck up the waste contained in the waste collection container belonging to the autonomous cleaning robot when the autonomous cleaning robot is received in the docking station, and to convey said sucked up waste into the liquid collection tank.

[0062] According to another embodiment of the invention, the docking station comprises a waste collection tank and the suction device is configured to suck up the waste contained in the waste collection container belonging to the autonomous cleaning robot when the autonomous cleaning robot is received in the docking station, and to convey said sucked up waste into the waste collection tank belonging to the docking station.

[0063] According to one embodiment of the invention, the autonomous cleaning robot comprises a cleaning liquid reservoir, and the mobile unit comprises a plurality of liquid outlet orifices which are configured to be fluidically connected to the cleaning liquid reservoir and which are configured to supply cleaning liquid to the at least one mop mounted on the at least one mop support.

[0064] According to one embodiment of the invention, the docking station is configured to fill the cleaning liquid tank belonging to the autonomous cleaning robot with cleaning liquid from the liquid storage tank cleaning belonging to the docking station when the autonomous cleaning robot is received in the docking station.

[0065] According to one embodiment of the invention, the mobile unit is located in a rear part of the main body.

[0066] According to one embodiment of the invention, the autonomous cleaning robot comprises a suction unit housed in the main body and configured to generate an air flow through the suction mouth.

[0067] According to one embodiment of the invention, the autonomous cleaning robot comprises a waste collection device comprising a waste collection container located upstream of the suction unit and configured to be traversed by the air flow generated by the suction unit and to retain waste transported by the air flow.

[0068] According to one embodiment of the invention, the main body has, seen from above, a general D shape.

[0069] According to one embodiment of the invention, the suction mouth is located in a front part of the main body. Brief description of the figures

[0070] The aims, aspects and advantages of the present invention will be better understood from the description given below of a particular embodiment of the invention presented by way of non-limiting example, with reference to the appended drawings in which:

[0071] [Fig.l] is a top perspective view of an autonomous cleaning robot according to the present invention.

[0072] [Fig.2] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing mops fitted to the autonomous cleaning robot in a close-up configuration.

[0073] [Fig.3] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing the mops in a remote configuration.

[0074] [Fig.4] is a bottom view of the autonomous cleaning robot of [Fig.l], showing the mops in the close-up configuration.

[0075] [Fig.5] is a bottom view of the autonomous cleaning robot of [Fig.l], showing the mops in the remote configuration.

[0076] [Fig.6] is a side view of the autonomous cleaning robot of [Fig.l].

[0077] [Fig.7] is a longitudinal sectional view of the autonomous cleaning robot of the [Fig.l].

[0078] [Fig.8] is a perspective view from below of the autonomous cleaning robot of [Fig.l], showing mop holders fitted to the autonomous cleaning robot in a close configuration.

[0079] [Fig.9] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing the mop holders in a remote configuration.

[0080] [Fig. 10] is a top perspective view of the self-contained cleaning system according to the present invention.

[0081] [Fig. 11] is a top perspective view of a docking station belonging to the autonomous cleaning system according to the present invention.

[0082] [Fig. 12] is a cross-sectional view of the docking station and the autonomous cleaning robot showing the mop holders in the close-up configuration.

[0083] [Fig. 13] is a cross-sectional view of the docking station and autonomous cleaning robot showing the mop holders in the remote configuration.

[0084] [Fig. 14] is a schematic sectional view of the docking station.

[0085] [Fig. 15] is a diagram showing the steps of a method of controlling the autonomous cleaning system according to the present invention. Detailed description

[0086] 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.

[0087] It will be noted that in this document, the terms "horizontal", "vertical", "lower", "upper" and "height" used to describe the autonomous cleaning robot or the main body refer to the autonomous cleaning robot in use when it rests by its wheels on a floor to be cleaned which is flat and horizontal.

[0088] In this document, the term "median longitudinal plane" means a vertical plane which is parallel to the main direction of movement and which divides the main body into two substantially equal parts, left and right.

[0089] In this document, the expression "extend transversely to a direction" means extend in a direction of extension which is inclined with respect to said direction, and therefore which is not parallel to said direction.

[0090] Unless otherwise stipulated, the term “substantially” means, in this document, “exactly or to within 10% or 10°”.

[0091] Figures 1 to 14 represent an autonomous cleaning system 1 comprising an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously on a surface to be cleaned, and a docking station 3, also called a cleaning station, configured to accommodate the autonomous cleaning robot 2.

[0092] The autonomous cleaning robot 2 comprises a main body 4 having a lower face 5 which is configured to be oriented towards the surface to be cleaned, and a suction mouth 6 which is located in a front part 4.1 of the main body 4 and which opens into the lower face 5 of the main body 4. The suction mouth 6 is elongated and extends substantially perpendicular to a main direction of movement DI of the autonomous cleaning robot 2. Advantageously, the suction mouth 6 has a generally rectangular shape.

[0093] As shown in [Fig.7], the main body 4 delimits a suction chamber 7 which opens into the lower face 5 of the main body 4 via the suction mouth 6.

[0094] According to the embodiment shown in the figures, the main body 4 has, seen from above in a substantially vertical orientation, a general D shape, and comprises a rear edge which is curved and which has, seen from above in a substantially vertical orientation, a circular arc shape. However, the main body 4 could have a completely different shape, and for example have a general circular or rectangular shape.

[0095] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 8 housed in the suction chamber 7 and mounted to rotate about a brush rotation axis A1 which extends perpendicular to the main direction of movement D1. Advantageously, the brush rotation axis A1 is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0096] The autonomous cleaning robot 2 also comprises a drive mechanism (not visible in the figures) which is configured to rotate the rotating cleaning brush 8 around the brush rotation axis AL

[0097] As shown more particularly in Figures 2 to 8, the autonomous cleaning robot 2 comprises two drive wheels 9 which are configured to roll on the surface to be cleaned. The two drive wheels 9 are mounted to be able to rotate relative to the main body 4, and have axes of rotation which are parallel, and advantageously coaxial, and which extend perpendicular to the main direction of movement DI. Advantageously, the two drive wheels 9 are arranged on either side of the median longitudinal plane P of the main body 4. Advantageously, the axes of rotation of the two drive wheels 9 are arranged approximately halfway between a front edge and a rear edge of the autonomous cleaning robot 2.

[0098] The two drive wheels 9 are advantageously motorized independently of one another. Thus, the autonomous cleaning robot 2 comprises two rotational drive mechanisms 10 housed in the main body 4 and each configured to rotate a respective drive wheel 9 among the two drive wheels 9. Each rotational drive mechanism 10 comprises a drive motor coupled in rotation to the respective drive wheel 9 and arranged for example in a respective lateral part of the main body 4. Depending on the control of the two aforementioned drive motors, the main body 4 can pivot to the left, to the right or on itself, move forward or even backward.

[0099] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 11 mounted to rotate freely relative to the main body 4 and arranged on the front part 4.1 of the main body 4, and for example between a front edge of the main body 4 and the front edge of the suction mouth 6.

[0100] The autonomous cleaning robot 2 further comprises a suction unit 12 which is housed in the main body 4. The suction unit 12 comprises an electric motor and a fan coupled to the electric motor to generate an airflow through the suction mouth 6 and the suction chamber 7.

[0101] The autonomous cleaning robot 2 also comprises a waste collection device 13 which is mounted, for example removably, on the main body 4. The waste collection device 13 comprises a waste collection container 13.1 located upstream of the suction unit 12, and configured to be traversed by the air flow generated by the fan and to retain waste transported by the air flow.

[0102] As shown in [Fig.7], the autonomous cleaning robot 2 comprises a connecting channel 14 fluidly connecting the suction chamber 7 to the waste collection container 13.1. Advantageously, the connecting channel 14 opens into a rear part of the suction chamber 7.

[0103] As shown in particular in [Fig.2], the autonomous cleaning robot 2 further comprises a mobile unit, such as a cleaning device and for example a wet cleaning device, which is arranged in a rear part 4.2 of the main body 4. Advantageously, the mobile unit 15 is arranged opposite the rotating cleaning brush 8 relative to the axes of rotation of the drive wheels 9.

[0104] The mobile unit 15 may for example be movable vertically between a lowered position, also called the active position, in which the mobile unit 15 is configured to be in contact with the surface to be cleaned and a raised position, also called the inactive position, in which the mobile unit 15 is configured to be located at a distance from the surface to be cleaned.

[0105] The mobile unit 15 comprises in particular a support casing 16 (see [Fig.7]), one or more mop supports 17 mounted on the support casing 16, and in addition one or more mops 18 each fixed, for example removably, to a respective mop support 17. Each mop 18 is more particularly configured to be in contact with the surface to be cleaned when the mobile unit 15 is in the lowered position.

[0106] 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 mop(s). Such a configuration of the autonomous cleaning robot 2 allows the mop(s) to directly take up at least part of the mass of the autonomous cleaning robot 2, and therefore to further increase the support force exerted by the mop(s) on the floor to be cleaned. Thus, such a configuration of the autonomous cleaning robot 2 makes it possible to further improve the cleaning quality of the autonomous cleaning robot 2.

[0107] According to the embodiment shown in the figures, the mobile unit 15 comprises two mop supports 17 which are arranged side by side, and two mops 18 mounted, for example in a removable manner, respectively on the two mop supports 17. However, according to an alternative embodiment, the mobile unit 15 could comprise a single mop support 17, and a single mop 18 having a width corresponding substantially to the width of the main body 4.

[0108] According to the embodiment shown in the figures, the two mop supports 17 are each mounted to move in translation relative to the support casing 16 in a support movement direction D2 (see [Fig.3]) which extends perpendicular to the median longitudinal plane P of the main body 4, and therefore parallel to the axes of rotation of the two drive wheels 9.

[0109] Advantageously, the mop supports 17 are mounted to move relative to each other between a close configuration (see [Fig.8]) in which the two mop supports 17 are close to each other, and therefore in which the two mops 18 are also close to each other, and a distant configuration (see [Fig.9]) in which the two mop supports 17 are distant from each other, and therefore in which the two mops 18 are also distant from each other.

[0110] The mobile unit 15 also comprises a movement mechanism 19 configured to move the mop supports 17 in translation along the support movement direction D2 and alternately between the close configuration and the distant configuration. Thus, the movement mechanism 19 is configured to move the two mop supports 17 in translation in phase opposition.

[0111] According to the embodiment shown in the figures, the displacement mechanism 19 comprises (see [Fig.7]) a drive motor 19.1, a crankshaft 19.2 rotatably coupled to the drive motor 19.1 and configured to be rotated by the drive motor 19.1, and two connecting rods 19.3 each comprising a first end portion mounted articulated on the crankshaft 19.2 and a second end portion mounted articulated on a respective mop support 17.

[0112] According to the embodiment shown in the figures, the support casing 16 delimits an internal housing in which the movement mechanism 19 is arranged.

[0113] The autonomous cleaning robot 2 also comprises a translational drive mechanism 20 (see [Fig.7]) configured to move the mobile unit 15, and more particularly the support casing 16, in translation in a translation direction T and between the lowered position and the raised position. Advantageously, the translational drive mechanism 20 is arranged in the rear part 4.2 of the main body 4.

[0114] The translation drive mechanism 20 comprises in particular:

[0115] - a drive element 210 having a central axis extending substantially parallel to the translation direction T, the drive element 210 being provided with a first threaded drive part and being mounted to be movable in rotation relative to the main body 4 around its central axis, and

[0116] - a drive member 220 fixed to the support casing 16 and integral in translation of the mobile unit 15, the drive member 220 extending upwardly from an upper face of the support housing 16 and comprising a second threaded drive portion configured to cooperate with the first threaded drive portion provided on the drive element 210.

[0117] According to the embodiment shown in the figures, the drive member 220 is a drive stud provided with a threaded external surface (forming the second threaded drive part) and extending along an extension axis, which is substantially coaxial with the central axis of the drive element 210, and the drive element 210 comprises in particular a tapped axial bore (partly forming the first threaded drive part) configured to cooperate with the threaded external surface provided on the drive stud and therefore in which the drive member 220 is intended to extend at least partly. Thus, the first threaded drive part and the second threaded drive part form a helical connection, preferably of the irreversible type, so as to prevent the mobile unit 15 from rising on its own when in contact with the floor to be cleaned.

[0118] The translation drive mechanism 20 also comprises an electric motor 230 arranged in the main body 4 and provided with an output shaft, and a movement transmission mechanism 240 mechanically coupled on the one hand to the output shaft of the electric motor 230 and on the other hand to the drive element 210.

[0119] According to the embodiment shown in the figures, the transmission mechanism 240 comprises a worm screw which is rotatably coupled to the output shaft of the electric motor 230 and which is coaxial with the output shaft, and the drive element 210 comprises peripheral teeth which are coaxial with the aforementioned central axis and which are rotatably coupled to the worm screw. Thus, the drive element 210 comprises a toothed wheel comprising the aforementioned tapped axial bore and the peripheral teeth.

[0120] The motion transmission mechanism 240 is more particularly configured to rotate the drive element 210 in a first direction of rotation when the electric motor 230 rotates in a first direction of motor rotation, and is configured to rotate the drive element 210 in a second direction of rotation, opposite to the first direction of rotation, when the electric motor 230 rotates in a second direction of motor rotation.

[0121] Now, taking into account the configuration of the aforementioned first and second threaded drive parts, the movable unit 15 is configured to be moved to the lowered position when the drive element 210 is rotated in the first rotation direction by the motion transmission mechanism 240, and to be moved to the raised position when the drive element 210 is rotated in the second rotation direction by the motion transmission mechanism 240.

[0122] The autonomous cleaning robot 2 also comprises a cleaning liquid reservoir 21 which is configured to supply cleaning liquid to the two mops 18. The cleaning liquid reservoir 21 is mounted, for example removably, on the main body 4, and may for example be arranged in the rear part 4.2 of the main body 4.

[0123] The mobile unit 15 further comprises a plurality of liquid outlets 22 (see [Fig. 4]) which are configured to be fluidically connected to the cleaning liquid reservoir 21 and which are configured to supply cleaning liquid to the mops 18 mounted on the mop holders 17. According to the embodiment shown in the figures, the liquid outlets 22 are aligned in an alignment direction which extends perpendicular to the main direction of movement D1, and are configured to be oriented towards the surface to be cleaned. Advantageously, the liquid outlets 22 are located at the front of the mop holders 17, and for example at the front of the mops 18.

[0124] The autonomous cleaning robot 2 also comprises a power supply battery 23 configured to electrically power the autonomous cleaning robot 2. Advantageously, the power supply battery 23 is rechargeable, is housed in the main body 4 and is arranged at the rear of the autonomous cleaning robot 2, behind the two drive wheels 9, in particular to increase the support force of the mops. 18 on the surface to be cleaned when the mop supports 17 are lowered and also arranged behind the two drive wheels 9.

[0125] The autonomous cleaning robot 2 further comprises a control unit 24 (see [Fig.6]) configured to control the operation of the autonomous cleaning robot 2, and in particular to control the movements of the main body 4, for example according to random or methodical movements, and to control, for example, the movements of the mobile unit 15 between the lowered and raised positions.

[0126] The control unit 24 is in particular configured to control the aforementioned rotational drive mechanisms 10 (which are configured to rotate the drive wheels 9) from data received from different sensors arranged on the main body 4, such as proximity sensors, contact sensors and / or fall sensors. The control unit 24 may for example comprise an electronic card configured to receive and process these different data.

[0127] As shown more particularly in [Fig.l 1], the docking station 3 comprises a receiving location 25, for example open upwards, configured to house at least in part the autonomous cleaning robot 2.

[0128] The docking station 3 further comprises a cleaning tank 26 advantageously configured to receive dirty liquid removed from the mops 18 or to contain cleaning liquid, such as water. The mop(s) 18 are configured to be arranged in the cleaning tank 26, and advantageously to be at least partially immersed in the cleaning liquid contained in the cleaning tank 26, when the autonomous cleaning robot 2 is received in the docking station 3. Thus, the cleaning tank 26 is configured to allow cleaning of the mop(s) 18 when the autonomous cleaning robot 2 is received in the receiving location 25.

[0129] As shown in Figures 11 to 13, the docking station 3 comprises scraping members 27 provided on a bottom wall 26.1 of the cleaning tank 26 and configured to scrape or rub the mop(s) 18, and more particularly a lower face of the mop(s) 18, when the autonomous cleaning robot 2 is received in the receiving location 25 and the or each mop support 17 is moved in the support movement direction D2.

[0130] In order to carry out cleaning of the mops 18 of the autonomous cleaning robot 2, for example after a cleaning operation of a surface to be cleaned, a method for controlling the autonomous cleaning system 1 may for example comprise (see [Fig. 15]):

[0131] - a supply step SI consisting of supplying the autonomous cleaning system 1,

[0132] - a reception step S2 consisting of welcoming the autonomous cleaning robot 2 in docking station 3,

[0133] - a moving step S3 consisting of moving the mobile unit 15 in the lowered position until the mop(s) 18 contact(s) the scraping members 27 provided on the docking station 3,

[0134] - a moving step S4 consisting of moving the mop support(s) 17 according to the support movement direction D2, and for example to move the mop supports 17 according to the support movement direction D2 and alternately between the close configuration and the distant configuration,

[0135] - a scraping step S5 consisting of scraping or rubbing the mop(s) 18 with the scraping members 27, so as to clean the mop(s) 18, and

[0136] - a moving step S6 consisting of moving the mobile unit 15 in the raised position.

[0137] According to the embodiment shown in the figures, the scraping members 27 are rectilinear and extend parallel to each other, and are configured to extend perpendicular to the support movement direction D2 when the autonomous cleaning robot 2 is received in the receiving location 25. However, according to an alternative embodiment of the invention, the scraping members 27 could be curvilinear, while being parallel to each other, or without being parallel to each other.

[0138] Advantageously, each scraping member 27 is formed by a scraping rib, and has a cross-section of generally triangular shape. However, according to an alternative embodiment of the invention, each scraping member 27 could have a cross-section of any other shape.

[0139] According to the embodiment shown in the figures, the scraping members 27 have identical heights and are configured to extend horizontally. Advantageously, the tops of the scraping members 27 extend in an extension plane which is configured to be horizontal when the docking station 3 is in the use configuration.

[0140] According to the embodiment shown in the figures, the scraping members 27 are regularly spaced from one another, and are arranged such that two adjacent scraping members 27 are spaced from one another by a separation distance which is substantially identical to or less than an amplitude of movement of the or each mop support 17 in the direction of support movement D2.

[0141] As shown in [Fig.l 1], the docking station 3 comprises a raised portion 28 located in front of the cleaning tank 26 and configured to retain the cleaning liquid in the cleaning tank 26, and two receiving indentations 29 formed in an upper face 28.1 of the raised portion 28 and configured to receive respectively the two drive wheels 8 of the autonomous cleaning robot 2 when the autonomous cleaning robot 2 is received in the receiving location 25. The presence of the receiving impressions 29 makes it possible to lower the main body 4 of the autonomous cleaning robot 2 when the latter is received in the receiving location 25, and thus to ensure immersion of the or each mop 18 in the cleaning liquid contained in the cleaning tank 26.

[0142] Advantageously, the docking station 3 also comprises an access ramp 31 which is located in front of the raised portion 28 and which is configured to allow the drive wheels 8 to cross the raised portion 28 and reach the receiving indentations 29 when the autonomous cleaning robot 2 is received in the receiving location 25.

[0143] As shown in [Fig.14], the docking station 3 comprises a cleaning liquid storage tank 31, and a supply device 32 configured to supply cleaning liquid to the cleaning tank 26.

[0144] The docking station 3 also comprises a liquid collection tank 33 configured to collect the used, i.e. dirty, cleaning liquid coming from the cleaning tank 26, and a suction device 34 configured to suck up the cleaning liquid contained in the cleaning tank 26 and to convey the sucked up cleaning liquid into the liquid collection tank 33. Advantageously, the suction device 34 comprises a suction pump.

[0145] According to one embodiment of the invention, the docking station 3 could further comprise a waste collection tank 35, and the suction device 34 could be configured to suck up the waste contained in the waste collection container 13.1 belonging to the autonomous cleaning robot 2 when the autonomous cleaning robot 2 is received in the docking station 3, and to convey said sucked up waste into the waste collection tank 35 belonging to the docking station 3.

[0146] According to one embodiment of the invention, the docking station 3 could be configured to fill the cleaning liquid tank 21 belonging to the autonomous cleaning robot 2 with cleaning liquid coming from the cleaning liquid storage tank 31 belonging to the docking station 3 when the autonomous cleaning robot 2 is received in the docking station 3.

[0147] According to an embodiment of the invention not shown in the figures, each scraping member 27 could be formed by reliefs, such as spikes, spaced from each other and arranged in a line. Advantageously, each relief has a circular cross-section, and the distance between each relief of the same line is smaller than the distance between two lines of adjacent reliefs.

[0148] Each line of reliefs could be rectilinear, curved or saw-toothed, and the reliefs belonging to the same line could be arranged in a staggered manner relative to to the reliefs belonging to an adjacent line.

[0149] Of course, the invention is in no way limited to the embodiment described and illustrated, which has been given only as an example. Modifications remain possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

Claims

1. A method for controlling an autonomous cleaning system (1) comprising the following steps: - providing an autonomous cleaning system (1) comprising an autonomous cleaning robot (2) and a docking station (3) configured to accommodate the autonomous cleaning robot (2), the autonomous cleaning robot (2) comprising a mobile unit (15) comprising at least one mop support (17) movable in a plane of movement which is substantially horizontal when the autonomous cleaning robot (2) rests on a horizontal surface, and at least one mop (18) mounted on the at least one mop support (17), the mobile unit (15) being movable between a lowered position in which the at least one mop (18) is configured to be in contact with the surface to be cleaned and a raised position in which the at least one mop (18) is configured to be located at a distance from the surface to be cleaned,the docking station (3) comprising upwardly projecting scraping members (27), - docking the autonomous cleaning robot (2) in the docking station (3), - moving the mobile unit (15) to the lowered position until the at least one mop (18) contacts the scraping members (27) provided on the docking station (3), - moving the at least one mop holder (17) in the plane of movement, - scraping the at least one mop (18) by the scraping members (27), so as to clean the at least one mop (18), and - moving the mobile unit (15) to the raised position such that the at least one mop (18) is placed at a distance from the scraping members (27).,

2. The method of claim 1, wherein the movable unit (15) comprises a moving mechanism (19) configured to move the at least one mop holder (17) in the plane of movement.

3. Method according to claim 2, in which the mobile unit (15) comprises a support housing (16) on which the at least one mop support (17) is movably mounted, the support housing (16) delimiting an internal housing in which the movement mechanism (19) is arranged.

4. Method according to any one of claims 1 to 3, in which the at least one mop support (17) is mounted movable in translation in a support movement direction (D2) extending in the movement plane, the step of moving the at least one mop support (17) in the movement plane comprising a movement of the at least one mop support (17) in the support movement direction (D2).

5. A method according to claim 4, wherein the scraping members (27) are configured to extend transversely to the support movement direction (D2).

6. A method according to claim 4 or 5, wherein the scraping members (27) are configured to extend substantially perpendicular to the support movement direction (D2) when the autonomous cleaning robot (2) is docked in the docking station (3).

7. A method according to any one of claims 4 to 6, wherein the scraping members (27) are arranged such that each pair of adjacent scraping members (27) are spaced apart from each other by a separation distance which is substantially the same as or less than a displacement amplitude of the at least one mop support (17) in the support displacement direction (D2).

8. A method according to any one of claims 1 to 7, wherein the movable unit (15) comprises two mop supports (17) movable in the plane of movement, and two mops (18) mounted respectively on the two mop supports (17).

9. A method according to claim 8, wherein the two mop supports (17) are 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 distant from each other, the step of moving the at least one mop support (17) in the plane of movement consisting of moving the two mop supports (17) alternately in the close configuration and in the distant configuration.

10. A method according to any one of claims 1 to 9, wherein the mobile unit (15) is a wet cleaning device.

11. A method according to any one of claims 1 to 10, wherein the scraping members (27) extend substantially parallel to each other.

12. A method according to any one of claims 1 to 11, wherein each scraping member (27) is a scraping rib.

13. A method according to any one of claims 1 to 12, wherein the docking station (3) comprises a cleaning tank (26) configured to contain cleaning liquid, the scraping members (27) being provided on a bottom wall (26.1) of the cleaning tank (26) and the at least one mop (18) being configured to be arranged in the cleaning tank (26) when the at least one mop (18) is in contact with the scraping members (27).

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